CN111760023A - Micro robot with clustered magnetic control and imitating magnetotactic bacteria internal structure and preparation method and application thereof - Google Patents
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Abstract
The invention relates to a micro-robot with a clustered magnetic control and an imitative magnetotactic bacteria internal structure, a preparation method and an application thereof, wherein the micro-robot with the imitative magnetotactic bacteria internal structure is assembled into a micron-sized magnetic drive unit structure which is orderly arranged by utilizing the characteristics of stable mechanical strength and non-swelling deformation of non-swelling hydrogel and applying an external magnetic field to regulate and control the assembly behavior of magnetic nanoparticles in microgel, so that the small-sized control of the magnetic nanoparticles and the control of the highly ordered structure of the magnetic nanoparticles are realized, and the micro-robot with the imitative magnetotactic bacteria internal structure is prepared. And the prepared magnetotactic bacteria-imitating micro-robot with the internal structure can be applied to targeted microvascular thrombolysis and targeted stem cell transportation. Compared with the prior art, the microrobot with the internal structure imitating the magnetotactic bacteria has the magnetic nano particle assembly which is arranged into a linear shape like a magnetosome, and the microrobot with the driving structure has the advantages of excellent motion capability and accurate track control and has good biocompatibility.
Description
Technical Field
The invention relates to an imitative magnetotactic bacteria-expelling micro-robot, in particular to a micro-robot with an imitative magnetotactic bacteria-expelling internal structure and a preparation method and application thereof.
Background
The micro swimming robot has the advantages of small structural size, precise devices, capability of entering a narrow space beyond the reach of human beings and macro robots to perform micro operation, and very wide application prospect.
It has been reported that the microrobot imitating the microorganism is limited to imitate the external structure. The bionic structure of magnetotactic bacteria needs to control the assembling process of magnetic nano particles at micron level, but the assembling process is not reported; on the other hand, the driving and motion control of the micro-robot in the low reynolds number environment is a difficult problem to explore the micro-world, and the driving structure of the micro-robot needs to be optimized.
How to prepare a microrobot imitating the internal structure of magnetotactic bacteria and apply the microrobot to the field of medicine is a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a novel magnetically-clustered microrobot imitating the interior structure of magnetotactic bacteria, a preparation method and application thereof, and designs a novel magnetically-clustered microrobot imitating the interior structure of magnetotactic bacteria and application thereof to microvascular thrombolysis, wherein a micro soft robot taking a hydrogel material as a matrix and an assembling structure of magnetotactic bacteria imitating the interior structure of magnetotactic bacteria as a driving unit is prepared, a microrobot carrier with superior movement capability, good biocompatibility and accurate movement control is obtained, and targeted thrombolysis treatment is carried out at the microvascular thrombus by loading thrombolytic drugs, and the magnetically-clustered microrobot can also be well applied to the transportation of stem cells.
The purpose of the invention can be realized by the following technical scheme:
the preparation method of the micro-robot with the cluster magnetic control and the interior structure of the imitated magnetotactic bacteria comprises the following steps:
s1: preparing magnetic nano particles modified by polyethyleneimine as an assembly unit;
s2: adding the assembly unit into a mixed solution of polyethyleneimine and epoxy group-modified polyethylene glycol, and performing ultrasonic dispersion to obtain a hydrogel prepolymer mixed solution with dispersed magnetic nano materials;
s3: adding the hydrogel prepolymer mixed solution dispersed by the magnetic nano material into a normal hexane solution, and stirring to obtain an emulsion;
s4: applying a static magnetic field to the emulsion, and then continuously stirring to obtain gel;
s5: and washing off the surfactant in the gel, and screening to obtain the magnetotactic bacteria-imitated internal structure micro-robot product.
Further, the magnetic nanoparticles are ferroferric oxide nanoparticles.
Further, the n-hexane solution is an n-hexane liquid added with a surfactant.
Further, the molar ratio of the polyethyleneimine to the polyethylene glycol is 1: 40.
Further, the mass concentration of the magnetic nanoparticles in the mixed solution of polyethyleneimine and polyethylene glycol is 5 mg/mL.
Furthermore, the static magnetic field intensity range H is 290-330 Gs.
Further, in S5, washing was performed with n-hexane first, and then washing was performed with absolute ethanol.
