Endoscopy-assisted magnetic navigation of biohybrid soft microrobots with rapid endoluminal delivery and imaging
Endoscopy-assisted magnetic navigation of biohybrid soft microrobots with rapid endoluminal delivery and imaging
复制标题
DOI：
10.1126/scirobotics.abd2813
复制
发表时间：
2021-03-17
期刊：
影响因子：
25
通讯作者：
Zhang, Li
中科院分区：
文献类型：
--
作者：
Wang, Ben;Chan, Kai Fung;Zhang, Li
微型机器人在全身范围内的高精度递送对于靶向治疗干预的努力具有相当重要的意义。然而，基于视觉的微型机器人控制，到身体内部的深而窄的空间，仍然是一个挑战。在这里，我们报告了一种柔软而有弹性的磁性细胞微型机器人，具有高度的生物相容性，可以与人体接口，并适应复杂的环境，同时在体内导航。我们实现了时间效率的交付软microrobots使用一个集成的平台，称为内窥镜辅助磁致动与双成像系统（EMADIS）。EMADIS能够在全身范围内跨越多个器官/组织屏障进行快速部署，并通过自然孔口将柔软和生物混合微型机器人真实的实时高精度递送到深度达米级的微小区域，这些区域通常是传统内窥镜和医疗机器人无法接近甚至不可见的。通过EMADIS经食管将磁性干细胞球体微机器人（MSCSMs）精确递送到胆管中，总距离约为100厘米，可在8分钟内完成。集成策略提供了一个完整的临床成像技术？基于治疗/干预系统，通过软微型机器人扩大了迄今难以进入的区域的可及性。
High-precision delivery of microrobots at the whole-body scale is of considerable importance for efforts toward targeted therapeutic intervention. However, vision-based control of microrobots, to deep and narrow spaces inside the body, remains a challenge. Here, we report a soft and resilient magnetic cell microrobot with high biocompatibility that can interface with the human body and adapt to the complex surroundings while navigating inside the body. We achieve time-efficient delivery of soft microrobots using an integrated platform called endoscopyassisted magnetic actuation with dual imaging system (EMADIS). EMADIS enables rapid deployment across multiple organ/tissue barriers at the whole-body scale and high-precision delivery of soft and biohybrid microrobots in real time to tiny regions with depth up to meter scale through natural orifice, which are commonly inaccessible and even invisible by conventional endoscope and medical robots. The precise delivery of magnetic stem cell spheroid microrobots (MSCSMs) by the EMADIS transesophageal into the bile duct with a total distance of about 100 centimeters can be completed within 8 minutes. The integration strategy offers a full clinical imaging technique? based therapeutic/intervention system, which broadens the accessibility of hitherto hard-to-access regions, by means of soft microrobots.