受寄生虫启发的可变形微机器人，能灵活通过狭窄血管并运送药物。
A transformable slender microrobot inspired by nematode parasites for interventional endovascular surgery
- 模仿线虫结构设计可变形单体磁性微机器人。
- 最大曲率0.904 mm⁻¹，速度达125 mm/s，可过半径0.84 mm弯道。
- 适合微创介入手术，可穿刺注射且能携带重95倍自身重量的药物。
心血管疾病每年导致约1790万例死亡，治疗面临血管网络空间受限、拓扑复杂及操作风险高等挑战。尽管机器人技术前景广阔，但长期存在通用性与灵活性难以兼顾的问题。受寄生在人体血管中的线虫启发，本文开发了一种可变形磁性微机器人。通过实验与优化，成功制备出长超过20毫米、直径小于200微米、长径比大于100的细长原型，其超薄聚合物丝体上均匀分布磁珠，头部附有大磁珠。该原型展现出优异柔韧性（最大曲率0.904 mm⁻¹）与运动能力（最高速度125 mm/s），可穿越半径仅0.84 mm的急弯，并通过三维空间分布的孔洞。在模拟实验中，机器人通过形变缠绕并运输重量为自身95倍的药物，最终精准释放至目标位置，展现介入治疗潜力。此外，该机器人还能在动脉瘤模型中自我变形缠绕，实现栓塞应用；并通过1.2毫米直径的医用针头成功注射与抽出，体现优异可注射性。
原文摘要 · Abstract (English)
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and high risks during operations. Robots, although promising, still face the dilemma of possessing versatility or maneuverability after decades of development. Inspired by nematodes, the parasites living, feeding, and moving in the human body's vascular system, this work develops a transformable slender magnetic microrobot. Based on the experiments and analyses, we optimize the fabrication and geometry of the robot and finally create a slender prototype with an aspect ratio larger than 100 (smaller than 200 microns in diameter and longer than 20 mm in length), which possesses uniformly distributed magnetic beads on the body of an ultrathin polymer string and a big bead on the head. This prototype shows great flexibility (largest curvature 0.904 mm-1) and locomotion capability (the maximum speed: 125 mm/s). Moreover, the nematode-inspired robot can pass through sharp turns with a radius of 0.84 mm and holes distributed in three-dimensional (3D) space. We also display the potential application in interventional surgery of the microrobot by navigating it through a narrow blood vessel mold to wrap and transport a drug (95 times heavier than the robot) by deforming the robot's slender body and releasing the drug to the aim position finally. Moreover, the robot also demonstrates the possible applications in embolization by transforming and winding itself into an aneurysms phantom and exhibits its outstanding injectability by being successfully withdrawn and injected through a medical needle (diameter: 1.2 mm) of a syringe.
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