Further, in S5, the product was sieved through a cell filter to obtain a product having a particle size of 40 μm.
The application of the microrobot imitating the magnetotactic bacteria internal structure prepared by the scheme in the invention in a microvascular thrombolytic preparation comprises the following steps:
a1: immersing the micro-robot imitating the interior structure of the magnetotactic expelling bacteria into the thrombolytic agent, and performing a physical adsorption process to ensure that the thrombolytic agent reaches adsorption balance on the micro-robot imitating the interior structure of the magnetotactic expelling bacteria;
a2: cleaning to remove free thrombolytic agent to obtain a thrombolytic agent loaded micro-robot;
a3: the micro machine is driven by the rotating magnetic field to target the thrombus for recruitment, and the high-frequency magnetic field is added for magnetic heat treatment, so that the rapid release of the thrombolytic agent is promoted, and the local drug release and the thrombolysis are realized.
Further, the concentration of the thrombolytic agent in A1 was 1mg/mL, and the distribution density of the magnetotactic bacteria-simulated micro-robots in the thrombolytic agent was (2 × 10)5～7×105) Per mL; the temperature of physical adsorption in A1 is 4 ℃, and the adsorption time is 4-12 h.
The stem cell is dispersed after digestion, the stem cell is targeted by the microrobot imitating the internal structure of the magnetotactic bacteria under the action of a rotating magnetic field, and the stem cell can be captured and directionally delivered to a target position through the processes of aiming, targeting, grabbing and transporting.
Compared with the prior art, the invention has the following advantages:
1) the microrobot imitating the internal structure of the magnetophora repellent bacteria, prepared by the invention, has the magnetic nanoparticle assembly arranged in a linear shape like a magnetosome, has a novel driving structure, has the advantages of excellent motion capability and accurate track control, and has good biocompatibility on material components, contact interfaces and control modes.
2) The invention utilizes the characteristics of stable mechanical strength and non-swelling deformation of the non-swelling hydrogel, regulates the assembly behavior of the magnetic nanoparticles in the hydrogel by applying an external magnetic field, assembles the magnetic nanoparticles into the micro-size magnetic drive unit structure which is orderly arranged, realizes the control of small size and the control of the highly ordered structure, is extremely innovative work, and has good guiding significance for exploring the assembly behavior of micro-regulation of the magnetic nanoparticles. The influence of the internal driving structure on the motion law of the magnetotactic bacterium imitating micro-robot in the low Reynolds number environment is rarely reported, and the content of the invention has difficulty and novelty.
3) The magnetotactic bacteria-expelling-imitated internal structure micro-robot prepared in the invention can be applied to a novel minimally invasive means, has the potential of solving the problem of clinically targeted microvascular thrombolysis, brings a new treatment technology for middle-aged and elderly patients with thrombus, and has huge potential application value in clinic.
4) The microrobot imitating the internal structure of the magnetotactic bacteria, prepared by the invention, can be applied to the transportation of stem cells, targets the stem cells under the action of a rotating magnetic field, and can capture and directionally deliver the stem cells to a target position through the processes of aiming, targeting, grabbing and transferring.
Drawings
FIG. 1 is an optical micrograph of a BMM of the biomimetic soft micro-robot according to the present invention;
FIG. 2 is an SEM image of a BMM of the bionic soft micro-robot in the invention;
FIG. 3 is a diagram of a swelling characteristic curve of a BMM of the bionic soft micro-robot in the invention;
FIG. 4 is a graph showing the results of thrombolysis of BMM loaded thrombolytic drugs in accordance with the present invention;
FIG. 5 is a graph showing the effect of BMM in capturing stem cells and achieving directed trafficking in the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Example 1:
the invention discloses a novel cluster magnetic control soft micro-robot with an internal driving structure of magnetotactic bacteria imitation, which comprises the following preparation and application methods:
preparing a magnetic nano material:
(1) 0.68g of FeCl was added3·6H2Dissolving O, 1.8g of NaAc and 0.5g of polyethyleneimine in 20mL of ethylene glycol, and placing the dissolved solution in a reaction kettle;
(2) and (3) reacting at 120 ℃ for 12h, washing with deionized water for three times, and finally dispersing in the deionized water to obtain the magnetic nano material serving as the assembled imitative magnetotactic bacteria.
