输卵管
重编程
成像体模
计算机科学
材料科学
纳米技术
生物医学工程
生物
物理
工程类
光学
细胞
遗传学
内分泌学
作者
Yuan Liu,Jing Huang,Liang‐Yin Chu,Zhongyi Song,Jiandong Wu,Qilong Zhao,Yingtian Li,Fuping Dong,Lei Wang,Haifeng Xu
出处
期刊:ACS Nano
[American Chemical Society]
日期:2024-03-11
标识
DOI:10.1021/acsnano.3c09753
摘要
Small-scale magnetic robots with fixed magnetizations have limited locomotion modes, restricting their applications in complex environments in vivo. Here we present a morphology-reconfigurable millirobot that can switch the locomotion modes locally by reprogramming its magnetizations during navigation, in response to distinct magnetic field patterns. By continuously switching its locomotion modes between the high-velocity rigid motion and high-adaptability soft actuation, the millirobot efficiently navigates in small lumens with intricate internal structures and complex surface topographies. As demonstrations, the millirobot performs multimodal locomotion including woodlouse-like rolling and flipping, sperm-like rotating, and snake-like gliding to negotiate different terrains, including the unrestricted channel and high platform, narrow channel, and solid–liquid interface, respectively. Finally, we demonstrate the drug delivery capability of the millirobot through the oviduct-mimicking phantom and ex vivo oviduct. The magnetization reprogramming strategy during navigation represents a promising approach for developing self-adaptive robots for performing complex tasks in vivo.
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