REFERENCES
1. Cao W, Chen HD, Yu YW, Li N, Chen WQ. Changing profiles of cancer burden worldwide and in China: a secondary analysis of the global cancer statistics 2020. Chin Med J. 2021;134:783-91.
3. Shi H, Pang S, Ming F, Yangdai T, Tian S, Lin R. A novel intelligent chromo capsule endoscope for the diagnosis of neoplastic lesions in the gastrointestinal tract. Gastroenterol Rep. 2023;11:goad021.
4. Xu X, Gao J, Tong D, Zhao Y, Fan X, Ge W. A multifunctional capsule-like puncture biopsy robot for the gastrointestinal system. Micromachines. 2025;16:589.
5. Kucharzik T, Taylor S, Allocca M, et al. ECCO-ESGAR-ESP-IBUS guideline on diagnostics and monitoring of patients with inflammatory bowel disease: part 1. J Crohns Colitis. 2025;19:jjaf106.
6. Ciuti G, Caliò R, Camboni D, et al. Frontiers of robotic endoscopic capsules: a review. J Microbio Robot. 2016;11:1-18.
7. Lai YP, Lee T, Sieben D, Gauthier L, Nam J, Diller E. Hybrid hydrogel-magnet actuated capsule for automatic gut microbiome sampling. IEEE Trans Biomed Eng. 2024;71:2911-22.
8. Simi M, Gerboni G, Menciassi A, Valdastri P. Magnetic torsion spring mechanism for a wireless biopsy capsule. J Med Devices. 2013;7:041009.
9. Le VH, Hernando LR, Lee C, et al. Shape memory alloy-based biopsy device for active locomotive intestinal capsule endoscope. Proc Inst Mech Eng H. 2015;229:255-63.
10. Hoang MC, Le VH, Kim J, et al. Untethered robotic motion and rotating blade mechanism for actively locomotive biopsy capsule endoscope. IEEE Access. 2019;7:93364-74.
11. Park S, Lee H, Kim D, Kee H, Park S. Active multiple-sampling capsule for gut microbiome. IEEE/ASME Trans Mechatron. 2022;27:4384-95.
12. Kong K, Cha J, Jeon D, Cho DD. A rotational micro biopsy device for the capsule endoscope. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada. Aug 02-06, 2005. IEEE; 2005. pp. 1839-43.
13. Kong K, Yim S, Choi S, Jeon D. A robotic biopsy device for capsule endoscopy. J Med Devices. 2012;6:031004.
14. Le VH, Jin Z, Leon-Rodriguez H, et al. Electromagnetic field intensity triggered micro-biopsy device for active locomotive capsule endoscope. Mechatronics. 2016;36:112-8.
15. Song Z, Zhang W, Dario P. A novel multi-biopsy mechanism embedded in a capsule endoscope for colonoscopy. In: 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China. Dec 06-08, 2019. IEEE; 2019. pp. 321-5.
16. Song Z, Zhang W, Zhang W, Paolo D. A novel biopsy capsule robot based on high-speed cutting tissue. Cyborg Bionic Syst. 2022;2022:9783517.
17. Le VH, Kang B, Kim J, et al. Non-invasive active capsule endoscope integrated targeting biopsy function based on electro-mangetic actuation system. In: 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao. Dec 05-08, 2017. IEEE; 2017. pp. 2309-13.
18. Zhang W, Dario P, Zhang W, Song Z. Positioning and posture adjustment for a rotational cutting biopsy capsule. In: 2022 International Conference on Advanced Robotics and Mechatronics (ICARM), Guilin, China. Jul 09-11, 2022. IEEE; 2022. pp. 82-6.
19. Park S, Koo K, Bang SM, Park JY, Song SY, Cho D. A novel microactuator for microbiopsy in capsular endoscopes. J Micromech Microeng. 2008;18:025032.
20. Straker MA, Levy JA, Sweeney PA, Ghodssi R. Gear train-enabled low-power thermomechanical biopsy system for ingestible capsules. In: 2025 23rd International Conference on Solid-State Sensors, Actuators and Microsystems (Transducers), Orlando, USA. Jun 29 - Jul 03, 2025. IEEE; 2025. pp. 2016-9.
21. Hoang MC, Le VH, Nguyen KT, et al. A robotic biopsy endoscope with magnetic 5-DOF locomotion and a retractable biopsy punch. Micromachines. 2020;11:98.