(II) preparing a soft micro-robot imitating the internal structure of the magnetotactic bacteria:
(1) dispersing the magnetic nano material in deionized water, carrying out ultrasonic treatment for 3min, dissolving 100.0mg of polyethyleneimine and 222.0mg of polyethylene glycol in 537 muL of deionized water, adding 537 muL of the magnetic nano material solution with the concentration of 10.0mg/mL into the polyethyleneimine and polyethylene glycol solution, and carrying out ultrasonic treatment again to fully mix and disperse the solution to form the mixed solution of the hydrogel prepolymer with the dispersed magnetic nano material.
(2) 0.42mL of Span 80 as a surfactant was dissolved in 21mL of n-hexane, and the resulting solution was placed in a three-necked flask, and the above-mentioned polyethyleneimine and polyethylene glycol solution in which the magnetic nanomaterial was dispersed was added dropwise to the n-hexane, followed by mechanical stirring at a stirring speed of 500RPM to emulsify the mixture for 10 minutes.
(3) The applied static magnetic field strength range is H290-320 Gs. The gel time of the microgel is about t 2-50 min, and the assembling action can only occur by carrying out magnetic guidance on the magnetic nano particles in the time period before the microgel is not gelled. Stirring was stopped after 2h and allowed to stand overnight. After gelation, the magnetic nanomaterial is fixed in the hydrogel matrix (fig. 1) and is in the shape of a sphere (fig. 2), and the microgel shell is a hydrogel material with non-swelling property (fig. 3). The product was washed with 10mL of n-hexane, repeated 3 times, to remove the surfactant, and washed with absolute ethanol, repeated 3 times. The final product was sieved using a cell filter to obtain a uniform 40 μm product and noted BMM, and its optical microscope showed that it was round in shape with a black line at the center of the sphere, i.e. magnetic nanoparticles assembled and aligned under the action of a magnetic field, as shown in fig. 1. The smooth surface of the soft micro-robot BMM imitating the internal structure of the magnetotactic bacteria can be seen after drying, as shown in figure 2.
Characterization of a soft micro-robot imitating the internal structure of magnetotactic bacteria: FIG. 1 is an optical micrograph of the prepared BMM, and FIG. 2 is an SEM atlas of the prepared BMM; FIG. 3 is a graph of the swelling characteristic curve of BMM prepared in example 1.
(III) movement of BMM under magnetic field control
(1) Resuspending the prepared BMM in cell culture medium and adding it to a 35mm diameter petri dish and adding 1.5mL of culture medium, simulating motion control in blood;
(2) and (3) placing the culture dish added with the BMM on a magnetic control-vision imaging platform, and carrying out magnetic field control and real-time vision feedback on the culture dish. The movement direction is controlled through three control modes of roll, pitch and yield, and the movement of the BMM can be adjusted in time by combining real-time feedback.
(IV) the application of the soft micro-robot imitating the internal structure of the magnetotactic bacteria in thrombolysis and stem cell delivery:
(1) preparing a thrombus model, taking 100mg thrombus, putting the thrombus into a glass sample bottle, and adding 1mL water;
(2) loading thrombolytic agent tPA by physical adsorption, immersing 5 × 105 microrobots in 1mL of tPA with concentration of 1mg/mL, keeping adsorption at 4 ℃ overnight to ensure equilibrium, and washing with PBS 3 times to remove free tPA;
(3) injecting a tPA-loaded micro-robot into a glass bottle of thrombus, performing magnetic heat treatment in a high-frequency magnetic field to promote the rapid release of tPA, and realizing the local drug release to promote thrombolysis (figure 4).
Dispersing stem cells into a culture medium after digestion, adding the stem cells into a culture dish, randomly dispersing the stem cells at the bottom of the culture dish, adding a BMM robot into the culture dish, targeting the stem cells under the action of a rotating magnetic field, and performing the processes of aiming-targeting-grabbing-transferring to capture and directionally deliver the stem cells to a target position (figure 5)
The application of the soft micro-robot imitating the internal structure of magnetotactic bacteria comprises the following steps: FIG. 4 shows the thrombolytic results of BMM prepared in example 1; fig. 5 shows the results of the directional trafficking of the captured stem cells of BMMs prepared in example 1.
