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Magnetic frequency-controlled mode-switchable flexible microrobot enabling adaptive locomotion in biological channels for targeted drug delivery
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Qinghao Guo, Liushuai Zheng, Dongqin Xu, Yixin Liu, Dingtong Shen, Hao Zhang, Niandong Jiao, Lining Sun, Hao Yang. Magnetic frequency-controlled mode-switchable flexible microrobot enabling adaptive locomotion in biological channels for targeted drug delivery[J]. Journal of Zhejiang University Science D, 2026, 9(5): 814 - 824.
@article{title="Magnetic frequency-controlled mode-switchable flexible microrobot enabling adaptive locomotion in biological channels for targeted drug delivery",
author="Qinghao Guo, Liushuai Zheng, Dongqin Xu, Yixin Liu, Dingtong Shen, Hao Zhang, Niandong Jiao, Lining Sun, Hao Yang",
journal="Journal of Zhejiang University Science D",
volume="9",
number="5",
pages="814 - 824",
year="2026",
publisher="Zhejiang University Press & Springer",
doi="10.1631/bdm.2600013"
}
%0 Journal Article
%T Magnetic frequency-controlled mode-switchable flexible microrobot enabling adaptive locomotion in biological channels for targeted drug delivery
%A Qinghao Guo
%A Liushuai Zheng
%A Dongqin Xu
%A Yixin Liu
%A Dingtong Shen
%A Hao Zhang
%A Niandong Jiao
%A Lining Sun
%A Hao Yang
%J Journal of Zhejiang University SCIENCE D
%V 9
%N 5
%P 814 - 824
%@ 1869-1951
%D 2026
%I Zhejiang University Press & Springer
%DOI 10.1631/bdm.2600013
TY - JOUR
T1 - Magnetic frequency-controlled mode-switchable flexible microrobot enabling adaptive locomotion in biological channels for targeted drug delivery
A1 - Qinghao Guo
A1 - Liushuai Zheng
A1 - Dongqin Xu
A1 - Yixin Liu
A1 - Dingtong Shen
A1 - Hao Zhang
A1 - Niandong Jiao
A1 - Lining Sun
A1 - Hao Yang
J0 - Journal of Zhejiang University Science D
VL - 9
IS - 5
SP - 814
EP - 824
%@ 1869-1951
Y1 - 2026
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/bdm.2600013
Abstract: Magnetic microrobots hold immense potential for various biomedical applications, including targeted drug delivery. However, their operational efficacy in complex, heterogeneous biological environments (e.g., vasculature with varying lumen diameters) is often constrained. To address this limitation, this study presents a magnetically driven soft microrobot capable of dual-mode locomotion, where seamless switching between oscillatory and helical motions is achieved solely by switching the external magnetic field frequency via frequency modulation. The proposed microrobot, with a millimeter-scale architecture featuring a programmed magnetization profile, exhibits C-shaped oscillation at low frequencies for rapid propulsion and terrain adaptation, and transforms into a helical rotation at high frequencies for stable navigation within confined channels. Experiments were conducted in a glycerol–water mixture to reveal that oscillatory and helical motion modes each operate within distinct, non-overlapping frequency bands. The microrobot successfully performed navigation through mode switching in both a biomimetic vascular model and ex vivo porcine organs. Furthermore, by integrating a photothermal-responsive methacrylated gelatin (GelMA) drug carrier, we demonstrated successful targeted drug delivery at a designated site triggered by near-infrared irradiation after magnetically guided delivery in a dynamic flow environment.
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CLC number:
On-line Access: 2026-08-13
Received: 2026-01-08
Revision Accepted: 2026-03-18
Crosschecked: 0000-00-00
Cited:
Clicked: 55
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