The barbed MN robot was fabricated by a double-mold process (
Fig. 2A), with the drug insulin loaded into the barbed needle tips (
Figs. 2B and
C).
Fig. 2B schematically illustrates the variations in peristaltic forces and lumen diameter during the contraction/relaxation rhythms. Dislodging of the barbed tips occurred after injection of the MNs into the mucosa by peristaltic contraction (
Fig. 2B). In an
in vitro gel model simulating mucosa, dislodging of insulin-loaded barbs was successfully recorded (
Fig. 2C, middle), but unfortunately, this process was not observed
in vivo, and detached barbs were only observed on the surface of intestinal mucosa (
Fig. 2C, below). By adjusting the ratio of the membrane mixture (PVA and AAm), a stretchable membrane with a stretch degree of 50% was obtained. After the addition of the osmotic agent citric acid to the internal swelling agent (sodium carboxymethyl cellulose), the volume could swell by 20 times. By doping PEG in the barbed structure, drug release could be accelerated to more than 50% within 3 h
in vitro. Each MN patch was loaded with 0.5 mg of insulin in 126 tetragonal barbs (height, 800 µm; underside length, 500 µm), for a total of 1.0 mg in a single MN robot.