Reversible swarming and separation of self-propelled chemically powered nanomotors under acoustic fields

Rational Design of Polymer Conical Nanoswimmers with Upstream Motility

Utilizing bottom-up controllable molecular assembly, the bio-inspired polyelectrolyte multilayer conical nanoswimmers with gold-nanoshell functionalization on different segments are presented to achieve the optimal upstream propulsion performance. The experimental investigation reveals that the presence of the gold nanoshells on the big openings of the nanoswimmers could not only bestow efficient directional propulsion but could also minimize the impact from the external flow. The gold nanoshells at the big openings of nanoswimmers facilitate the acoustically powered propulsion against a flow velocity of up to 2.00 mm s^-1, which is higher than the blood velocity in capillaries and thus provides a proof-of-concept design for upstream nanoswimmers.

A Robot Platform for Highly Efficient Pollutant Purification

In this study, we propose a highly efficient robot platform for pollutant adsorption. This robot system consists of a flapping-wing micro aircraft (FWMA) for long-distance transportation and delivery and cost-effective multifunctional Janus microrobots for pollutant purification. The flapping-wing micro air vehicle can hover for 11.3 km with a flapping frequency of approximately 15 Hz, fly forward up to 31.6 km/h, and drop microrobots to a targeted destination. The Janus microrobot, which is composed of a silica microsphere, nickel layer, and hydrophobic layer, is used to absorb the oil and process organic pollutants. These Janus microrobots can be propelled fast up to 9.6 body lengths per second, and on-demand speed regulation and remote navigation are manageable. These Janus microrobots can continuously carry oil droplets in aqueous environments under the control of a uniform rotating magnetic field. Because of the fluid dynamics induced by the Janus microrobots, a highly efficient removal of Rhodamine B is accomplished. This smart robot system may open a door for pollutant purification.

Vector-Controlled Wheel-Like Magnetic Swarms With Multimodal Locomotion and Reconfigurable Capabilities

Inspired by the biological collective behaviors of nature, artificial microrobotic swarms have exhibited environmental adaptability and tasking capabilities for biomedicine and micromanipulation. Complex environments are extremely relevant to the applications of microswarms, which are expected to travel in blood vessels, reproductive and digestive tracts, and microfluidic chips. Here we present a strategy that reconfigures paramagnetic nanoparticles into a vector-controlled microswarm with 3D collective motions by programming sawtooth magnetic fields. Horizontal swarms can be manipulated to stand vertically and swim like a wheel by adjusting the direction of magnetic-field plane. Compared with horizontal swarms, vertical wheel-like swarms were evaluated to be of approximately 15-fold speed increase and enhanced maneuverability, which was exhibited by striding across complex 3D confinements. Based on analysis of collective behavior of magnetic particles in flow field using molecular dynamics methods, a rotary stepping mechanism was proposed to address the formation and locomotion mechanisms of wheel-like swarm. we present a strategy that actuates swarms to stand and hover in situ under a programming swing magnetic fields, which provides suitable solutions to travel across confined space with unexpected changes, such as stepped pipes. By biomimetic design from fin motion of fish, wheel-like swarms were endowed with multi-modal locomotion and load-carrying capabilities. This design of intelligent microswarms that adapt to complicated biological environments can promote the applications ranging from the construction of smart and multifunctional materials to biomedical engineering.

Ultra-trace enriching biosensing in nanoliter sample

Rapid detection and accurate analysis of trace samples is an important prerequisite for precision medicine. Here we integrated capillary with ultrasound to induce biomarkers enrichment in nanoliter samples, and developed a nanoliter sample enrichment analysis method for ultra-trace miRNA biosensing. The interaction between ultrasonic field and capillary provides a gradient ultrasound field, which is essential for the aggregation of functionalized microspheres along with the enrichment of specific biomarkers. The results indicated that the enrichment of the biomarkers effectively enhanced the fluorescence intensity, and the limit of detection reaches 7.8✕10^-12 M in 100 nL. Such integrated device can realize ultrasonic enrichment and visual analysis of target samples, and provides a new idea for rapid and highly sensitive detection of ultra-trace biomarkers in clinical diagnosis.

