Research On The Preparation And Manipulation Of Egain Droplet Robot

With the deepening of scientific research,there is a growing need for miniaturized robots in biomedical,national defense and security fields.In the field of biomedical engineering,robots of micrometer or millimeter scale can be manipulated via physical field,which means they can enter patients' focal areas for treatment in a minimally invasive or even non-invasive way,greatly reducing the pain.Showing a broad prospect in targeted drug delivery and pathogen detection.In this background,this article firstly reviews the development of microbots and droplet robots,and for biomedical engineering applications,this paper introduces the gallium-indium alloy(EGa In)that can carry anti-cancer drugs,can be used for tumor hyperthermia and its good visibility under microscale medical images.After analysis of the above content,technical route of EGa In-microbots' manipulation are decided.For the micron-scale EGa In droplet manipulation,a EGa In microdroplet preparation method based on the Plateau-Rayleigh principle is proposed,and the influencing factors of the microdroplet diameter are explored.The micron-scale magnetic drive EGa In microbot's body was innovatively prepared by using twice physical deposition method.Through the theoretical calculation of the microbots' working circumstances and magnetic field distribution of the magnetic drive system,the results ensure micro robot the necessary motion precision.Then the author uses three axial helmholtz coils to tests the motion cut-off frequency of EGa In microbot and realize the controlled movements of micro-scale EGa In robot.Furthermore,the microbots can be used to manipulate cells?PS balls,and track the specified trajectory automatically based on closed-loop feedback.For the gallium indium alloy droplet control in millimeter scale,three methods of dual magnetic ball drive,electrochemical drive and biocompatible material transport were proposed to control the droplet.Firstly,by analyzing the surface tension of droplet driven by double magnetic spheres,a dynamic model of droplet driven by double magnetic spheres is established,and four states of droplet transport,splitting,release and failure were explored through experiments.Secondly,in the aspect of electrochemical driving,the single electrode motion and double electrodes motion of the EGa In droplet are realized.Based on the dynamics model of the droplet motion of EGa In,the mechanism of double electrode drive and micro-mixer is explained.Finally,the gallium indium alloy droplets were wrapped by hydrogel,a material with excellent biocompatibility,which can realize controllable transport in the magnetic drive system,and could trigger the release of gallium indium alloy droplets at a specific point under a specific environment.This paper,from the perspective of microbots,establishes the dynamics model of EGa In material respectively from the preparation to the manipulation,from the micron scale to the millimeter scale,and realizes the cross-scale controllable manipulation of gallium indium alloy droplets,which provides a reference for the biomedical application of liquid metal,especially for the direction of targeted drug delivery.