Wireless capsule endoscopy (WCE) has transformed gastrointestinal (GI) diagnostics by enabling noninvasive visualization of the digestive tract, yet its diagnostic yield remains constrained by the absence of biopsy capability, as histological analysis is still the gold standard for confirming disease. Conventional biopsy using forceps, needles, or rotating blades is invasive, limited in reach, and carries risks of perforation or mucosal trauma, while fluid- or microbiota-sampling capsules cannot provide structured tissue for pathology, leaving a critical gap in swallowable biopsy solutions. Here we present the Kiri-Capsule, a kirigami-inspired capsule robot that integrates deployable PI-film flaps actuated by a compact dual-cam mechanism to achieve minimally invasive and repeatable tissue collection. The kirigami surface remains flat during locomotion but transforms into sharp protrusions upon cam-driven stretching, enabling controlled penetration followed by rotary scraping, with specimens retained in internal fan-shaped cavities. Bench tests confirmed that PI films exhibit a Young's modulus of approximately 20 MPa and stable deployment angles (about 34$^\circ$ at 15% strain), while ex vivo porcine studies demonstrated shallow penetration depths (median $\sim$0.61 mm, range 0.46--0.66 mm) and biopsy yields comparable to standard forceps (mean $\sim$10.9 mg for stomach and $\sim$18.9 mg for intestine), with forces within safe ranges reported for GI biopsy. These findings demonstrate that the Kiri-Capsule bridges passive imaging and functional biopsy, providing a swallowable, depth-controlled, and histology-ready solution that advances capsule-based diagnostics toward safe and effective clinical application.

翻译：无线胶囊内窥镜（WCE）通过实现消化道的无创可视化，已彻底改变了胃肠道（GI）诊断，但其诊断效能仍因缺乏活检能力而受限，因为组织学分析仍是确认疾病的金标准。使用镊子、针头或旋转刀片的传统活检具有侵入性、可及范围有限，并存在穿孔或黏膜创伤的风险，而液体或微生物群采样胶囊则无法提供用于病理学的结构化组织，这使得可吞咽活检解决方案存在关键空白。本文提出Kiri-Capsule，一种受折纸启发的胶囊机器人，它集成了由紧凑型双凸轮机构驱动的可展开PI薄膜瓣，以实现微创且可重复的组织采集。折纸表面在运动过程中保持平坦，但在凸轮驱动拉伸时转变为尖锐突起，从而实现可控穿透及随后的旋转刮取，样本被保留在内部的扇形空腔中。台架测试证实PI薄膜的杨氏模量约为20 MPa，并具有稳定的展开角度（在15%应变下约34$^\circ$），离体猪组织研究则证明了其穿透深度较浅（中位数$\sim$0.61 mm，范围0.46--0.66 mm），且活检获取量与标准镊子相当（胃部平均$\sim$10.9 mg，肠道平均$\sim$18.9 mg），作用力处于已报道的胃肠道活检安全范围内。这些发现表明，Kiri-Capsule桥接了被动成像与功能性活检，提供了一种可吞咽、深度可控且适用于组织学分析的解决方案，推动基于胶囊的诊断技术向安全有效的临床应用迈进。