Wireless microfluidics-enabled multifunctional miniature soft robots with multimodal locomotion for fluid manipulation

摘要

The integration of wireless microfluidics into untethered soft robots has the potential to transform biofluid sampling for diagnostics and enable on-demand delivery of bioagents to hard-to-reach areas. However, achieving this integration is challenging due to the lack of wirelessly controlled microfluidic modules and control strategies that can seamlessly coordinate with the robot’s locomotion. Here, we propose a fundamental wireless pumping and valving mechanism that allows millimeter-scale soft robots to perform fluidic functions such as liquid ejection and collection entirely through remote magnetic control. Coordinated actuation of flexible valves and robot body deformation enables precise control over fluidic operations and agile robot locomotion on biological tissue surfaces. Unique capabilities have been demonstrated, including on-demand liquid sampling and delivery for enhanced locomotion and medical procedures, all controlled by external magnetic fields. Our proposed robots offer advanced capabilities for targeted fluidic manipulation, paving the way for minimally invasive soft medical robotics. • A soft robot with a wirelessly controlled fluidic pump and valve • Demonstrated targeted drug delivery, bioadhesive delivery, and liquid sampling • Decoupled control of robot multimodal locomotion and fluidic functions • Soft miniature robot for precision medicine Wireless miniature soft robots with multimodal locomotion have demonstrated the ability to traverse diverse terrains, including climbing 3D tissue surfaces. Integrating wireless microfluidics into wireless miniature soft robots holds transformative potential for biofluid sampling in diagnostics and on-demand delivery of bioagents to inaccessible areas. However, this integration poses significant challenges due to the absence of wirelessly controlled microfluidic modules and control strategies that seamlessly coordinate with the robot’s locomotion. To address these challenges, we propose a fundamental wireless pumping and valving mechanism that enables millimeter-scale soft climbing robots to perform fluidic functions, such as liquid ejection and collection, entirely through remote magnetic control. By coordinating the actuation of flexible valves with robot body deformation, we achieve precise control over fluidic operations while maintaining agile locomotion on biological tissue surfaces. Notable capabilities include on-demand liquid delivery and sampling to enhance locomotion and facilitate medical procedures, all governed by external magnetic fields. By integrating wireless pumps, valves, and microfluidic channels into these miniature soft robots, we unlock unprecedented possibilities for minimally invasive medical applications, offering groundbreaking solutions for targeted drug delivery and biofluid sampling. We report wireless miniature soft robots with integrated microfluidic channels, pumps, and valves, all remotely controlled via external magnetic fields. The proposed fundamental wireless pumping and valving mechanism enables millimeter-scale soft robots to perform complex fluidic functions, including liquid ejection and collection, entirely under magnetic control. By seamlessly integrating these microfluidic components, the robots unlock unique capabilities for targeted drug delivery, biofluid sampling, and sustained climbing, significantly advancing the field of minimally invasive soft robotics.