In recent years, the demand of in vivo robotic capsule in bio-imaging has experienced a huge amount of growth [1]. After 20 years of development, researchers are looking to expand the application potential of robotic capsule to a higher stage. Multifunctional capsules which could locomote along the gastrointestinal tract, adhere to the tissue, record physical data, and deliver drugs have been designed and studied by many research groups. Practically, all the functions above were realized through manipulating nearby tissue in certain way. A major issue concerning those tissue manipulation procedures is trauma. Our previous work presented a type of tissue attachment mechanism (TAM) inspired by tapeworm scolex which could attach a biosensor to the target intestinal tissue and maintain its position up to 6 days [2]. The TAM system includes a sucker with vacuum chamber and several needles integrated onto the sucker. When the TAM arrives...

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