Example 2:
the novel cluster magnetic control soft micro robot with the magnetotactic bacterium imitation internal driving structure in the embodiment is prepared and applied by the following steps:
preparing a magnetic nano material:
(1) 0.68g of FeCl was added3·6H2Dissolving O, 1.8g of NaAc and 0.5g of polyethyleneimine in 20mL of ethylene glycol, and placing the dissolved solution in a reaction kettle;
(2) and (3) reacting at 120 ℃ for 12h, washing with deionized water for three times, and finally dispersing in the deionized water to obtain the magnetic nano material serving as the assembled imitative magnetotactic bacteria.
(II) preparing a soft micro-robot imitating the internal structure of the magnetotactic bacteria:
(1) dispersing the magnetic nano material in deionized water, carrying out ultrasonic treatment for 3min, dissolving 50.0mg of polyethyleneimine and 111.0mg of polyethylene glycol in 269 mu L of deionized water, adding 269 mu L of the magnetic nano material solution with the concentration of 8.0mg/mL into the polyethyleneimine and polyethylene glycol solution, and carrying out ultrasonic treatment again to fully mix and disperse the solution to form the mixed solution of the hydrogel prepolymer with the dispersed magnetic nano material.
(2)0.20mL of Span 80 as a surfactant was dissolved in 10mL of n-hexane, and the resulting solution was added to a three-necked flask, and the above-mentioned polyethyleneimine and polyethylene glycol solution in which the magnetic nanomaterial was dispersed was added dropwise to the n-hexane, followed by mechanical stirring at a stirring speed of 500RPM to emulsify the mixture for 15 minutes.
(3) The applied static magnetic field strength ranges from H300-. The gel time of the microgel is about t 2-50 min, and the assembling action can only occur by carrying out magnetic guidance on the magnetic nano particles in the time period before the microgel is not gelled. Stirring was stopped after 2h and allowed to stand overnight. After gelation, the magnetic nanomaterial is fixed in the hydrogel matrix (fig. 1) and is in the shape of a sphere (fig. 2), and the microgel shell is a hydrogel material with non-swelling property (fig. 3). The product was washed with 10mL of n-hexane, repeated 3 times, to remove the surfactant, and washed with absolute ethanol, repeated 3 times. The final product was sieved using a cell filter to obtain a uniform 40 μm product and noted BMM, and its optical microscope showed that it was round in shape with a black line at the center of the sphere, i.e. magnetic nanoparticles assembled and aligned under the action of a magnetic field, as shown in fig. 1. The smooth surface of the soft micro-robot BMM imitating the internal structure of the magnetotactic bacteria can be seen after drying, as shown in figure 2.
Characterization of a soft micro-robot imitating the internal structure of magnetotactic bacteria: fig. 1 is an optical micrograph of the prepared BMM, and fig. 2 is an SEM atlas of the prepared BMM.
(III) movement of BMM under magnetic field control
(1) Resuspending the prepared BMM in cell culture medium and adding it to a 35mm diameter petri dish and adding 1.5mL of culture medium, simulating motion control in blood;
(2) and (3) placing the culture dish added with the BMM on a magnetic control-vision imaging platform, and carrying out magnetic field control and real-time vision feedback on the culture dish. The movement direction is controlled through three control modes of roll, pitch and yield, and the movement of the BMM can be adjusted in time by combining real-time feedback.
(IV) the application of the soft micro-robot imitating the internal structure of the magnetotactic bacteria in thrombolysis and stem cell delivery:
(1) preparing a thrombus model, taking 100mg thrombus, putting the thrombus into a glass sample bottle, and adding 1mL water;
(2) loading of thrombolytic agent tPA, 5 x 10 by physical adsorption5Immersing the micro-robot into 1mL of tPA with the concentration of 1mg/mL, keeping the adsorption to reach the balance overnight at 4 ℃, and washing with PBS for 3 times to remove free tPA;
(3) injecting a tPA-loaded micro-robot into a glass bottle of thrombus, performing magnetic heat treatment in a high-frequency magnetic field to promote the rapid release of tPA, and realizing the local drug release to promote thrombolysis (figure 4).