22. Le VH, Hoang MC, Nguyen VD, et al. A novel biopsy capsule endoscope for wireless intestinal tissue collection. In: 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Nagoya, Japan. Jul 04-08, 2018. IEEE; 2018. p. 1-6.
23. Zheng L, Song H, Yan L, Wang Z, Guo S. Preliminary design of a magnetically actuated multifunctional biopsy capsule robot. In: 2024 IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China. Aug 04-07, 2024. IEEE; 2024. pp. 1014-8.
24. Rashid MHO, Lin F. Magnetically driven biopsy capsule robot with spring mechanism. Micromachines. 2024;15:287.
25. Ye D, Xue J, Yuan S, et al. Design and control of a magnetically-actuated capsule robot with biopsy function. IEEE Trans Biomed Eng. 2022;69:2905-15.
26. Zhang F, Ye D, Song S, Meng MQH. Design of a novel biopsy capsule robot with anchoring function for intestinal tract. In: 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China. Dec 06-08, 2019. IEEE; 2019. pp. 1471-6.
27. Son D, Dogan MD, Sitti M. Magnetically actuated soft capsule endoscope for fine-needle aspiration biopsy. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore. May 29 - Jun 03, 2017. IEEE; 2017. pp. 1132-9.
28. Hu J, Deng H, Qiao K, Shi C, Hu C. Development of an ingestible device with biopsy and drug delivery functions. In: 2025 IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China. Aug 03-06, 2025. IEEE; 2025. pp. 365-70.
29. Li Z, Wei T, Zhang Y, et al. Rotating multibarreled capsule robot for multiple biopsies and on-demand drug delivery. IEEE/ASME Trans Mechatron. 2025;30:7089-99.
30. Liu H, Wang J, Song S. Pose and biopsy sensing for capsule robot based on conditioned multiple magnets tracking. IEEE Sens Lett. 2025;9:1-4.
31. Pan X, Ma T, Li P, Jiang X, Song S, Meng MQH. A novel intestinal microcapsule endoscope robot with biopsy function. In: 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), Shenzhen, China. Oct 25-27, 2018. IEEE; 2018. pp. 308-12.
32. Tovmachenko O, Feng L, Mousa AM, Ullah Z, Masoud MA. A capsule-type device for soft tissue cutting using a threadless ballscrew actuator. In: 2019 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Helsinki, Finland. Jul 01-05, 2019. IEEE; 2019. p. 1-6.
33. Chen W, Yan G, He S, et al. Wireless powered capsule endoscopy for colon diagnosis and treatment. Physiol Meas. 2013;34:1545-61.
34. Wang G, Yu X, Song S. A novel capsule endoscopy robot for gastric sampling. In: 2025 International Conference on Information and Automation (ICIA), Lanzhou, China. Aug 28-31, 2025. IEEE; 2025. p. 1-6.
35. Le VH, Nguyen VD, Lee C, Go G, Park J, Park S. Miniaturized biopsy module using gripper tool for active locomotive capsule endoscope. Mechatronics. 2017;44:52-9.
36. Guo J, Liu X, Guo S, Fu Q. Design and evaluation of a novel magnetoactive biopsy capsule endoscope robot. In: 2021 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan. Aug 08-11, 2021. IEEE; 2021. pp. 944-9.
37. Leon-Rodriguez H, Park SH, Park JO. Testing and evaluation of foldable biopsy tools for active capsule endoscope. In: 2020 20th International Conference on Control, Automation and Systems (ICCAS), Busan, Korea. Oct 13-16, 2020. IEEE; 2020. pp. 473-9.
38. Zarifi Khameneh MR, Tolouei Z, Yousefi M, Pishkenari HN, Alasty A. Development and experimental evaluation of an endoscopic capsule robot equipped with a fail-safe biopsy mechanism. In: 2024 12th RSI International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran. Dec 17-19, 2024. IEEE; 2024. pp. 034-9.
39. Ye D, Zhang F, Yuan S, Song S, Meng MQH. Magnetically driven wireless capsule robot with targeting biopsy function. In: 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China. Dec 06-08, 2019. IEEE; 2019. pp. 1222-7.
40. Guo S, Huang F, Guo J, Fu Q. Study on the active movement capsule robot for biopsy. In: 2020 IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China. Oct 13-16, 2020. IEEE; 2020. pp. 1780-5.
