磁性毫米机器人车队运输内窥镜器械用于微创手术
A convoy of magnetic millirobots transports endoscopic instruments for minimally-invasive surgery
AI总结：
本研究提出TrainBot毫米机器人车队，通过协同搬运和优化足部设计，实现高驱动力，并首次完成电灼术以缓解胆道梗阻，为微创手术提供新策略。
摘要：
小型机器人在微创医疗手术中具有巨大潜力。然而，由于软生物组织的特性，机器人在复杂环境中面临各种运动挑战，克服这些挑战对于完成有用的医疗任务至关重要。单个微型机器人在光滑的生物表面上往往无法提供足够的力来携带医疗器械，如流体导管或电线。在此，我们首次报道了一组毫米机器人（TrainBot），通过形成车队协同搬运长而重的货物，其产生的驱动力约为单个TrainBot单元的两倍。每个单元的足部经过优化，将推进力提高约三倍，使其能够在光滑的生物表面上有效爬行。我们开发了一套人体尺度的永磁体装置，用于无线驱动和控制TrainBot，通过狭窄的生物腔道（如肠道和胆管）运输重而长的载荷。我们展示了TrainBot执行的首次电灼术，以缓解胆道梗阻并为流体引流和药物输送开辟通道。该技术为未来微创手术中小型机器人的协作策略提供了启示。
英文摘要：
Small-scale robots offer significant potential in minimally-invasive medical procedures. Due to the nature of soft biological tissues, however, robots are exposed to complex environments with various challenges in locomotion, which is essential to overcome for useful medical tasks. A single mini-robot often provides insufficient force on slippery biological surfaces to carry medical instruments, such as a fluid catheter or an electrical wire. Here, for the first time, we report a team of millirobots (TrainBot) that can generate around two times higher actuating force than a TrainBot unit by forming a convoy to collaboratively carry long and heavy cargos. The feet of each unit are optimized to increase the propulsive force around three times so that it can effectively crawl on slippery biological surfaces. A human-scale permanent magnetic set-up is developed to wirelessly actuate and control the TrainBot to transport heavy and lengthy loads through narrow biological lumens, such as the intestine and the bile duct. We demonstrate the first electrocauterization performed by the TrainBot to relieve a biliary obstruction and open a tunnel for fluid drainage and drug delivery. The developed technology sheds light on the collaborative strategy of small-scale robots for future minimally-invasive surgical procedures.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
