具有温度响应性的多模运动微米机器人可实现药物的精准递送和可控范围的药物释放

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Synthesis of a temperature-responsive multimodal motion microrobot capable of precise navigation for targeted controllable drug release

ZHAOXuhui²，LIUMengran， Xi2，3 ，HUANGJing²，LIUYuan²，XHfeng²

HubeirocialKybotodfcureQualityinHubeiesityol Instituteofoicaldlteiofdedoecefc ，China;CollegeofElectronicandOptical Engineering E CollegeofFlexibleElectronics（FutureTechnology），NanjingUniversityof Postsandelecommuicios，ningin

Abstract： Objective To synthesizeatemperature-responsive multimodal motionmicrorobot（MMMR）using temperature and magneticfield-asistedmicrofluidicdroplettechnologytoachievetargeteddrugdeliveryandcontrolleddrugrelease. MethodsMicrofluidic droplet technology wasutilized to synthesizetheMMMR by mixing gelatin with magnetic microparticles.The microrobot posessedamagneticanisotropystructure toallowits navigationandtargeted drugrelease by controlling thetemperature fieldand magneticfield.Intheexperiment，theMMMR wascontrolled tomoveina widerange alonga presetpathbyrotatingauniform magneticfield，and thelocalcircular motion was drivenbyaplanar rotatinggradient magneticfieldofdiferentfrequencies.TheMMMRwasloadedwithsimulateddrugs，whichwerereleasedinresponsetolaser heating.ResultsDrivenbyarotating magneticfield，theMMMRachievedlinear motion followingapredefinedpath.The planargradient rotating magneticfieldcontroledcircular motion of theMMMRwithanadjustableradius，utilizing the centrifugalforcegeneratedbyrotation.Thedrug-loadedMMMRsuccessullyreachedthetargetlocationundermagnetic guidance，wherethegelatinmatrix wasmeltedusing laser heatingforaccuratedrugrelease，afterwhichtheremaining magnetic particles were removed using magneticfield. Conclusion The MMMR possesss multimodal motioncapabilities to enable precise navigation along a predefined path and dynamic regulation of drug release within the target area，thus having great potential for a wide range of biomedical applications.

Keywords：drugdelivery;microrobot; magneticanisotropy;multimodal motion; microfluidic synthesis

微米机器人（MR）在药物递送领域受到了人们的广泛关注2]，与传统的口服或注射等给药方式不同，MR是将药物均匀分散到内部或吸附于表面实现载药功能[34]。（剩余16947字）