41. Liu X, Guo J, Guo S, Fu Q, Mo B. Structural design and analysis of a new four-blade biopsy capsule endoscope. In: 2022 IEEE International Conference on Mechatronics and Automation (ICMA), Guilin, China. Aug 07-10, 2022. IEEE; 2022. pp. 581-6.
42. Yim S, Gultepe E, Gracias DH, Sitti M. Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers. IEEE Trans Biomed Eng. 2014;61:513-21.
43. Bourbakis N, Giakos G, Karargyris A. Design of new-generation robotic capsules for therapeutic and diagnostic endoscopy. In: 2010 IEEE International Conference on Imaging Systems and Techniques, Thessaloniki, Greece. Jul 01-02, 2010. IEEE; 2010. p. 1-6.
44. Muretto P, Graziano F, Staccioli MP, et al. An endogastric capsule for measuring tumor markers in gastric juice: an evaluation of the safety and efficacy of a new diagnostic tool. Ann Oncol. 2003;14:105-9.
45. John JV, McCarthy A, Su Y, et al. Nanofiber capsules for minimally invasive sampling of biological specimens from gastrointestinal tract. Acta Biomater. 2022;146:211-21.
46. Wang D, He R, Xie X, Bai T, Hou X. Visible collection of gastric juice using a detachable string magnetically controlled capsule endoscopy: genotypic measurement for Helicobacter pylori infection and antibiotic resistance. Gastroenterol Rep. 2025;13:goaf106.
47. Jin G, Wang G, Liu X, Cao H, Wang B. 977 - Intestine microbiome aspiration (IMBA) capsule: a new autonomous and minimally-invasive device for whole gut microbiome sampling and mapping. Gastroenterology. 2019;156:S-205.
48. Salem MB, Aiche G, Rubbert L, Renaud P, Haddab Y. Design of a microbiota sampling capsule using 3D-printed bistable mechanism. Annu Int Conf IEEE Eng Med Biol Soc. 2018;2018:4868-71.
49. Waimin JF, Nejati S, Jiang H, et al. Smart capsule for non-invasive sampling and studying of the gastrointestinal microbiome. RSC Adv. 2020;10:16313-22.
50. Nejati S, Wang J, Sedaghat S, et al. Smart capsule for targeted proximal colon microbiome sampling. Acta Biomater. 2022;154:83-96.
51. Sarnaik D, Krishnakumar A, Nejati S, et al. A smart capsule with a bacteria- and pH-triggered enteric polymer coating for targeted colonic microbiome sampling. Acta Biomater. 2025;199:412-27.
52. Banis GE, Beardslee LA, Stine JM, Sathyam RM, Ghodssi R. Gastrointestinal targeted sampling and sensing via embedded packaging of integrated capsule system. J Microelectromech Syst. 2019;28:219-25.
53. Banis GE, Beardslee LA, Stine JM, Sathyam RM, Ghodssi R. Integrated capsule system for gastroinitestinal PH triggered sampling and sensing. In: 2019 20th International Conference on Solid-State Sensors, Actuators and Microsystems & Eurosensors XXXIII (TRANSDUCERS & EUROSENSORS XXXIII), Berlin, Germany. Jun 23-27, 2019. IEEE; 2019. pp. 314-7.
54. Rezaei Nejad H, Oliveira BCM, Sadeqi A, et al. Ingestible osmotic pill for in vivo sampling of gut microbiomes. Adv Intell Syst. 2019;1:1900053.
55. Lee SN, Rahimian P, Stork C, et al. Evaluation of a novel smart capsule bacterial detection system device for diagnosis of small intestinal bacterial overgrowth. Neurogastroenterol Motil. 2025;37:e14965.
56. Rehan M, Al-Bahadly I, Thomas DG, Avci E. Capsule robot for gut microbiota sampling using shape memory alloy spring. Int J Med Robot. 2020;16:1-14.
57. Rehan M, Al-Bahadly I, Thomas DG, Avci E. Towards gut microbiota sampling using an untethered sampling device. IEEE Access. 2021;9:127175-84.
58. Rehan M, Al-Bahadly I, Thomas DG, Avci E. Development of a robotic capsule for in vivo sampling of gut microbiota. IEEE Robot Autom Lett. 2022;7:9517-24.
59. Du X, Chan KF, Xia X, Chiu PWY, Zhang L. A magnetically-triggered soft capsule for on-demand mucus collection. In: 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), Shenzhen, China. Oct 25-27, 20218. IEEE; 2018. pp. 250-4.