Reconfigurable assembly of colloidal motors towards interactive soft materials and systems

Due to the highly flexible reconfiguration of swarms, collective behaviors have provided various natural organisms with a powerful adaptivity to the complex environment. To mimic these natural systems and construct artificial intelligent soft materials, self-propelled colloidal motors that can convert diverse forms of energy into swimming-like movement in fluids afford an ideal model system at the micro-/nanoscales. Through the coupling of local gradient fields, colloidal motors driven by chemical reactions or externally physical fields can assembly into swarms with adaptivity. Here, we summarize the progress on reconfigurable assembly of colloidal motors which is driven and modulated by chemical reactions and external fields (e.g., light, ultrasonic, electric, and magnetic fields). The adaptive reconfiguration behaviors and the corresponding mechanisms are discussed in detail. The future directions and challenges are also addressed for developing colloidal motor-based interactive soft matter materials and systems with adaptation and interactive functions comparable to that of natural systems.

Ultrasound-Responsive Systems as Components for Smart Materials

Smart materials can respond to stimuli and adapt their responses based on external cues from their environments. Such behavior requires a way to transport energy efficiently and then convert it for use in applications such as actuation, sensing, or signaling. Ultrasound can carry energy safely and with low losses through complex and opaque media. It can be localized to small regions of space and couple to systems over a wide range of time scales. However, the same characteristics that allow ultrasound to propagate efficiently through materials make it difficult to convert acoustic energy into other useful forms. Recent work across diverse fields has begun to address this challenge, demonstrating ultrasonic effects that provide control over physical and chemical systems with surprisingly high specificity. Here, we review recent progress in ultrasound-matter interactions, focusing on effects that can be incorporated as components in smart materials. These techniques build on fundamental phenomena such as cavitation, microstreaming, scattering, and acoustic radiation forces to enable capabilities such as actuation, sensing, payload delivery, and the initiation of chemical or biological processes. The diversity of emerging techniques holds great promise for a wide range of smart capabilities supported by ultrasound and poses interesting questions for further investigations.

A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils

This paper proposes an effective method to manipulate the 2D motions of a magnetic small-scale robot (microrobot) within a relatively large working area using a triad of electromagnetic coils (TEC). The TEC is a combination of three identical circular coils placed at the vertices of an equilateral triangle. Since it is geometrically compact and requires only three control variables (input currents), the TEC can be effectively used to generate various magnetic fields that can be used to maneuver various functional microrobots. In this paper, we established several equations to calculate the input currents of the TEC required to move a microrobot along a designated pathway effectively and precisely. We also constructed an experimental setup to demonstrate and validate the controlled motions of the microrobot using the proposed method. The results showed that the proposed method can effectively improve the TEC’s practical working area (region of interest) for manipulating the microrobot, which can possibly be applied to biomedical and biological applications, including minimally invasive surgery, targeted drug and cargo delivery, microfluidic control, etc.

Enhanced Isothermal Amplification for Ultrafast Sensing of SARS-CoV-2 in Microdroplets

Rapid and high-throughput screening is critical to control the COVID-19 pandemic. Recombinase polymerase amplification (RPA) with highly accessible and sensitive nucleic acid amplification has been widely used for point-of-care infection diagnosis. Here, we report an integrated microdroplet array platform composed of an ultrasonic unit and minipillar array to enhance the RPA for ultrafast, high-sensitivity, and high-throughput detection of SARS-CoV-2. On such a platform, the independent microvolume reactions on individual minipillars greatly decrease the consumption of reagents. The microstreaming driven by ultrasound creates on-demand contactless microagitation in the microdroplets and promotes the interaction between RPA components, thus greatly accelerating the amplification. In the presence of microstreaming, the detection time is 6-12 min, which is 38.8-59.3% shorter than that of controls without microstreaming, and the end-point fluorescence intensity also increased 1.3-1.7 times. Furthermore, the microagitation-enhanced RPA also exhibits a lower detection limit (0.42 copy/μL) for SARS-CoV-2 in comparison to the controls. This integrated microdroplet array detection platform is expected to meet the needs for high-throughput nucleic acid testing (NAT) to improve the containment of viral transmission during the epidemic, as well as provide a potential platform for the timely detection of other pathogens or viruses.

