TY - JOUR
T1 - Endoscopy-assisted magnetic navigation of biohybrid soft microrobots with rapid endoluminal delivery and imaging
AU - Wang, Ben
AU - Chan, Kai Fung
AU - Yuan, Ke
AU - Wang, Qianqian
AU - Xia, Xianfeng
AU - Yang, Lidong
AU - Ko, Ho
AU - Wang, Yi Xiang J.
AU - Sung, Joseph Jao Yiu
AU - Chiu, Philip Wai Yan
AU - Zhang, Li
N1 - Funding Information:
This work was partially supported by the Hong Kong RGC Joint Laboratory Funding Scheme (JLFS) with project no. JLFS/E-402/18; the projects funded by the Hong Kong ITC with project numbers MRP/036/18X, ITS/440/17FP, and ITS/374/18FP; the projects from CUHK internal grants; and the support from SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. B.W. thanks the financial support from the Impact Postdoctoral Fellowship Scheme from the Chinese University of Hong Kong. We would also like to thank the support from Multi-Scale Medical Robotics Center (MRC), InnoHK, at the Hong Kong Science Park
Publisher Copyright:
Copyright © 2021 The Authors, some rights reserved.
PY - 2021/3/1
Y1 - 2021/3/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85104337515&partnerID=8YFLogxK
U2 - 10.1126/SCIROBOTICS.ABD2813
DO - 10.1126/SCIROBOTICS.ABD2813
M3 - Journal article
C2 - 34043547
AN - SCOPUS:85104337515
SN - 2470-9476
VL - 6
JO - Science Robotics
JF - Science Robotics
IS - 52
M1 - eabd2813
ER -