Modular magnetic microrobot system for robust endoluminal navigation and high–radial force stent delivery in complex ductal anatomy

作者：Lin Su, Dongdong Jin, Neng Xia, Bo Hao, Yihang Jiang, Qinglong Wang, Haojin Yang, Xin Wang, Kai Fung Chan, Xing Ma, Jacqueline Pui Wah Chung, Philip Wai Yan Chiu, Li Zhang · 发表于：Science Advances · 年份：2025 · DOI：10.1126/sciadv.ady4339 · 被引用次数：20 · 研究领域：Micro and Nano Robotics、Soft Robotics and Applications、Modular Robots and Swarm Intelligence

Endoluminal stent implantation is a common intervention strategy for treating obstructive lesions, but conventional delivery systems struggle to reach deep, tortuous ducts. To overcome this limitation, we present a magnetically controlled microrobot that integrates two functional modules: a magnetic actuation (MA) module for agile navigation and an ultrasound-responsive self-expanding stent module (ST module) for lesion-specific dilation. The system uses a dynamically tunable assembly mechanism governed by rotational direction enabling integrated locomotion (clockwise) and on-demand module separation (counterclockwise) at stenotic sites. The platform is compatible with intraoperative ultrasound, allowing real-time navigation and thermally triggered expansion in physiological environments. By synergizing programmable magnetic actuation, ultrasound-mediated expansion, and clinical workflow compatibility, the robot can navigate tortuous phantom ducts, achieving controlled stent deployment within 3 seconds and complete expansion within 30 seconds, permitting minimally invasive treatment of biliary strictures. This work advances microrobotic stent delivery by overcoming key barriers to clinical translation in endoluminal interventions.