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Magnetic soft microfiberbots for robotic embolization

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单位： [1]School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China. [2]Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China. [3]CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei 230026, PR China. [4]State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Science, 15 Beisihuan West Road, Beijing 100190, China. [5]Department of Urology,Tongji Hospital,Tongji Medical College,Huazhong University of Science and Technology,Wuhan 430030,PR China. [6]Division of Cardiology,Department of Internal Medicine,Tongji Hospital of Tongji Medical College of Huazhong University of Science and Technology,Wuhan 430074,China. [7]Department of Hepatobiliary Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430074, China. [8]Flexible Electronics Research Center, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074, China. [9]State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China. [10]Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China. [11]State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China. [12]Key Laboratory of Vascular Aging,Ministry of Education,Tongji Hospital,Tongji Medical College,Huazhong University of Science and Technology,Wuhan 430030,China. [13]Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

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Cerebral aneurysms and brain tumors are leading life-threatening diseases worldwide. By deliberately occluding the target lesion to reduce the blood supply, embolization has been widely used clinically to treat cerebral aneurysms and brain tumors. Conventional embolization is usually performed by threading a catheter through blood vessels to the target lesion, which is often limited by the poor steerability of the catheter in complex neurovascular networks, especially in submillimeter regions. Here, we propose magnetic soft microfiberbots with high steerability, reliable maneuverability, and multimodal shape reconfigurability to perform robotic embolization in submillimeter regions via a remote, untethered, and magnetically controllable manner. Magnetic soft microfiberbots were fabricated by thermal drawing magnetic soft composite into microfibers, followed by magnetizing and molding procedures to endow a helical magnetic polarity. By controlling magnetic fields, magnetic soft microfiberbots exhibit reversible elongated/aggregated shape morphing and helical propulsion in flow conditions, allowing for controllable navigation through complex vasculature and robotic embolization in submillimeter regions. We performed in vitro embolization of aneurysm and tumor in neurovascular phantoms and in vivo embolization of a rabbit femoral artery model under real-time fluoroscopy. These studies demonstrate the potential clinical value of our work, paving the way for a robotic embolization scheme in robotic settings.

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出版当年[2023]版：

大类 | 1 区

计算机科学

小类 | 1 区机器人学

最新[2025]版：

大类 | 1 区

计算机科学

小类 | 1 区机器人学

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出版当年[2022]版：

Q1 ROBOTICS

最新[2023]版：

Q1 ROBOTICS

影响因子： 26.1 最新[2023版] 33.7 最新五年平均 25 出版当年[2022版] 34 出版当年五年平均 27.541 出版前一年[2021版] 26.1 出版后一年[2023版]

第一作者：

第一作者单位： [1]School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China. [2]Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China.

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通讯作者：

通讯机构： [1]School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China. [2]Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China. [9]State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China. [11]State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China. [12]Key Laboratory of Vascular Aging,Ministry of Education,Tongji Hospital,Tongji Medical College,Huazhong University of Science and Technology,Wuhan 430030,China. [13]Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

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