Multi‐Legged Magnetic Soft Robot for On‐Demand Targeted Delivery in Pulmonary Environments

Abstract

ABSTRACT Intrabronchial drug delivery is an important method for treating respiratory diseases. Precise and selective deep‐lung delivery of drugs is still challenging through inhalation administration and bronchoscopes, due to the passive transport and insufficient maneuverability in narrow and tortuous distal airways. Herein, a magnetic‐driven soft robot with a multi‐legged structure is developed for minimally invasive and precise targeted drug delivery in the lung. The robot exhibits multimodal and adaptive locomotion in complex airways, relying on its soft nature. A magnetothermal‐triggered and on‐demand liquid drug release mechanism is integrated onto the robot. Rolling, stick‐slip and crawling motion modes can be achieved, and the mode transition is realized to enhance the adaptivity. Precise navigation in complex environments and the distal bronchial tree of a phantom is realized. The magnetothermal‐induced drug release is also demonstrated. Ex vivo distal navigation, targeted drug delivery and retrieval of the robot in a porcine lung are validated.