Granted Patent
B2
US 12,576,240 · App. 17/589,609 · Granted Mar 17, 2026
Microrobots with distributed actuation
Assignee:
Ohio State Innovation Foundation
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Abstract
Described herein are unit cells including a base plate; a top plate; and a lumen extending longitudinally from the base plate to the top plate, the lumen defined by a side wall formed from a plurality of cojoined panels extending between a bottom surface of the top plate and a top surface of the base plate. The unit cell can be magnetically actuatable, such that the unit cell can be reversibly transitioned between a contracted configuration, an extended configuration, or a combination thereof using an applied magnetic field.
Claims (28)
1 . A device comprising a plurality of unit cells joined in series, wherein each unit cell comprises:
a base plate;
a top plate; and
a lumen extending longitudinally from the base plate to the top plate, the lumen defined by a side wall formed from a plurality of cojoined panels extending between a bottom surface of the top plate and a top surface of the base plate;
wherein the unit cell is magnetically actuatable, such that the unit cell can be reversibly transitioned between a contracted configuration, an extended configuration, or a combination thereof using an applied magnetic field.
2 . The unit cell of claim 1 , wherein a transition between a contracted configuration, an extended configuration, or a combination thereof comprises reorientation of the plurality of conjoined panels forming the side wall.
3 . The unit cell of claim 2 , wherein reorientation comprises folding of one or more of the conjoined panels, unfolding of one or more of the conjoined panels, or any combination thereof.
4 . Then unit cell of claim 1 , wherein the side wall has an extended configuration height and a contracted configuration height, wherein the extended configuration height is at least 2 times the contracted configuration height.
5 . The unit cell of claim 1 , wherein the unit cell has a cross sectional dimension of from 2 mm to 10 mm.
6 . The unit cell of claim 1 , wherein the extended configuration height of the side wall is of from 2 mm to 30 mm.
7 . The unit cell of claim 1 , wherein the contracted configuration height of the side wall is of from 1 mm to 10 mm.
8 . The unit cell of claim 1 , wherein the extended configuration, contracted configuration, or a combination thereof have the same cross-sectional dimension.
9 . The unit cell of claim 1 , wherein the base plate, the top plate, or any combination thereof comprises a magnetic responsive plate.
10 . The unit cell of claim 1 , wherein the applied magnetic field generates a magnetic torque on the unit cell.
11 . The unit cell of claim 1 , wherein the magnetic field has a magnetic field strength of from 0 mT to 300 mT.
12 . The unit cell of claim 1 , wherein the panels are formed from a polymeric material, a paper material, or any combination thereof.
13 . The unit cell of claim 1 , further comprising an active agent in the lumen of the unit cell.
14 . The unit cell of claim 13 , wherein when the unit cell is actuated the active agent releases from the unit cell.
15 . A method of actuating the unit cell of claim 1 , comprising:
providing the unit cell, wherein the unit cell is capable of being programmed to transition between a contracted configuration, an extended configuration, or a combination thereof; and actuating the unit cell under an applied magnetic field.
16 . A method of actuating a device to perform an activity on a subject, comprising:
positioning a unit cell of claim 1 in a first position with regard to the subject, wherein the unit cell is capable of being programmed to transition between a contracted configuration, an extended configuration, or a combination thereof; and
actuating the device under an applied magnetic field.
17 . The method of claim 16 , wherein the device can be actuated to translocate from a first position to another position.
18 . The method of claim 16 , wherein the device can be actuated to release an active agent.
19 . A method of drug delivery comprising:
administering to a subject in need thereof a unit cell of claim 1 , wherein the unit cell is capable of being programmed to transition between a contracted configuration, an extended configuration, or a combination thereof; and
actuating the device using an applied magnetic field.
Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Feb 1, 2022
From: ZHAO, RENEE; WU, SHUAI; ZE, QIJI
To: OHIO STATE INNOVATION FOUNDATION
Reel/Frame 058841/0369 →
Continuity (3)
Provisional Application
63144219
· Feb 1, 2021
Provisional Application
63143715
· Jan 29, 2021
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