Hydrophobic soft cone-assisted rolling robot inspired by sea urchin for gastrointestinal tract delivery

IF 6.3 1区 工程技术 Q1 ENGINEERING, MECHANICAL
Shenglin Yang, Yixuan Yang, Hongyuan Li, Jie Li, Yunrui Chen, Lin Xu, Bingsuo Zou, Yabin Zhang, Ben Wang
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Abstract

Miniature soft robots have evolved into various therapeutic applications due to good adaptability. Nonetheless, complex terrains inside body, especially soft wrinkled topography with non-Newtonian viscous mucus in the gastrointestinal tract, pose a strict demand on the navigation of such robots. To address the challenge, here a design inspiration derived from sea urchin is proposed to fabricate the soft-cone-assisted rolling robot (SCARBot) by encapsulating blood coagulation gel, creating a hollow cylindrical structure for loading drugs inside. The arrangement of an array of soft cones with manually designed hydrophobicity allows for controlled locomotion of the robots under low-frequency magnetic field, significantly reducing surface friction and improving environmental adaptability. This motion ability is further supported by US-imaging-guided navigation in an ex vivo and even in vivo gastrointestinal tract. When the high-frequency magnetic field is exerted, the drug-loaded blood coagulation gel sealed inside the robot melts by magnetothermal effect, thereby releasing drugs at the targeted location. The synergy of magnetothermal and pharmacological therapy enable this robot to exhibit enhanced antibacterial efficiency for ex vivo and in vivo bacterial infection and inflammation. Such soft robots with exceptional adaptability and therapeutic functions offer high potential for targeted delivery and therapy through lumens inside body.

Abstract Image

受海胆启发的用于胃肠道输送的疏水软锥辅助滚动机器人
由于具有良好的适应性,微型软体机器人已经发展到各种治疗应用领域。然而,人体内部复杂的地形,特别是胃肠道中具有非牛顿粘性黏液的柔软褶皱地形,对此类机器人的导航提出了严格的要求。为了解决这一挑战,我们从海胆中获得了设计灵感,通过封装凝血凝胶,创造一个中空的圆柱形结构来装载药物,从而制造出软锥辅助滚动机器人(SCARBot)。通过人工设计疏水性软锥阵列的排列,可以在低频磁场下控制机器人的运动,显著减少表面摩擦,提高环境适应性。这种运动能力在离体甚至在体胃肠道中得到了us成像引导导航的进一步支持。当施加高频磁场时,密封在机器人内部的载药凝血凝胶在磁热效应下融化,从而在目标位置释放药物。磁热和药物治疗的协同作用使该机器人对体外和体内细菌感染和炎症表现出增强的抗菌效率。这种柔性机器人具有特殊的适应性和治疗功能,为通过体内腔进行靶向递送和治疗提供了很大的潜力。
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来源期刊
Friction
Friction Engineering-Mechanical Engineering
CiteScore
12.90
自引率
13.20%
发文量
324
审稿时长
13 weeks
期刊介绍: Friction is a peer-reviewed international journal for the publication of theoretical and experimental research works related to the friction, lubrication and wear. Original, high quality research papers and review articles on all aspects of tribology are welcome, including, but are not limited to, a variety of topics, such as: Friction: Origin of friction, Friction theories, New phenomena of friction, Nano-friction, Ultra-low friction, Molecular friction, Ultra-high friction, Friction at high speed, Friction at high temperature or low temperature, Friction at solid/liquid interfaces, Bio-friction, Adhesion, etc. Lubrication: Superlubricity, Green lubricants, Nano-lubrication, Boundary lubrication, Thin film lubrication, Elastohydrodynamic lubrication, Mixed lubrication, New lubricants, New additives, Gas lubrication, Solid lubrication, etc. Wear: Wear materials, Wear mechanism, Wear models, Wear in severe conditions, Wear measurement, Wear monitoring, etc. Surface Engineering: Surface texturing, Molecular films, Surface coatings, Surface modification, Bionic surfaces, etc. Basic Sciences: Tribology system, Principles of tribology, Thermodynamics of tribo-systems, Micro-fluidics, Thermal stability of tribo-systems, etc. Friction is an open access journal. It is published quarterly by Tsinghua University Press and Springer, and sponsored by the State Key Laboratory of Tribology (TsinghuaUniversity) and the Tribology Institute of Chinese Mechanical Engineering Society.
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