60. Ding Z, Wang W, Zhang K, et al. Novel scheme for non-invasive gut bioinformation acquisition with a magnetically controlled sampling capsule endoscope. Gut. 2021;70:2297-306.
61. Shahadha MH, Voigt A, Gruner D, et al. Ingestible active capsule for gastrointestinal microbiome sampling. Biomed Microdevices. 2026;28:19.
62. Li Z, He C, Verma A, Diller E. 3D printed untethered magnetic bulb for liquid biopsy and drug delivery. In: 2024 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Delft, Netherlands. Jul 01-05, 2024. IEEE; 2024. p. 1-6.
63. Dong X, Xiao B, Vu H, Lin H, Sitti M. Millimeter-scale soft capsules for sampling liquids in fluid-filled confined spaces. Sci Adv. 2024;10:eadp2758.
64. Park S, Park S. Magnetically actuated capsule with multiple sampling capability for gut microbiome research. In: 2024 24th International Conference on Control, Automation and Systems (ICCAS), Jeju, Republic of Korea. Oct 29 - Nov 01, 2024. IEEE; 2024. pp. 270-1.
65. Shokrollahi P, Lai YP, Rash-Ahmadi S, et al. Blindly controlled magnetically actuated capsule for noninvasive sampling of the gastrointestinal microbiome. IEEE/ASME Trans Mechatron. 2021;26:2616-28.
66. Nam J, Lai YP, Gauthier L, Jang G, Diller E. Resonance-based design of wireless magnetic capsule for effective sampling of microbiome in gastrointestinal tract. Sens Actuators A Phys. 2022;342:113654.
67. Gupta S, Palanichamy V, Onaizah O. Magnetically actuated capsule mechanism for drug delivery, sampling, and cargo transport in the gastrointestinal tract. In: 2025 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), West Lafayette, USA. Jul 28 - Aug 01, 2025. IEEE; 2025. p. 01-08.
68. Lee T, Diller E. Magnetic capsule for stable collection of large GI tract microbiome samples. In: 2025 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), West Lafayette, USA. Jul 28 - Aug 01, 2025. IEEE; 2025. p. 1-7.
69. Yun J, Rho J, Shin H, Jeon Y, Kim S, Nam J. Magnetically guided capsule for high-capacity dual sampling of gut microbiome. IEEE/ASME Trans Mechatron. 2026;31:1046-56.
70. Hajima K, Yamashita M, Honda T. Design and fabrication of magnetically driven cytology brush applicable to capsule endoscope. In: 2015 IEEE Magnetics Conference (INTERMAG), Beijing, China. May 11-15, 2015. IEEE; 2015. p. 1-1.
71. Finocchiaro M, GiosuĆØ C, Drago G, et al. Design of a magnetic actuation system for a microbiota-collection ingestible capsule. In: 2021 IEEE International Conference on Robotics and Automation (ICRA), Xiāan, China. May 30 - Jun 05, 2021. IEEE; 2021. pp. 6905-11.
72. Chen W, Sui J, Wang C. Magnetically actuated capsule robots: a review. IEEE Access. 2022;10:88398-420.
73. Cui J, Zheng X, Hou W, Zhuang Y, Pi X, Yang J. The study of a remote-controlled gastrointestinal drug delivery and sampling system. Telemed J E Health. 2008;14:715-9.
74. Son D, Gilbert H, Sitti M. Magnetically actuated soft capsule endoscope for fine-needle biopsy. Soft Robot. 2020;7:10-21.
75. Zhang S, Song S, Yu X, Song S, Zhang L. Design of magnetic actuated capsule robot for liquid sampling. IEEE Trans Biomed Eng. 2025;72:2709-19.
76. Xin Y, Sun ZJ, Gu W, Yu L. Experimental research on a capsule robot with spring-connected legs. Micromachines. 2022;13:2042.
77. Thwaites PA, Yao CK, Halmos EP, et al. Review article: Current status and future directions of ingestible electronic devices in gastroenterology. Aliment Pharmacol Ther. 2024;59:459-74.
78. Xu Z, Li Z, Liu S, Hu C. Design of capsule robot for magnetic gastric biopsy and drug administration. In: 2023 IEEE International Conference on Mechatronics and Automation (ICMA), Harbin, China. Aug 06-09, 2023. IEEE; 2023. pp. 2297-302.
79. Xu Z, Wei T, Li Z, Huang D, Liu S, Hu C. Magnetically driven capsule robot for multi-targeted biopsy and drug delivery in stomach. In: 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand. Dec 04-09, 2023. IEEE; 2023. p. 1-6.