Wheel-like Magnetic-Driven Microswarm with a Band-Aid Imitation for Patching Up Microscale Intestinal Perforation

Microscale intestinal perforation can cause considerable mortality and is very difficult to treat using conventional methods owing to the numerous challenges associated with microscale operations, which require the development of new body-friendly and effective treatment methods. Swarming micro- and nanomotors have shown great potential in biomedical applications in complex and hard-to-reach environments. Herein, we present a wheel-like magnetic-driven microswarm (WLM) with a band-aid imitation to patch microscale intestinal perforations by pasting on the perforation point in mucus-filled environments. A method called "packing under rolling" was applied to make the formed microswarms denser and rounder. Microswarms with variable aspect ratios can be fabricated by tuning the frequency and strength of the external magnetic field. Actuation and navigation in a confined complex environment, locomotion on three-dimensional surfaces, and multiple switchable motion modes have been realized by combining AC and DC magnetic fields. Moreover, we demonstrated WLM controllable navigation, movement, and microscale perforation patching in the chicken intestines ex vivo. The proposed strategy will contribute to the treatment of microscale intestinal perforation and may be applicable to novel, precise topical medication and microsurgery.

Biosafety evaluation of dual-responsive neutrobots

Neutrobots carrying antitumor drugs facilitate considerable safety in vivo upon intravenous administration with high dose.

Magnetic Microdimer as Mobile Meter for Measuring Plasma Glucose and Lipids

With the development of designed materials and structures, a wide array of micro/nanomachines with versatile functionalities are employed for specific sensing applications. Here, we demonstrated a magnetic propelled microdimer-based point-of-care testing system, which can be used to provide the real-time data of plasma glucose and lipids relying on the motion feedback of mechanical properties. On-demand and programmable speed and direction of the microdimers can be achieved with the judicious adjustment of the external magnetic field, while their velocity and instantaneous postures provide estimation of glucose, cholesterol, and triglycerides concentrations with high temporal accuracy. Numerical simulations reveal the relationship between motility performance and surrounding liquid properties. Such technology presents a point-of-care testing (POCT) approach to adapt to biofluid measurement, which advances the development of microrobotic system in biomedical fields.

Reconfigurable Disk-like Microswarm under a Sawtooth Magnetic Field

Swarming robotic systems, which stem from insect swarms in nature, exhibit a high level of environmental adaptability and enhanced tasking capabilities for targeted delivery and micromanipulation. Here, we present a strategy that reconfigures paramagnetic nanoparticles into microswarms energized by a sawtooth magnetic field. A rotary-stepping magnetic-chain mechanism is proposed to address the forming principle of disk-like swarms. Based on programming the sawtooth field, the microswarm can perform reversible transformations between a disk, an ellipse and a ribbon, as well as splitting and merging. In addition, the swarms can be steered in any direction with excellent maneuverability and a high level of pattern stability. Under accurate manipulation of a magnetic microswarm, multiple microparts with complicated shapes were successfully combined into a complete assembly. This reconfigurable swarming microrobot may shed light on the understanding of complex morphological transformations in living systems and provide future practical applications of microfabrication and micromanipulation.

