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To address these issues, we propose a multifunctional capsule-shaped puncture biopsy robot (PBR) with capabilities for tissue sampling, thermal hemostasis, and multi-stage drug delivery. The PBR measures 27 mm in length and 13 mm in diameter, integrating a micro-scale electro-permanent magnetic system with a 60-turn dual-layer coil (wire diameter: 0.6 mm) to drive an 8 mm-depth puncture needle. A graphene\u2013carbon nanotube composite heating film enables rapid and safe temperature elevation, achieving effective hemostasis and triggering sequential drug release using paraffin-based phase-change materials. Heating remains within the clinical safety range. Experiments demonstrated successful tissue penetration, precise magnetic control, and reliable staged pigment release simulating drug delivery. Tests on an ex vivo porcine stomach confirmed adaptability to irregular gastric surfaces. This compact PBR provides an integrated and minimally invasive approach to both the diagnosis and treatment of gastrointestinal lesions.<\/jats:p>","DOI":"10.3390\/mi16050589","type":"journal-article","created":{"date-parts":[[2025,5,20]],"date-time":"2025-05-20T04:48:18Z","timestamp":1747716498000},"page":"589","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Multifunctional Capsule-like Puncture Biopsy Robot for the Gastrointestinal System"],"prefix":"10.3390","volume":"16","author":[{"given":"Xinmiao","family":"Xu","sequence":"first","affiliation":[{"name":"School of Future Science and Engineering, Soochow University, Suzhou 215222, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinghan","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Future Science and Engineering, Soochow University, Suzhou 215222, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dingwen","family":"Tong","sequence":"additional","affiliation":[{"name":"School of Future Science and Engineering, Soochow University, Suzhou 215222, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yiqun","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Future Science and Engineering, Soochow University, Suzhou 215222, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinjian","family":"Fan","sequence":"additional","affiliation":[{"name":"School of Future Science and Engineering, Soochow University, Suzhou 215222, China"},{"name":"School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wanning","family":"Ge","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,5,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"823","DOI":"10.1136\/gutjnl-2019-320234","article-title":"Is gastric cancer becoming a rare disease? 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