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.

2. Iddan G, Meron G, Glukhovsky A, Swain P. Wireless capsule endoscopy. Nature. 2000;405:417.

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), Xi’an, 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. Electronic‐free 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, Del‐Rio‐Ruiz R, Rezaei Nejad H, et al. Magnetically activated ingestible pill with archimedes screw for on‐demand 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.

101. Khachornsakkul K, Del‐Rio‐Ruiz R, Zeng W, et al. Ingestible sensor based on fluorescent gold nanoparticles and molecularly imprinted polymers on thread for localized quantification of Escherichia Coli in the gastrointestinal tract. Adv Funct Mater. 2024;34:2408056.

Mini-invasive Surgery
ISSNĀ 2574-1225 (Online)
Follow Us

Portico

All published articles are preserved here permanently:

https://www.portico.org/publishers/oae/

Portico

All published articles are preserved here permanently:

https://www.portico.org/publishers/oae/