Universal Control for Micromotor Swarms with a Hybrid Sonoelectrode

Enabled by active motion of microrobots, conventional biological detection and chemical analyses limited by passive diffusion can be significantly enhanced with fast testing speed and unique sensitiveness. However, controlled release and precise enrichment of microrobot swarms are still difficult to accomplish and thus prohibit them away from practical applications. Here, an efficient and versatile strategy utilizing a needle-shaped hybrid sonoelectrode to disperse and aggregate distinct micromotors is presented, remarkably accelerating mass transfer and enhancing the signal intensity. Hydrogen bubbles generated at the tip of charged electrode can oscillate as actuated by the acoustic field, creating intensified vortexes to disperse micromotors spontaneously. Via removing the attached bubble, the sonoelectrode serving as solid needle isolator is capable of collecting micromotors in a large scale with acoustic streaming in the working reservoir at higher ultrasound frequency. Numerical calculation reveals the streaming profiles with/without microbubbles, and manipulations on classic spherical and tubular micromotor models confirm that the acoustic-powered prototype device is effective for controlling different swarming behaviors in microfluidic channels. Overall, the proposed hybrid sonoelectrode offers a universal and rapid strategy to tailor micromotor swarm behaviors, advancing intelligent microrobots to be featured with active enrichment and compatible for next-generation sensitive portable detection microsystems.

Multifunctional micro/nanomotors as an emerging platform for smart healthcare applications

Self-propelling micro- and nano-motors (MNMs) are emerging as a multifunctional platform for smart healthcare applications such as biosensing, bioimaging, and targeted drug delivery with high tissue penetration, stirring effect, and rapid drug transport. MNMs can be propelled and/or guided by chemical substances or external stimuli including ultrasound, magnetic field, and light. In addition, enzymatically powered MNMs and biohybrid micromotors have been developed using the biological components in the body. In this review, we describe emerging MNMs focusing on their smart propulsion systems, and diagnostic and therapeutic applications. Finally, we highlight several MNMs for in vivo applications and discuss the future perspectives of MNMs on their current limitations and possibilities toward further clinical applications.

Materials and Schemes of Multimodal Reconfigurable Micro/Nanomachines and Robots: Review and Perspective

Mechanically programmable, reconfigurable micro/nanoscale materials that can dynamically change their mechanical properties or behaviors, or morph into distinct assemblies or swarms in response to stimuli have greatly piqued the interest of the science community due to their unprecedented potentials in both fundamental research and technological applications. To date, a variety of designs of hard and soft materials, as well as actuation schemes based on mechanisms including chemical reactions and magnetic, acoustic, optical, and electric stimuli, have been reported. Herein, state-of-the-art micro/nanostructures and operation schemes for multimodal reconfigurable micro/nanomachines and swarms, as well as potential new materials and working principles, challenges, and future perspectives are discussed.

Surface polymerization induced locomotion

Nano- and micromotors are self-navigating particles that gain locomotion using fuel from the environment or external power sources to outperform Brownian motion. Herein, motors that make use of surface polymerization of hydroxyethylmethylacrylate to gain locomotion are reported, synthetically mimicking microorganisms' way of propulsion. These motors have enhanced Brownian motion with effective diffusion coefficients up to ∼0.5 μm² s^-1 when mesoporous Janus particles are used. Finally, indication of swarming is observed when high numbers of motors homogenously coated with atom-transfer radical polymerization initiators are used, while high-density Janus motors lost their ability to exhibit enhanced Brownian motion. This report illustrates an alternative route to self-propelled particles, employing a polymerization process that has the potential to be applied for various purposes benefiting from the tool box of modern polymer chemistry.

Micro-Bio-Chemo-Mechanical-Systems: Micromotors, Microfluidics, and Nanozymes for Biomedical Applications