Stem cells are dispersed in a culture medium after digestion, added into a culture dish, randomly dispersed at the bottom of the culture dish, added with a BMM robot, targeted to the stem cells under the action of a rotating magnetic field, and subjected to a process of aiming-targeting-grabbing-transferring, so that the stem cells can be captured and directionally delivered to a target position (figure 5).
Example 3:
the novel cluster magnetic control soft micro robot with the magnetotactic bacterium imitation internal driving structure in the embodiment is prepared and applied by the following steps:
preparing a magnetic nano material:
(1) 0.68g of FeCl was added3·6H2Dissolving O, 1.8g of NaAc and 0.5g of polyethyleneimine in 20mL of ethylene glycol, and placing the dissolved solution in a reaction kettle;
(2) and (3) reacting at 120 ℃ for 12h, washing with deionized water for three times, and finally dispersing in the deionized water to obtain the magnetic nano material serving as the assembled imitative magnetotactic bacteria.
(II) preparing a soft micro-robot imitating the internal structure of the magnetotactic bacteria:
(1) dispersing the magnetic nano material in deionized water, carrying out ultrasonic treatment for 3min, dissolving 37.0mg of polyethyleneimine and 83.0mg of polyethylene glycol in 200 mu L of deionized water, adding 200 mu L of the magnetic nano material solution with the concentration of 10.0mg/mL into the polyethyleneimine and polyethylene glycol solution, and carrying out ultrasonic treatment again to fully mix and disperse the solution to form the mixed solution of the hydrogel prepolymer with the dispersed magnetic nano material.
(2) 0.16mL of Span 80 as a surfactant was dissolved in 8mL of n-hexane, and the resulting solution was placed in a three-necked flask, and the above-mentioned polyethyleneimine and polyethylene glycol solution in which the magnetic nanomaterial was dispersed was added dropwise to the n-hexane, followed by mechanical stirring at a stirring speed of 500RPM to emulsify the mixture for 10 minutes.
(3) The applied static magnetic field strength range is H290-320 Gs. The gel time of the microgel is about t 2-50 min, and the assembling action can only occur by carrying out magnetic guidance on the magnetic nano particles in the time period before the microgel is not gelled. Stirring was stopped after 2h and allowed to stand overnight. After gelation, the magnetic nanomaterial is fixed in the hydrogel matrix (fig. 1) and is in the shape of a sphere (fig. 2), and the microgel shell is a hydrogel material with non-swelling property (fig. 3). The product was washed with 10-20mL of n-hexane, repeated 3 times, to remove the surfactant, and washed with absolute ethanol, repeated 3 times. The final product was sieved using a cell filter to obtain a uniform 40 μm product and noted BMM, and its optical microscope showed that it was round in shape with a black line at the center of the sphere, i.e. magnetic nanoparticles assembled and aligned under the action of a magnetic field, as shown in fig. 1. The smooth surface of the soft micro-robot BMM imitating the internal structure of the magnetotactic bacteria can be seen after drying, as shown in figure 2.
Characterization of a soft micro-robot imitating the internal structure of magnetotactic bacteria: fig. 1 is an optical micrograph of the prepared BMM, and fig. 2 is an SEM atlas of the prepared BMM.
(III) movement of BMM under magnetic field control
(1) Resuspending the prepared BMM in cell culture medium and adding it to a 35mm diameter petri dish and adding 1.5mL of culture medium, simulating motion control in blood;
(2) and (3) placing the culture dish added with the BMM on a magnetic control-vision imaging platform, and carrying out magnetic field control and real-time vision feedback on the culture dish. The movement direction is controlled through three control modes of roll, pitch and yield, and the movement of the BMM can be adjusted in time by combining real-time feedback.
(IV) the application of the soft micro-robot imitating the internal structure of the magnetotactic bacteria in thrombolysis and stem cell delivery:
(1) preparing a thrombus model, taking 100mg thrombus, putting the thrombus into a glass sample bottle, and adding 1mL water;
(2) loading of thrombolytic agent tPA, 5 x 10 by physical adsorption5Immersing the micro-robot into 1mL of tPA with the concentration of 1mg/mL, keeping the adsorption to reach the balance overnight at 4 ℃, and washing with PBS for 3 times to remove free tPA;
(3) injecting a tPA-loaded micro-robot into a glass bottle of thrombus, performing magnetic heat treatment in a high-frequency magnetic field to promote the rapid release of tPA, and realizing the local drug release to promote thrombolysis (figure 4).
