Robotics and Microsystems Center, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215000, China.
School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, 215000, China.
Adv Sci (Weinh). 2024 Nov;11(43):e2406600. doi: 10.1002/advs.202406600. Epub 2024 Sep 24.
The development of environmentally adaptive solutions for magnetically actuated microrobots to enable targeted delivery in complex and confined fluid environments presents a significant challenge. Inspired by the natural locomotion of crucian carp, a barbell-shaped soft microrobot (MBSM) is proposed. A mechano-electromagnetic hybrid actuation system is developed to generate oscillating magnetic fields to manipulate the microrobot. The MBSM can seamlessly transition between three fundamental locomotion modes: fast navigation (FN), high-precision navigation (HPN), and fixed-point rotation (FPR). Moreover, the MBSM can move in reverse without turning. The multimodal locomotion endows the MBSM's adaptability in diverse environments. It can smoothly pass through confined channels, climb over obstacles, overcome gravity for vertical motion, track complex pathways, traverse viscous environments, overcome low fluid resistance, and navigate complex spaces mimicking in vivo environments. Additionally, the MBSM is capable of drug loading and release in response to ultrasound excitation. In an ex vivo porcine liver vein, the microrobot demonstrated targeted navigation under ultrasound guidance, showcasing its potential for specialized in vivo tasks.
受鲫鱼自然游动的启发，提出了一种棒状软微型机器人（MBSM）。设计了一种机电混合驱动系统，以产生振荡磁场来操纵微机器人。MBSM 可以在三种基本运动模式之间无缝切换：快速导航（FN）、高精度导航（HPN）和定点旋转（FPR）。此外，MBSM 可以无需转向地反向移动。多模态运动赋予了 MBSM 在不同环境中的适应性。它可以平稳地通过狭窄的通道，爬越障碍物，克服重力进行垂直运动，跟踪复杂的路径，穿越粘性环境，克服低流体阻力，并在模拟体内环境的复杂空间中导航。此外，MBSM 能够响应超声激励进行药物加载和释放。在离体猪肝静脉中，微机器人在超声引导下进行了靶向导航，展示了其在特定体内任务中的应用潜力。