Wireless nano-/micromotors powered by chemical reactions and/or external fields generate motive forces, perform tasks, and significantly extend short-range dynamic responses of passive biomedical microcarriers. However, before micromotors can be translated into clinical use, several major problems, including the biocompatibility of materials, the toxicity of chemical fuels, and deep tissue imaging methods, must be solved. Nanomaterials with enzyme-like characteristics (e.g., catalase, oxidase, peroxidase, superoxide dismutase), that is, nanozymes, can significantly expand the scope of micromotors' chemical fuels. A convergence of nanozymes, micromotors, and microfluidics can lead to a paradigm shift in the fabrication of multifunctional micromotors in reasonable quantities, encapsulation of desired subsystems, and engineering of FDA-approved core-shell structures with tuneable biological, physical, chemical, and mechanical properties. Microfluidic methods are used to prepare stable bubbles/microbubbles and capsules integrating ultrasound, optoacoustic, fluorescent, and magnetic resonance imaging modalities. The aim here is to discuss an interdisciplinary approach of three independent emerging topics: micromotors, nanozymes, and microfluidics to creatively: 1) embrace new ideas, 2) think across boundaries, and 3) solve problems whose solutions are beyond the scope of a single discipline toward the development of micro-bio-chemo-mechanical-systems for diverse bioapplications.

Acoustic aggregation-induced separation for enhanced fluorescence detection of Alzheimer's biomarker

On-chip microparticle-based separation is a significant activity in analytical and biomedical field. Here, we reported an acoustic aggregation-induced microparticle separation for on-chip fluorescence detection of Alzheimer biomarkers. miRNA-101, an Alzheimer-related biomarker, was used as a model target to validate the performance of the acoustic aggregation-induced separation assay. Under the ultrasound filed, the microparticles would move toward the centre of chip by simply adjusting the frequency and voltage. Such particle aggregation further resulted in fluorescence enhancement comparing with single microparticle. This approach integrated acoustic aggregation-induced microparticle separation with fluorescence enhancement, holding great potential application for the development of lab-on-a-chip based trace biomarkers detection in diagnosis field.

Shape-Tunable Janus Micromotors via Surfactant-Induced Dewetting

The ability to tune shapes of micromotors is challenging yet crucial for creating intelligent and functional micromachines with shape-dependent dynamics. Here, we demonstrate a facile strategy to synthesize Janus micromotors in large quantity whose shapes can be precisely tuned by a surfactant-induced dewetting strategy. The Janus micromotor is composed of a TiO₂ microparticle partially encapsulated within a polysiloxane microsphere. A range of particle shapes, from approximately spherical to snowman, is achieved, and the shape-tunable dynamics of the micromotors are quantified. Our strategy is versatile and can be applicable to other photoactive materials, such as ZnO and Fe₂O₃ nanoparticles, demonstrating a general approach to synthesize Janus micromotors with controllable shapes. Such shape-tunable micromotors provide colloidal model systems for fundamental research on active matter, as well as building blocks for the fabrication of micromachines.

Fabrication and Electric Field-Driven Active Propulsion of Patchy Microellipsoids

Active colloids are a synthetic analogue of biological microorganisms that consume external energy to swim through viscous fluids. Such motion requires breaking the symmetry of the fluid flow in the vicinity of a particle; however, it is challenging to understand how surface and shape anisotropies of the colloid lead to a particular trajectory. Here, we attempt to deconvolute the effects of particle shape and surface anisotropy on the propulsion of model ellipsoids in alternating current (AC) electric fields. We first introduce a simple process for depositing metal patches of various shapes on the surfaces of ellipsoidal particles. We show that the shape of the metal patch is governed by the assembled structure of the ellipsoids on the substrate used for physical vapor deposition. Under high-frequency AC electric field, ellipsoids dispersed in water show linear, circular, and helical trajectories which depend on the shapes of the surface patches. We demonstrate that features of the helical trajectories such as the pitch and diameter can be tuned by varying the degree of patch asymmetry along the two primary axes of the ellipsoids, namely longitudinal and transverse. Our study reveals the role of patch shape on the trajectory of ellipsoidal particles propelled by induced charge electrophoresis. We develop heuristics based on patch asymmetries that can be used to design patchy particles with specified nonlinear trajectories.

