Magnetic Fiber Robots with Multiscale Functional Structures at the Distal End

摘要

Abstract Magnetic fiber robots have revealed great potential for future minimally invasive robotic surgery. However, with the miniaturization of fiber robots, the integration of functional microtools at the distal end becomes extremely challenging, since it requires assembling multifunctional structures on the curved surfaces of fiber ends, which typically have very small curvature radii. In this study, a submillimeter fiber robot with integrated micro‐manipulation tool at the distal end is reported using a “Swiss roll” assembly strategy. This approach enables the one‐step assembly of multiscale structures (mm‐µm) from a 2D film to a 3D tool on the curved surface of the fiber robot. The multiscale structure consists of a millimeter‐scale (mm) magnetic thin film with integrated micrometer‐scale (µm) feature structures, which is inspired from the cat tongue covered by numerous little papillae. The fiber robot can perform multiple functions including endovascular clot grabbing, liquid delivery, and sampling under the manipulation of the magnetic field. The strategy provides a universal protocol for integrating and assembling functional components at the distal end of fiber robots, contributing significantly to the functionalization and miniaturization of interventional medical robots.