Magnetically Actuated Helical Microrobots Enabling Ultrasound-Free Precision Fragmentation of Lens Nuclei in Cataract Surgery

Abstract Despite its status as the gold standard for cataract surgery, phacoemulsification carries inherent risks associated with ultrasonic energy application, including intraoperative complications (e.g., posterior capsule rupture) and a steep surgical learning curve. To address these limitations, this study presents a magnetically actuated composite micro-robotic system engineered specifically for lens fragmentation. Utilizing a human-robot interaction (HRI) module for external teleoperation, we experimentally evaluated the locomotion capabilities of individual helical magnetic microrobots (Helixbots) within a viscoelastic medium and ex vivo porcine lens. Results demonstrated the helixbots' capability for multidirectional navigation and achieved partial fragmentation of the lens nucleus. This microrobotic platform establishes a foundation for ultrasonic energy-free cataract surgery, offering enhanced procedural safety through the absence of ultrasonic energy, improved predictability, and real-time controllability. Crucially, this work provides preliminary experimental validation of ultrasonic energy-free lens fragmentation, a pivotal surgical step, thus demonstrating a promising and transformative strategy with significant potential clinical value.