80. Wu Z, Wang X, Lu Y, Xu Q. Multichamber magnetic capsule robot for selective liquid sampling and drug delivery. Natl Sci Rev. 2025;12:nwaf400.
81. Abbott JJ, Diller E, Petruska AJ. Magnetic methods in robotics. Annu Rev Control Robot Auton Syst. 2020;3:57-90.
82. Shalon D, Culver RN, Grembi JA, et al. Profiling the human intestinal environment under physiological conditions. Nature. 2023;617:581-91.
83. Folz J, Culver RN, Morales JM, et al. Human metabolome variation along the upper intestinal tract. Nat Metab. 2023;5:777-88.
84. Bundalovic-Torma C, Wang G, Menon S, et al. Sa2023 Targeted and reproducible sampling of the small intestinal microbiome with the small intestine microbiome aspirate capsule technology (SIMBA): clinical validation against endoscopy aspirates and fecal samples in healthy and gi disorder. Gastroenterology. 2024;166:S-608.
85. Wang G, Menon S, Wilsack L, et al. Spatially and temporally precise microbiome profiling in the small intestine using the SIMBA capsule with X-ray tracking. Front Microbiomes. 2024;3:1321624.
86. Tronel A, Roger-Margueritat M, Plazy C, et al. Exploring the human small intestinal luminal microbiome via a newly developed ingestible sampling device. ISME Commun. 2025;5:ycaf224.
87. Nema A, Dhar D, Ramireddy VSR, Priyam K, Agarwal S, Srivastava SK. A small pill-like ingestible microdevice for site-specific microbiome sampling in the upper GI tract. Small. 2026;22:e10289.
88. Menard J, Bagheri S, Menon S, Yu YT, Goodman LB. Noninvasive sampling of the small intestinal chyme for microbiome, metabolome and antimicrobial resistance genes in dogs, a proof of concept. Anim Microbiome. 2023;5:64.
89. Krishnakumar A, Sarnaik D, Gallina NLF, et al. Smart sampling capsule for capture and detection of enteric pathogens in the small intestine. Adv Mater Technol. 2025;10:e00848.
90. Del-Rio-Ruiz R, Romualdo da Silva DR, Suresh H, et al. Soft autonomous ingestible device for sampling the small-intestinal microbiome. Device. 2024;2:100406.
91. Mandsberg NK, Moro G, Ghavami M, et al. Ingestible device for gastric fluid sampling. Adv Mater Technol. 2024;9:2400434.
92. Nejati S, Sarnaik D, Gopalakrishnan S, et al. Electronicāfree traceable smart capsule for gastrointestinal microbiome sampling. Adv Mater Technol. 2024;9:2300810.
93. Rehan M, Al-Bahadly I, Thomas DG, Young W, Cheng LK, Avci E. Smart capsules for sensing and sampling the gut: status, challenges and prospects. Gut. 2023;73:186-202.
94. Chen L, Gruzinskyte L, JĆørgensen SL, Boisen A, Srivastava SK. An ingestible self-polymerizing system for targeted sampling of gut microbiota and biomarkers. ACS Nano. 2020;14:12072-81.
95. Sadeqi A, DelāRioāRuiz R, Rezaei Nejad H, et al. Magnetically activated ingestible pill with archimedes screw for onādemand sampling of intestinal microbiome. Adv Mater Technol. 2025;10:2400750.
96. Li T, Felton J, Lewis J, et al. An ingestible device for automated sampling and location tracing in gastrointestinal tract. PLoS One. 2025;20:e0327667.
97. Leon-Rodriguez H, Lee C, Ha LV, Ko SY, Park JO, Park S. Conceptual design of micro-hydraulics system for active and biopsy capsule endoscope robot. In: 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Sao Paulo, Brazil. Aug 12-15, 2014. IEEE; 2014. pp. 1068-72.
98. Moon S. A planar-type micro-biopsy tool for a capsule-type endoscope using a one-step nickel electroplating process. Micromachines. 2023;14:1900.
99. Su CC, Chou CK, Mukundan A, et al. Capsule endoscopy: current trends, technological advancements, and future perspectives in gastrointestinal diagnostics. Bioengineering. 2025;12:613.
100. Zheng L, Sun J, Qi Z, et al. A magnetically controlled capsule robot with biopsy capability for intestinal applications. Sensors. 2025;25:7158.




