Bio-inspired magnetic soft robots with omnidirectional climbing for multifunctional biomedical applications

摘要

Abstract In recent years, the rising incidence of gastrointestinal (GI) cancer has triggered an urgent need for effective early intervention strategies. Traditional endoscopic techniques often cause patient discomfort, and it is difficult to navigate deep regions of complex organ structures. This work proposes a kind of bio-inspired magnetic soft robot (BMSR) to address these challenges. The design of the BMSRs is inspired by the rolling motion of the golden wheel spider. Two six-degree-of-freedom (6-DOF) robotic arms are used, where one arm is responsible for real-time manipulation of the BMSRs, and the other is dedicated to monitoring their status. Under the actuation of an external rotating magnetic field, the BMSRs can flexibly climb on inclined surfaces at any angle, involving the inverted surface. Through the powerful output force, the BMSRs can overcome the mobility barrier induced by different human organs, including mucus, folds, and height differences of up to 8 cm. Such an exceptional mobility enables the BMSRs to deliver drugs in the targeted complex GI environment. Moreover, in combination with an endoscope, it provides real-time visual feedback for precise navigation. In vitro animal experiments validate the feasibility of BMSRs, paving a way for their usage in minimally invasive GI treatment. This work advances the potential applications of magnetic soft robots in the biomedical field.