Stem cells are dispersed in a culture medium after digestion, added into a culture dish, randomly dispersed at the bottom of the culture dish, added with a BMM robot, targeted to the stem cells under the action of a rotating magnetic field, and subjected to a process of aiming-targeting-grabbing-transferring, so that the stem cells can be captured and directionally delivered to a target position (figure 5).
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
1. A preparation method of a micro-robot with a cluster magnetic control and an internal structure imitating magnetotactic bacteria is characterized by comprising the following steps:
s1: preparing magnetic nano particles modified by polyethyleneimine as an assembly unit;
s2: adding the assembly unit into a mixed solution of polyethyleneimine and epoxy group-modified polyethylene glycol, and performing ultrasonic dispersion to obtain a hydrogel prepolymer mixed solution with dispersed magnetic nano materials;
s3: adding the hydrogel prepolymer mixed solution dispersed by the magnetic nano material into a normal hexane solution, and stirring to obtain an emulsion;
s4: applying a static magnetic field to the emulsion, and then continuously stirring to obtain gel;
s5: and washing off the surfactant in the gel, and screening to obtain the magnetotactic bacteria-imitated internal structure micro-robot product.
2. The method for preparing the microrobot with the clustered magnetically controlled bionic magnetotactic bacteria internal structure according to claim 1, wherein the magnetic nanoparticles are ferroferric oxide nanoparticles.
3. The method for preparing the microrobot with the clustered magnetically-controlled archaizing magnetotactic bacteria internal structure according to claim 1, wherein the molar ratio of the polyethyleneimine to the polyethylene glycol is 1: 40.
4. The method for preparing the micro-robot with the internal structure of the clustered magnetically-controlled archaizing magnetotactic bacteria according to claim 1, wherein the mass concentration of the magnetic nanoparticles in the mixed solution of polyethyleneimine and polyethylene glycol is 5 mg/mL.
5. The method for preparing the microrobot with the clustered magnetically controlled diamagnetic bacteria as the internal structure according to claim 1, wherein the static magnetic field intensity range is 290-330 Gs.
6. The method for preparing the micro-robot with the clustered magnetically controlled archaizing magnetotactic bacteria internal structure according to claim 1, wherein S5 is washed by n-hexane first and then by absolute ethanol;
s5, screening by a cell filter to obtain a product with the particle size of 40 mu m.
7. A microrobot imitating the internal structure of an anthromobacter obtained by the preparation method of any one of claims 1 to 6.
8. The application of the microrobot imitating the internal structure of magnetotactic bacteria prepared in the claim 7 in the preparation of microvascular thrombolysis is characterized by comprising the following steps:
a1: immersing the micro-robot imitating the interior structure of the magnetotactic expelling bacteria into the thrombolytic agent, and performing a physical adsorption process to ensure that the thrombolytic agent reaches adsorption balance on the micro-robot imitating the interior structure of the magnetotactic expelling bacteria;
a2: cleaning to remove free thrombolytic agent to obtain a thrombolytic agent loaded micro-robot;
a3: the micro machine is driven by the rotating magnetic field to target the thrombus for recruitment, and the high-frequency magnetic field is added for magnetic heat treatment, so that the rapid release of the thrombolytic agent is promoted, and the local drug release and the thrombolysis are realized.
9. The use of the diamagnetic bacterium imitating internal structure micro-robot in a microvascular thrombolytic preparation according to claim 7, wherein the concentration of the thrombolytic agent in A1 is 1mg/mL, and the distribution density of the diamagnetic bacterium imitating internal structure micro-robot in the thrombolytic agent is (2 × 10)5～7×105) Per mL; the temperature of physical adsorption in A1 is 4 ℃, and the adsorption time is 4-12 h.
10. The application of the magnetotactic aperiodic microrobot in stem cell transportation of claim 7, wherein the stem cells are dispersed after digestion, and the magnetotactic aperiodic microrobot is added to target the stem cells under the action of the rotating magnetic field, and the stem cells are captured and directionally delivered to the target position through the processes of targeting-grabbing-transferring.
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