AI 中文总结
研究针对实体肿瘤等缺氧区域治疗难题，提出H形生物杂交微型机器人计算模型，由心肌细胞驱动。通过模拟发现心室细胞驱动优势，证实表型是有效设计变量，支持了心肌细胞驱动微型机器人用于缺氧区自主治疗递送，可减少全身药物暴露。
AI 中文摘要
实体肿瘤和其他缺氧区域难以用传统全身药物递送治疗，其非特异性分布治疗药物并增加非靶位点毒性。由活细胞驱动的生物杂交微型机器人为自主靶向递送提供了自供电、生物相容的解决方案，但现有平台常需外部刺激来移动和定位。我们提出了一种H形生物杂交微型机器人的计算模型，由新生大鼠心肌细胞通过各向异性摩擦棘轮与身体耦合驱动产生净向前运动。该模型在常氧直线条件和缺氧梯度引导条件下针对心房和心室两种不同表型进行模拟。心室细胞在相同运输成本下运动速度比心房细胞提高4.35倍，在施加梯度下航向响应大2.91倍，证实表型是未充分利用的设计变量。本研究的计算模型显示了基于心肌细胞平台的自主、基于梯度的引导以及将心肌细胞表型作为明确设计参数的有效性。这些发现支持了心肌细胞驱动的微型机器人在缺氧区域进行自主、自靶向治疗递送的长期可行性，为减少相对于传统治疗的全身药物暴露提供了途径。
英文摘要
Solid tumours and other hypoxic regions are difficult to treat with conventional systemic drug delivery, which distributes therapeutics non-specifically and increases toxicity in off-target sites. Biohybrid microrobots driven by living cells offer a self-powered, bio-compatible solution to autonomous targeted delivery, however, existing platforms often require external stimuli to move and locate towards target zones. We present a computational model of an H-shaped biohybrid microrobot, actuated by neonatal rat cardiomyocytes coupled to the body through an anisotropic friction-ratchet generating a net forward locomotion. The model is simulated under normoxic straight-line conditions and hypoxic gradient-steering conditions for two distinct phenotypes, atrial and ventricular. Ventricular cells produce a $4.35\times$ increase in locomotion speed over atrial cells at an equivalent cost of transport and a $2.91\times$ greater heading response under an applied gradient, confirming that phenotype is an underexploited design variable. The computational model in this study shows autonomous, gradient-based steering in a cardiomyocyte-based platform and the effectiveness of treating cardiomyocyte phenotype as an explicit design parameter. These findings support the long-term feasibility of cardiomyocyte-driven microrobots for autonomous, self-targeted therapeutic delivery in hypoxic regions and as such offer a route to reducing systemic drug exposure relative to conventional treatment.
