Submillimeter Multifunctional Ferromagnetic Fiber Robots for Navigation, Sensing, and Modulation
Submillimeter Multifunctional Ferromagnetic Fiber Robots for Navigation, Sensing, and Modulation
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DOI：
10.1002/adhm.202300964
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发表时间：
2023-07-27
影响因子：
10
通讯作者：
Jia，Xiaoting
中科院分区：
文献类型：
--
作者：
Zhang，Yujing;Wu，Xiaobo;Jia，Xiaoting
能够远程主动转向和导航的小型机器人为生物医学应用提供了巨大的潜力。然而，目前的设计和制造过程阻碍了它们的小型化和各种诊断和治疗功能的集成。本文提出了一种集导航、传感和调制功能于一体的亚毫米光纤机器人。这些光纤机器人是通过可扩展的热拉伸工艺以每分钟4米的速度制造的，这使得铁磁性，电学，光学和微流体复合材料能够集成，总直径小至250微米，长度长达150米。在45 mT的均匀磁场下，光纤尖端的偏转角度可达54。这些光纤机器人可以在复杂和受限的环境中导航，如人造血管和脑幻影。此外，Langendorff小鼠心脏模型、胶质母细胞瘤微平台和体内小鼠模型被用来证明感知电生理信号和进行局部治疗的能力。此外，还证明了光纤机器人可以作为内置波导的内窥镜。这些光纤机器人提供了一个多功能平台，以微创和远程可控的方式在难以到达的位置进行有针对性的多模式检测和治疗。
Small‐scale robots capable of remote active steering and navigation offer great potential for biomedical applications. However, the current design and manufacturing procedure impede their miniaturization and integration of various diagnostic and therapeutic functionalities. Herein, submillimeter fiber robots that can integrate navigation, sensing, and modulation functions are presented. These fiber robots are fabricated through a scalable thermal drawing process at a speed of 4 meters per minute, which enables the integration of ferromagnetic, electrical, optical, and microfluidic composite with an overall diameter of as small as 250 µm and a length of as long as 150 m. The fiber tip deflection angle can reach up to 54ounder a uniform magnetic field of 45 mT. These fiber robots can navigate through complex and constrained environments, such as artificial vessels and brain phantoms. Moreover, Langendorff mouse hearts model, glioblastoma micro platforms, and in vivo mouse models are utilized to demonstrate the capabilities of sensing electrophysiology signals and performing a localized treatment. Additionally, it is demonstrated that the fiber robots can serve as endoscopes with embedded waveguides. These fiber robots provide a versatile platform for targeted multimodal detection and treatment at hard‐to‐reach locations in a minimally invasive and remotely controllable manner.