Kim Yongju, Park Jeong Eun, Wie Jeong Jae, Yang Su Geun, Lee Don Haeng, Jin Young-Joo
Department of Polymer Science and Engineering, Inha University, Incheon 22212, Korea.
Department of New Drug Development, Inha University, School of Medicine, Incheon 22212, Korea.
Materials (Basel). 2020 Feb 24;13(4):1014. doi: 10.3390/ma13041014.
This study investigates the effects of soft-robot geometry on magnetic guiding to develop an efficient helical mediator on a three-dimensional (3D) gastric cancer model. Four different magnetically active helical soft robots are synthesized by the inclusion of 5-μm iron particles in polydimethylsiloxane matrices. The soft robots are named based on the diameter and length (D2-L15, D5-L20, D5-L25, and D5-L35) with samples having varied helical pitch and weight values. Then, the four samples are tested on a flat surface as well as a stomach model with various 3D wrinkles. We analyze the underlying physics of intermittent magnetomotility for the helix on a flat surface. In addition, we extract representative failure cases of magnetomotility on the stomach model. The D5-L25 sample was the most suitable among the four samples for a helical soft robot that can be moved to a target lesion by the magnetic-flux density of the stomach model. The effects of diameter, length, pitch, and weight of a helical soft robot on magnetomotility are discussed in order for the robot to reach the target lesion successfully via magnetomotility.
本研究调查了软机器人几何形状对磁引导的影响，以在三维（3D）胃癌模型上开发一种高效的螺旋介导器。通过在聚二甲基硅氧烷基质中加入5μm的铁颗粒，合成了四种不同的具有磁活性的螺旋软机器人。这些软机器人根据直径和长度命名（D2-L15、D5-L20、D5-L25和D5-L35），其样本具有不同的螺距和重量值。然后，对这四个样本在平面以及具有各种3D褶皱的胃模型上进行测试。我们分析了螺旋体在平面上间歇性磁驱动的潜在物理原理。此外，我们提取了胃模型上磁驱动的代表性失败案例。对于一个可以通过胃模型的磁通密度移动到目标病变处的螺旋软机器人来说，D5-L25样本在这四个样本中是最合适的。为了使机器人通过磁驱动成功到达目标病变处，我们讨论了螺旋软机器人的直径、长度、螺距和重量对磁驱动的影响。
