Ingestible Functional Magnetic Robot with Localized Flexibility (MR‐LF)
Ingestible Functional Magnetic Robot with Localized Flexibility (MR‐LF)
复制标题
具有局部柔性的可摄取功能性磁性机器人（MR-LF）
DOI：
10.1002/aisy.202200166
复制
发表时间：
2022-09
影响因子：
7.4
通讯作者：
Taylor E. Greenwood;Henry Cagle;Benson Pulver;O. S. Pak;Y. L. Kong
中科院分区：
文献类型：
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作者：
Taylor E. Greenwood;Henry Cagle;Benson Pulver;O. S. Pak;Y. L. Kong
可摄取剂型与感测、致动和药物递送能力的集成可以实现广泛的免手术诊断和治疗策略。然而，胃肠道（GI）是高度受限且复杂的管腔构造，其从根本上限制了可摄取系统的尺寸。中尺度磁爬行器的最新进展已经证明了通过利用磁场诱导收缩和基于弯曲的运动来有效地穿越复杂和受限系统的能力。然而，功能组件的集成（例如，电子设备）在所提出的可摄取系统中的应用仍然具有根本性的挑战。在此，演示了通过赋予局部柔性（MR-LF）在磁性机器人中创建集中隔间。集中式隔室使MR-LF能够轻松与模块化功能组件和有效载荷集成，例如商业现成的电子产品和药物，同时在可摄入的外形尺寸中保持其双向性。证明了MR-LF能够整合电子器件、执行药物输送、引导连续体器械（如导管）以及在受限管腔中导航空气-水环境。MR‐LF实现了功能集成，以创建一个高度集成的可摄取系统，最终可以满足广泛的未满足的临床需求。这篇文章的交互式预印本可以在https://doi.org/10.22541/au.166274072.23086985/v1上找到。
The integration of an ingestible dosage form with sensing, actuation, and drug delivery capabilities can enable a broad range of surgical‐free diagnostic and treatment strategies. However, the gastrointestinal (GI) tract is a highly constrained and complex luminal construct that fundamentally limits the size of an ingestible system. Recent advancements in mesoscale magnetic crawlers have demonstrated the ability to effectively traverse complex and confined systems by leveraging magnetic fields to induce contraction and bending‐based locomotion. However, the integration of functional components (e.g., electronics) in the proposed ingestible system remains fundamentally challenging. Herein, the creation of a centralized compartment in a magnetic robot by imparting localized flexibility (MR‐LF) is demonstrated. The centralized compartment enables MR‐LF to be readily integrated with modular functional components and payloads, such as commercial off‐the‐shelf electronics and medication, while preserving its bidirectionality in an ingestible form factor. The ability of MR‐LF to incorporate electronics, perform drug delivery, guide continuum devices such as catheters, and navigate air–water environments in confined lumens is demonstrated. The MR‐LF enables functional integration to create a highly integrated ingestible system that can ultimately address a broad range of unmet clinical needs. An interactive preprint version of the article can be found at https://doi.org/10.22541/au.166274072.23086985/v1.