4D-printed snake-like biomimetic soft robots  

4D打印蛇形仿生软体机器人

作　　者：Xingcheng Ou Jiaqi Huang Dantong Huang Xiaohong Li Guoliang Chen Yabin Yang Ran Bi Yu Sheng Shuang-Zhuang Guo 欧兴成;黄嘉琪;黄丹彤;李小红;陈国良;杨亚斌;毕燃;圣宇;郭双壮(广州市柔性电子材料与可穿戴设备重点实验室,广东省功能生物材料工程技术研究中心,聚合物复合材料及功能材料教育部重点实验室,光电材料与技术国家重点实验室,中山大学材料科学与工程学院,广州市510275)

机构地区：[1]Guangzhou Key Laboratory of Flexible Electronic Materials and Wearable Devices,Guangdong Engineering Technology Research Centre for Functional Biomaterials,Key Laboratory for Polymeric Composite and Functional Materials of Ministry of Education,State Key Laboratory of Optoelectronic Materials and Technologies,School of Materials Science and Engineering,Sun Yat-sen University,Guangzhou 510275,China

出　　处：《Bio-Design and Manufacturing》2025年第1期55-67,I0018-I0038,共34页生物设计与制造(英文)

基　　金：the National Natural Science Foundation of China(Nos.52105421 and 52373050);the Guangdong Provincial Natural Science Foundation,China(No.2022A1515011621);the Science and Technology Projects in Guangzhou,China(Nos.202102080330 and 2024A04J6446);the Fundamental Research Funds for the Central Universities,Sun Yat-sen University(No.22qntd0101).

摘　　要：Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.无线微型机器人可以在狭窄和密闭的空间内穿越生物体内复杂的血管网络,从而为未来的医学治疗带来更多可能性。然而,由于其多面性和复杂的结构设计,一些机器人处于横截面尺寸较小的狭小空间时,往往会面临运动受限和功能缺失的问题。本研究从蛇的高长宽比和波动游泳模式中汲取灵感,通过基于挤出的直写4D打印和磁响应功能墨水结合,设计和制造了一种毫米级的柔性蛇形机器人,并采用了复杂可编程的运动控制策略。该策略能够使机器人在各种磁场变化下执行多种动态运动形态,包括波动游泳、精确转弯、优美的圆周运动和协调的集群运动等。为了证明其在医学领域具有良好应用价值,该蛇形机器人被用于在通道曲折并充满液体的冠状动脉血管模型中导航,并在定点位置释放药物。这种柔性蛇形机器人具有新颖的设计和广阔的应用前景,有望成为未来微创手术和介入医疗干预等领域的重要工具。

关 键 词：4D printing Magnetic-responsive ink Untethered medical soft robot Snake-like robot Drug delivery 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]