Bio-Inspired Untethered Robot-Sensor Platform for Minimally Invasive Biomedical Sensing
Bio-Inspired Untethered Robot-Sensor Platform for Minimally Invasive Biomedical Sensing
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DOI：
10.1021/acsami.3c13425
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发表时间：
2023-12-05
影响因子：
9.5
通讯作者：
Yao，Shanshan
中科院分区：
文献类型：
--
作者：
Li，Yizong;Halwah，Amro;Yao，Shanshan
传统的基于导管或探针的体内生物医学感测是不舒服的、不方便的，并且有时对于长期监测是不可行的。现有的可植入传感器通常需要用于传感器放置的侵入性过程。具有将传感器传递到所需监测点的能力的无绳软机器人为微创生物医学传感提供了巨大的希望。受蛇的运动模式的启发，我们在这里提出了一个软kirigami机器人的传感器部署和实时无线传感。软机器人的运动机制是通过kirigami模式，提供不对称的摩擦学特性，模仿蛇的皮肤。该机器人具有良好的可展开性，出色的负载能力（高达自身重量的150倍），高速运动（每步0.25体长），以及广泛的环境适应性与多模态运动（跨越障碍，在潮湿和干燥条件下运动，攀爬，倒置爬行）。当与无源传感器集成时，多功能软体机器人可以在人体内移动，将无源传感器送到所需位置，并以微创方式将传感器保持在原位进行实时监控。概念验证原型表明，该平台可以进行实时阻抗监测，用于诊断胃食管反流病。
Conventional catheter- or probe-based in vivo biomedical sensing is uncomfortable, inconvenient, and sometimes infeasible for long-term monitoring. Existing implantable sensors often require an invasive procedure for sensor placement. Untethered soft robots with the capability to deliver the sensor to the desired monitoring point hold great promise for minimally invasive biomedical sensing. Inspired by the locomotion modes of snakes, we present here a soft kirigami robot for sensor deployment and real-time wireless sensing. The locomotion mechanism of the soft robot is achieved by kirigami patterns that offer asymmetric tribological properties that mimic the skin of the snake. The robot exhibits good deployability, excellent load capacity (up to 150 times its own weight), high-speed locomotion (0.25 body length per step), and wide environmental adaptability with multimodal movements (obstacle crossing, locomotion in wet and dry conditions, climbing, and inverted crawling). When integrated with passive sensors, the versatile soft robot can locomote inside the human body, deliver the passive sensor to the desired location, and hold the sensor in place for real-time monitoring in a minimally invasive manner. The proof-of-concept prototype demonstrates that the platform can perform real-time impedance monitoring for the diagnosis of gastroesophageal reflux disease.