Magnetically actuated hydrogel-based capsule microrobots for intravascular targeted drug delivery.

Microrobots for targeted drug delivery in blood vessels have attracted increasing interest from researchers. In this work, hydrogel-based capsule microrobots are used to wrap drugs and deliver drugs in blood vessels. In order to prepare capsule microrobots of different sizes, a triaxial microfluidic chip is designed and built, and the formation mechanism of three flow phases including the plug flow phase, bullet flow phase and droplet phase during the preparation of capsule microrobots is studied. The analysis and simulation results show that the size of the capsule microrobots can be controlled by the flow rate ratio of two phases in the microfluidic chip, and when the flow rate of the outer phase is 20 times that of the inner phase in the microfluidic chip, irregular multicore capsule microrobots can be prepared. On this basis, a three degree of freedom magnetic drive system is developed to drive the capsule microrobots to reach the destination along the predetermined trajectory in the low Reynolds number environment, and the magnetic field performance of the magnetic drive system is simulated and analyzed. Finally, in order to verify the feasibility of targeted drug delivery of the capsule microrobots in the blood vessel, the motion process of the capsule microrobots in the vascular microchannel is simulated, and the relationship between the motion performance of the capsule microrobots and the magnetic field is studied. The experimental results show that the capsule microrobots can reach a speed of 800 μm s at a low frequency of 0.4 Hz. At the same time, the capsule microrobots can reach a peak speed of 3077 μm s and can continuously climb over a 1000 μm high obstacle under a rotating magnetic field of 2.4 Hz and 14.4 m. Experiments show that the capsule microrobots have excellent drug delivery potential in similar vascular curved channels driven by this system.