Ferromagnetic soft catheter robots for minimally invasive bioprinting

Cheng Zhou, Youzhou Yang, Jiaxin Wang, Qingyang Wu, Zhuozhi Gu, Yuting Zhou, Xurui Liu, Yueying Yang, Hanchuan Tang, Qing Ling, Liu Wang () and Jianfeng Zang ()
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Cheng Zhou: Huazhong University of Science and Technology
Youzhou Yang: Huazhong University of Science and Technology
Jiaxin Wang: Huazhong University of Science and Technology
Qingyang Wu: Huazhong University of Science and Technology
Zhuozhi Gu: Huazhong University of Science and Technology
Yuting Zhou: Jilin University
Xurui Liu: Huazhong University of Science and Technology
Yueying Yang: Huazhong University of Science and Technology
Hanchuan Tang: Huazhong University of Science and Technology
Qing Ling: Huazhong University of Science and Technology
Liu Wang: University of Science and Technology of China
Jianfeng Zang: Huazhong University of Science and Technology

Nature Communications, 2021, vol. 12, issue 1, 1-12

Abstract: Abstract In vivo bioprinting has recently emerged as a direct fabrication technique to create artificial tissues and medical devices on target sites within the body, enabling advanced clinical strategies. However, existing in vivo bioprinting methods are often limited to applications near the skin or require open surgery for printing on internal organs. Here, we report a ferromagnetic soft catheter robot (FSCR) system capable of in situ computer-controlled bioprinting in a minimally invasive manner based on magnetic actuation. The FSCR is designed by dispersing ferromagnetic particles in a fiber-reinforced polymer matrix. This design results in stable ink extrusion and allows for printing various materials with different rheological properties and functionalities. A superimposed magnetic field drives the FSCR to achieve digitally controlled printing with high accuracy. We demonstrate printing multiple patterns on planar surfaces, and considering the non-planar surface of natural organs, we then develop an in situ printing strategy for curved surfaces and demonstrate minimally invasive in vivo bioprinting of hydrogels in a rat model. Our catheter robot will permit intelligent and minimally invasive bio-fabrication.

Date: 2021
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DOI: 10.1038/s41467-021-25386-w

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