cs.ROApr 15, 2026

A transformable slender microrobot inspired by nematode parasites for interventional endovascular surgery

Authors: Xin Yang, Dongliang Fan, Yunteng Ma, Yuxuan Liao, Diancheng Li, U Kei Cheang, Bo Peng, Hongqiang Wang

Organizations: Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, 518055, China. · SUSTech Institute of Robotics Research, Southern University of Science and Technology, Shenzhen, Guangdong, 518055, China. · Fuwai Hospital CAMS&PUMC, Beijing, 100037, China.

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Abstract

Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and high risks during operations. Robots, although promising, still face the dilemma of possessing versatility or maneuverability after decades of development. Inspired by nematodes, the parasites living, feeding, and moving in the human body's vascular system, this work develops a transformable slender magnetic microrobot. Based on the experiments and analyses, we optimize the fabrication and geometry of the robot and finally create a slender prototype with an aspect ratio larger than 100 (smaller than 200 microns in diameter and longer than 20 mm in length), which possesses uniformly distributed magnetic beads on the body of an ultrathin polymer string and a big bead on the head. This prototype shows great flexibility (largest curvature 0.904 mm-1) and locomotion capability (the maximum speed: 125 mm/s). Moreover, the nematode-inspired robot can pass through sharp turns with a radius of 0.84 mm and holes distributed in three-dimensional (3D) space. We also display the potential application in interventional surgery of the microrobot by navigating it through a narrow blood vessel mold to wrap and transport a drug (95 times heavier than the robot) by deforming the robot's slender body and releasing the drug to the aim position finally. Moreover, the robot also demonstrates the possible applications in embolization by transforming and winding itself into an aneurysms phantom and exhibits its outstanding injectability by being successfully withdrawn and injected through a medical needle (diameter: 1.2 mm) of a syringe.

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Robotics studies the design and control of machines that perceive, move, and act in physical environments.

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