Magnetic-driven 3D-printed biodegradable swimming microrobots
Magnetic-driven 3D-printed biodegradable swimming microrobots
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DOI：
10.1088/1361-665x/ace1ba
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发表时间：
2023-08-01
影响因子：
4.1
通讯作者：
Wang, Ya
中科院分区：
文献类型：
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作者：
Chen, Jingfan;Hu, Hanwen;Wang, Ya
磁性物体在外部旋转磁场作用下，由于其内部磁化强度与磁场的取向关系，会发生旋转。基于这一原理，设计了12个长约1 mm的游泳微型机器人形状，并使用可生物降解材料聚乙二醇二丙烯酸酯（PEDGA）进行3D打印。它们的表面装饰有超顺磁性氧化铁纳米颗粒，以提供磁响应。一个由12个永磁体组成的阵列产生了一个旋转的均匀磁场（∼100 mT）来施加磁力矩，从而在微型机器人中引起翻滚运动。我们开发了一个动态模型，捕捉不同形状的游泳微型机器人的行为，并表现出良好的协议与实验结果。在这12种形状中，我们发现长度、宽度和深度相等的微型机器人表现更好。在5.26Hz的旋转磁场作用下，空心立方体微机器人的平动速度可达17.84mm·s（-1）（17.84体长/s）。这些微型机器人可以在一个简化的血管分支中游到目标位置。建立了微型游泳机器人在0.062m·s（-1）流速下的运动有限元模型。
A magnetic object subject to an external rotating magnetic field would be rotated due to the alignment tendency between its internal magnetization and the field. Based on this principle, 12 shapes of swimming microrobots around 1 mm long were designed and 3D-printed using biodegradable materials Poly (ethylene glycol) diacrylate (PEDGA). Their surface was decorated with superparamagnetic iron oxide nanoparticles to provide magnetic responsivity. An array of 12 permanent magnets generated a rotating uniform magnetic field (& SIM;100 mT) to impose magnetic torque, which induces a tumbling motion in the microrobot. We developed a dynamic model that captured the behavior of swimming microrobots of different shapes and showed good agreement with experimental results. Among these 12 shapes, we found that microrobots with equal length, width, and depth performed better. The observed translational speed of the hollow cube microrobot can exceed 17.84 mm s(-1) (17.84 body lengths/s) under a rotating magnetic field of 5.26 Hz. These microrobots could swim to the targeted sites in a simplified vessel branch. And a finite element model was created to simulate the motion of the swimming microrobot under a flow rate of 0.062 m s(-1).