An Inchworm-Inspired Magnetically Actuated Millirobot for Targeted Gastric Therapy

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Abstract Magnetic millirobots have been widely used in biomedicine recently because of their remote controllability, fast actuation speed, and non-invasiveness for the development of target drug delivery systems and minimally invasive surgery. The conventional way of diagnosing and treating the diseases of the upper gastrointestinal tract is performed by endoscopy, which is quite painful for patients. Here, this paper introduces an inchworm-inspired magnetic millirobot to address the above problem. The inchworm-inspired magnetic millirobot can be fabricated rapidly at a low cost in batches via a simple molding process. Experimental results indicate that the millirobot’s speed is 8.02 mm/s, i.e., 1.604 body lengths per second, and it can reach a target location in a stomach model quickly. External magnetic field actuation produces high-efficiency, agile movement of the millirobot in a human stomach model, where a quick locomotion to target area is realized in the constrained space. Moreover, the inchworm-inspired millirobot is adopted to achieve localized drug release at the site of disease and thus improve the accuracy of localized therapy for target lesions. The millirobot exhibits sufficient locomotion speed, target reachability, and controlled drug delivery, which provides a new, feasible robotic platform for executing minimally invasive gastric surgery in future.

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