Automated in Vivo Delivery of Miniature Adhesive Patches Using Dual-Arm Nanorobotic System under Stereo Microscope

Miniature adhesive patches (MAPs) are widely used in medicine for tissue repair, wound healing, and biosensing applications. Despite considerable advances in medical robotics, the automated in vivo delivery of MAPs remains a formidable challenge due to the intricate nature of biological environments, the delicate mechanical properties of MAPs, and the need for precise positioning on soft, often curved or dynamic tissue surfaces. This work presents a stereo microscope-guided dual arm nanorobotic system capable of navigating intricate anatomical structures, enabling high-precision MAP delivery, and minimizing the internal stress on soft MAPs. The system employs adaptive bio-surface fitting and MAP delivery trajectory optimization based on the target tissue's topography and MAP mechanical properties, followed by dual-arm execution under stereo microscope visual feedback. By automating MAP delivery onto complex in vivo surfaces, the system prevents internal stress imbalance (which often leads to significant and undesirable scar formation). Experimental validation demonstrated successful in vivo MAP delivery (Young's modulus: 200 to 1000 Pa) onto mice nerve at vastus lateralis wound. The experiments also confirmed the system's precision, dexterity, and uniform stress distribution during delivery process, underscoring its prospective utility in medical and clinical settings.