Given that the current microrobot cannot achieve fixed-point and quantitative drug application in the gastrointestinal (GI) tract, a targeted drug delivery microrobot is proposed, and its principle and characteristics are studied. Through the control of an external magnetic field, it can actively move to the affected area to realize the targeted drug delivery function. The microrobot has a cam structure connected with a radially magnetized permanent magnet, which can realize two movement modes: movement and targeted drug delivery. Firstly, the magnetic actuated capsule microrobotic system (MACMS) is analyzed. Secondly, the dynamic model and quantitative drug delivery model of the targeted drug delivery microrobot driven by the spiral jet structure are established, and the motion characteristics of the targeted drug delivery microrobot are simulated and analyzed by the method of Computational Fluid Dynamics (CFD). Finally, the whole process of the targeted drug delivery task of the microrobot is simulated. The results show that the targeted drug delivery microrobot can realize basic movements such as forward, backward, fixed-point parking and drug delivery through external magnetic field control, which lays the foundation for gastrointestinal diagnosis and treatment.

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Magnetic-driven capsule robot has been widely studied due to its advantages of safety and reliability. However, when doctors carry out clinical examination, the capsule robot cannot achieve the ideal control effect due to the influence of the external magnetic field air gap. This paper is based on the kinetic energy theorem, combined with the principle of spiral mechanism in mechanical design foundation to construct a calculation method of energy utilization and to improve the control effect of capsule robot, suitable for the human gastrointestinal tract precise control of capsule robot to perform a variety of complex tasks. By calculating the energy utilization rate of the capsule robot under the control of external magnetic field, the method can improve the energy utilization rate by improving the equation parameters, so that the capsule robot can run according to the doctor’s ideal performance in practical application. Based on the analysis of the magnetic driven screw capsule robot, the model of the utilization rate of the external magnetic field of the capsule robot is established, and the fluid simulation of the capsule robot is carried out by using the method of computational fluid dynamics. The simulation results and experimental results show that the control effect of capsule robot can be improved by calculating the energy utilization rate of the robot, which is of great significance to human clinical examination and treatment.