Wireless Millimeter-Size Soft Climbing Robots with Omnidirectional Steerability on Tissue Surfaces.

Area of Science:

• Robotics
• Biomedical Engineering
• Materials Science

Background:

• Soft robots actuated by magnetic fields offer potential for minimally invasive medical operations in confined spaces.
• Existing designs struggle with directional control and complex terrain navigation.
• Overcoming gravity on wet, soft tissues remains a significant challenge for miniature robots.

Purpose of the Study:

• To develop a millimeter-size soft robot with enhanced directional steerability for climbing soft and wet tissues.
• To enable agile medical operations, including targeted drug delivery, within enclosed anatomical regions.
• To overcome the limitations of existing soft miniature robots in terms of maneuverability and control.

Main Methods:

• Designed a rod-shaped robot with a unique magnetization profile and spherical footpads for omnidirectional steering.
• Utilized external magnetic fields to control robot body bending and out-of-plane motion.
• Integrated bio-adhesives and microstructures on footpads for enhanced tissue adhesion.
• Experimentally demonstrated inverted climbing on porcine gastrointestinal tract tissues.

Main Results:

• Achieved omnidirectional steering with a steering angle up to 360 degrees during climbing.
• Successfully demonstrated inverted climbing on soft and wet porcine gastrointestinal tissues.
• Successfully deployed a medical patch for targeted drug delivery using the robot.

Conclusions:

• The proposed rod-shaped robot design significantly enhances directional steerability for miniature soft robots.
• The robot's ability to climb wet tissues and perform targeted delivery opens new possibilities for minimally invasive medical interventions.
• This technology promises to improve access and precision in challenging enclosed anatomical spaces.