# US 10,441,760 B2 · Self-actuating chemomechanical devices for delivery and extended release of therapeutic agents in the gastrointestinal tract > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,441,760 B2 - Document ID: US10441760B2 - Status: Granted - Kind: B2 - Application number: 14/195,446 - Filed: 2014-03-03 - Published: 2014-09-04 - Granted: 2019-10-15 - Earliest claimed: 2013-03-01 - Assignees: The Johns Hopkins University - Applicants: The Johns Hopkins University - Inventors: Florin M. Selaru; David H. Gracias; Joyce Breger - Web page: https://patentgrep.com/patent/US10441760B2 ## CPC - A61M 31/002: {Devices for releasing a drug at a continuous and controlled rate for a prolonged period of time (artificial gland structures or devices A61F2/022; intra-uterine contraceptive devices A61F6/14; tampons for introducing into the vagina A61F13/20, A61L15/00; suppositories or bougies for intra-vaginal or intra-uterine application A61K9/02; physical forms of medicinal preparations for sustained or differential drug release A61K9/20, A61K9/50)} - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract The presently disclosed delivery systems utilize microtools, also referred to as theragrippers, to deliver a drug or other therapeutic agent to targeted tissue. More particularly, the drug delivery system and methods provide a delivery system that is capable of anchoring to a tissue site and then delivering a drug or therapeutic agent to the tissue directly to or in the vicinity of the site over an extended period of time. Any number of theragrippers may be deployed as desired to deliver different doses of a desired drug or therapeutic agent. The theragrippers also can be biodegradable such that they remain in place for an extended period of time and then degrade without adversely affecting the surrounding tissue. ## Claims ### Claim 1 A system for delivering one or more therapeutic agents to a tissue site in a subject, the system comprising: (a) an untethered mechanical gripping module having a dimension ranging from about 10 microns to about 1 mm and comprising a plurality of fingers comprising a plurality of sharp or tapered tips, wherein the fingers comprise a metal, a polymer having a modulus of greater than about 1 mPa, or combinations thereof, wherein the mechanical gripping module comprises at least an actuation layer and a control layer operatively connected to the actuation layer, wherein the actuation layer comprises a stress layer and a neutral layer and is configured to store torsional energy and wherein the control layer maintains the actuation layer substantially in a first configuration in a local environmental condition and intrinsically responds to a change in the local environmental condition from one or more stimuli thereby releasing the stored torsional energy of the actuation layer causing a change of the actuation layer to a second configuration, wherein the mechanical gripping module is adapted to close by curving or folding to grasp onto tissue at the tissue site when the actuation layer changes to the second configuration; and (b) a chemical module comprising a thin film, porous material, capsule, or reservoir patterned on the mechanical gripping module, wherein the thin film, porous material, capsule, or reservoir comprises the one or more therapeutic agents, wherein the chemical module is patterned onto or incorporated in the control layer. ### Claim 2 (depends on 1) The system of claim 1, wherein the thin film is polymer or gel based. ### Claim 3 (depends on 1) The system of claim 1, wherein the mechanical gripping module comprises a polymer, a metal, or a combination thereof. ### Claim 4 (depends on 1) The system of claim 1, wherein the system is all-polymeric. ### Claim 5 (depends on 4) The system of claim 4, wherein the system comprises N-isopropylacrylamide (NIPAM) and poly(propylene fumarate) (PPF). ### Claim 6 (depends on 1) The system of claim 1, wherein the system is biodegradable. ### Claim 7 (depends on 1) The system of claim 1, wherein the system has a shape selected from the group consisting of a star or a sphere having a plurality of fingers. ### Claim 8 (depends on 7) The system of claim 7, wherein the plurality of fingers has a range from about three to about 1000 fingers. ### Claim 9 (depends on 1) The system of claim 1, wherein the one or more stimuli is selected from the group consisting of a change in temperature, a change in pH, an acid, a biochemical, an enzyme, a soluble protein, and a surface biomarker. ### Claim 10 (depends on 9) The system of claim 9, wherein the change in temperature comprises changing the temperature above about 37° C. ### Claim 11 (depends on 10) The system of claim 10, wherein the change in temperature comprises changing the temperature above about 32° C. ### Claim 12 (depends on 1) The system of claim 1, wherein the system further comprises a matrix, recess, or microwell comprising the one or more therapeutic agents. ### Claim 13 (depends on 1) The system of claim 1, wherein the system comprises an origami folding system. ### Claim 14 (depends on 1) The system of claim 1, wherein the system comprises a self-folding and/or unfolding system. ### Claim 15 (depends on 1) The system of claim 1, wherein the untethered mechanical gripping module comprises a metal and the system further comprises one or more magnetic elements allowing magnetic retrieval of the untethered mechanical gripping module from the subject.