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Gastrointestinal diseases have emerged as a significant factor in disability-adjusted life years and mortality in recent years. Currently, the standard method for diagnosing gastrointestinal disorders is endoscopy. Traditional invasive endoscopy not only has a long pre-procedure preparation time but also causes discomfort to the patients. The emergence of capsule robots can largely avoid the above problems. The capsule robot not only enables all-round examination of the digestive tract, targeted drug administration, and biopsy sampling but also greatly improves examination efficiency and accuracy. When robots are targeting specific areas of the intestine for examination, biopsy sampling, and drug delivery, most capsule robots are anchored by anchoring forces generated by an anchoring mechanism to enable the positioning of the capsule that robot, which in turn provides the possibility of targeted drug delivery, biopsies, and other manipulations. The current research has primarily concentrated on the design, motion control, and attitude stabilization of these robots, but there has been limited exploration of their anchoring mechanisms. The study analyzes the effects influencing the anchoring force of capsule robots, including the effective working area of the anchoring structure, the length of the anchoring mechanism, surface roughness, and intestinal peristaltic forces. The paper uses a hyperelastic model of the intestine to assess the impact of intestinal contraction forces on the required anchoring force of the capsule robot. The analysis can optimize the anchoring mechanism of the capsule robot and provide a theoretical framework for its effective design.
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