![]() ![]() On this basis, a three degree of freedom magnetic drive system is developed to drive the capsule micro robot to reach the destination along the predetermined trajectory in the low Reynolds number environment, and the magnetic field performance of the magnetic drive system is simulated and analyzed. The analysis and simulation results show that the size of the capsule microrobots can be controlled by the flow rate ratio of two phases in the microfluidic chip, and when the flow rate of the outer phase is 20 times that of the inner phase in the microfluidic chip, the irregular and multi-core capsule microrobots can be prepared. ![]() In order to prepare capsule microrobots of different sizes, a triaxial microfluidic chip is designed and built, and the formation mechanism of three flow phases including plug flow phase, bullet flow phase and droplet phase during the preparation of capsule microrobots is studied. In this work, the hydrogel-based capsule microrobots is used to wrap drugs and deliver drugs in blood vessels. Microrobots for targeted drug delivery in blood vessels have attracted increasing interest from researchers. ![]()
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