Castellanos-Robles, D. | Search bioRxiv

bioRxiv2025

Self-Propelling Adaptive Robotic Microcatheters Enabled by Scalable Fabrication for Intracorporeal Navigation

Minimally invasive therapies demand precise navigation through complex and delicate anatomical pathways, requiring medical tools that are small, flexible, and highly maneuverable. Here, we present a scalable fabrication platform for magnetic tubular microrobots, tethered and untethered, with programmable magnetization, enabling self-propulsion, and an adaptive remote control for targeted interventions. The platform uses Joule heating through a template wire for rapid, and reliable fabrication of microrobots with tunable dimensions. We demonstrate three device configurations: (1) a steerable guiding microcatheter with stiffness modulation; (2) an untethered tubular microrobot (TubeBot) exhibiting wave-crawling locomotion; and (3) a hybrid microcatheter robot that integrates distal-end wave-crawling propulsion with linear insertion to minimize tissue trauma. Validation in tortuous channels, soft phantoms replicating tissue compliance, 3D-printed organ models, ex vivo tissues, and live mice demonstrates the platforms ability to achieve precise microrobotic navigation. The successful targeted delivery of sperm cells, embryos, and drug-mimicking compounds further highlights its potential for precision medicine, including applications in assisted reproduction and targeted drug delivery.

bioengineering↗

bioRxiv2025

Magnetically Controlled Microrobots for In Vivo Non-Invasive Embryo Transfer

Infertility affects millions worldwide and is often linked to factors such as poor sperm quality and female reproductive organ disorders. Despite significant advancements in in vitro fertilization (IVF) and intracytoplasmic sperm injection (ICSI), implantation rates remain low, ranging from 17 to 21% after three days of incubation, mainly due to stress, lifestyle factors, and uterine conditions. Extended embryo culture techniques have shown promise in improving pregnancy rates. However, the availability of high-quality blastocysts remains a major challenge. Intrafallopian transfer techniques, such as gamete/zygote intrafallopian transfer (GIFT/ZIFT), were introduced to improve fertilization and early embryo development, particularly for patients with repeated embryo implantation failure (10-30% of assisted reproduction technology (ART) cases, particularly in women >35). However, these methods have declined due to advancements in IVF and the variability in laparoscopy procedures used for GIFT/ZIFT. To address these challenges, we propose a non-invasive microrobotic embryo transfer ({micro}ET) technique using remotely controlled microcarriers comparable in size to embryos. We demonstrate the capabilities of magnetically actuated spiral microrobots, fabricated using laser direct writing for capturing, transporting, and releasing embryos into murine uteri. Additionally, we characterize their motion performance and implement image-guided closed-loop control and dual ultrasound (US)/photoacoustic (PA) tracking for deep-tissue interventions. Recognizing the importance of clinical translation, we present preliminary studies on gelatin-based microrobots, a biodegradable alternative, and explore endometrial remodeling after the in vivo transfer of microrobots carrying embryo-like structures. Our findings show that these microrobots can effectively transport embryos, support their development, and enable minimally invasive delivery, providing a more natural, targeted, and non-invasive strategy for in vivo assisted reproduction. One-Sentence SummaryWe propose a non-invasive {micro}ET technique using magnetically actuated microcarriers to improve embryo cargo-delivery in assisted reproduction, addressing challenges in infertility treatments by enabling precise, image-guided embryo delivery with minimal invasiveness.

bioengineering↗