一种仿生磁热触发胶囊用于快速微型机器人释放

中文摘要 AI 辅助

胶囊是微型机器人递送的有吸引力的平台，但将结构简单性与保护性递送和快速释放相结合仍然具有挑战性。受凤仙花种子传播的闩锁弹簧机制启发，一种磁热触发胶囊集成了相变水凝胶闩锁、作为弹性弹簧的单稳态盖子和承载有效载荷的基底。力学分析指导盖子设计，以避免组装后的双稳态和触发前水凝胶闩锁的过早破裂。在运输过程中，水凝胶约束倒置的盖子。在交变磁场下，Fe3O4介导的加热使水凝胶软化并引发内聚失效，释放储存的能量以驱动胶囊打开和微型机器人弹出。胶囊在水凝胶软化后50毫秒内打开，并以估计的1.0米/秒的初始速度弹出微型机器人。在三维平台和离体猪胃上的演示证明了保护性递送、靶位点打开和释放后的驱动。

英文摘要

Capsules are attractive platforms for microrobot delivery, combining structural simplicity with protected delivery and rapid release remains challenging. Inspired by the latched spring mechanism of Impatiens balsamina seed dispersal, a magnetothermally triggered capsule integrates a phase-change hydrogel latch, a monostable cover that serves as an elastic spring, and a payload-carrying base. Mechanical analysis guides the cover design to avoid bistability after assembly and premature hydrogel latch rupture before triggering. During transport, the hydrogel constrains the inverted cover. Under an alternating magnetic field, Fe3O4-mediated heating softens the hydrogel and induces cohesive failure, releasing stored energy to drive capsule opening and microrobot ejection. The capsule opens within 50 ms after hydrogel softening and ejects microrobots at an estimated initial velocity of 1.0 m/s. Demonstrations on a three-dimensional platform and ex vivo porcine stomach establish protected delivery, target-site opening, and post-release actuation.

发表机构

• State Key Laboratory of Fluid Power and Mechatronic Systems, Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Center for X-mechanics, Department of Engineering Mechanics, Zhejiang University（浙江大学流体动力与机电系统国家重点实验室、浙江省软机器与智能装备重点实验室、力学与跨学科中心工程力学系）

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