医疗机器人
生物医学工程
内窥镜
医学
计算机科学
放射科
人工智能
计算机视觉
纳米技术
机器人
工程类
材料科学
作者
Ben Wang,Kai Fung Chan,Kangze Yuan,Wei Wang,Xianfeng Xia,Lidong Yang,Ho Ko,Yì Xiáng J. Wáng,Joseph J. Sung,Philip Wai Yan Chiu,Li Zhang
出处
期刊:Science robotics
[American Association for the Advancement of Science (AAAS)]
日期:2021-03-17
卷期号:6 (52)
被引量:171
标识
DOI:10.1126/scirobotics.abd2813
摘要
High-precision delivery of microrobots at the whole-body scale is of considerable importance for efforts toward targeted therapeutic intervention. However, vision-based control of microrobots, to deep and narrow spaces inside the body, remains a challenge. Here, we report a soft and resilient magnetic cell microrobot with high biocompatibility that can interface with the human body and adapt to the complex surroundings while navigating inside the body. We achieve time-efficient delivery of soft microrobots using an integrated platform called endoscopy-assisted magnetic actuation with dual imaging system (EMADIS). EMADIS enables rapid deployment across multiple organ/tissue barriers at the whole-body scale and high-precision delivery of soft and biohybrid microrobots in real time to tiny regions with depth up to meter scale through natural orifice, which are commonly inaccessible and even invisible by conventional endoscope and medical robots. The precise delivery of magnetic stem cell spheroid microrobots (MSCSMs) by the EMADIS transesophageal into the bile duct with a total distance of about 100 centimeters can be completed within 8 minutes. The integration strategy offers a full clinical imaging technique-based therapeutic/intervention system, which broadens the accessibility of hitherto hard-to-access regions, by means of soft microrobots.
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