Tethered and Untethered 3D Microactuators Fabricated by Two-Photon Polymerization: A Review

Microactuators, which can transform external stimuli into mechanical motion at microscale, have attracted extensive attention because they can be used to construct microelectromechanical systems (MEMS) and/or microrobots, resulting in extensive applications in a large number of fields such as noninvasive surgery, targeted delivery, and biomedical machines. In contrast to classical 2D MEMS devices, 3D microactuators provide a new platform for the research of stimuli-responsive functional devices. However, traditional planar processing techniques based on photolithography are inadequate in the construction of 3D microstructures. To solve this issue, researchers have proposed many strategies, among which 3D laser printing is becoming a prospective technique to create smart devices at the microscale because of its versatility, adjustability, and flexibility. Here, we review the recent progress in stimulus-responsive 3D microactuators fabricated with 3D laser printing depending on different stimuli. Then, an outlook of the design, fabrication, control, and applications of 3D laser-printed microactuators is propounded with the goal of providing a reference for related research.

Reversible Design of Dynamic Assemblies at Small Scales

Emerging bottom-up fabrication methods have enabled the assembly of synthetic colloids, microrobots, living cells, and organoids to create intricate structures with unique properties that transcend their individual components. This review provides an access point to the latest developments in externally driven assembly of synthetic and biological components. In particular, we emphasize reversibility, which enables the fabrication of multiscale systems that would not be possible under traditional techniques. Magnetic, acoustic, optical, and electric fields are the most promising methods for controlling the reversible assembly of biological and synthetic subunits since they can reprogram their assembly by switching on/off the external field or shaping these fields. We feature capabilities to dynamically actuate the assembly configuration by modulating the properties of the external stimuli, including frequency and amplitude. We describe the design principles which enable the assembly of reconfigurable structures. Finally, we foresee that the high degree of control capabilities offered by externally driven assembly will enable broad access to increasingly robust design principles towards building advanced dynamic intelligent systems.

Independent Pattern Formation of Nanorod and Nanoparticle Swarms under an Oscillating Field

Natural swarms can be formed by various creatures. The swarms can conduct demanded behaviors to adapt to their living environments, such as passing through harsh terrains and protecting each other from predators. At micrometer and nanometer scales, formation of a swarm pattern relies on the physical or chemical interactions between the agents owing to the absence of an on-board device. Independent pattern formation of different swarms, especially under the same input, is a more challenging task. In this work, a swarm of nickel nanorods is proposed and by exploiting its different behavior with the nanoparticle swarm, independent pattern formation of diverse microrobotic swarms under the same environment can be conducted. A mathematical model for the nanorod swarm is constructed, and the mechanism is illustrated. Two-region pattern changing of the nanorod swarm is discovered and compared with the one-region property of the nanoparticle swarm. Experimental characterization of the nanorod swarm pattern is conducted to prove the concept and validate the effectiveness of the theoretical analysis. Furthermore, independent pattern formation of different microrobotic swarms was demonstrated. The pattern of the nanorod swarm could be adjusted while the other swarm was kept unchanged. Simultaneous pattern changing of two swarms was achieved as well. As a fundamental research on the microrobotic swarm, this work presents how the nanoscale magnetic anisotropy of building agents affects their macroscopic swarm behaviors and promotes further development on the independent control of microrobotic swarms under a global field input.

Swarming behavior and in vivo monitoring of enzymatic nanomotors within the bladder

Enzyme-powered nanomotors are an exciting technology for biomedical applications due to their ability to navigate within biological environments using endogenous fuels. However, limited studies into their collective behavior and demonstrations of tracking enzyme nanomotors in vivo have hindered progress toward their clinical translation. Here, we report the swarming behavior of urease-powered nanomotors and its tracking using positron emission tomography (PET), both in vitro and in vivo. For that, mesoporous silica nanoparticles containing urease enzymes and gold nanoparticles were used as nanomotors. To image them, nanomotors were radiolabeled with either ¹²⁴I on gold nanoparticles or ¹⁸F-labeled prosthetic group to urease. In vitro experiments showed enhanced fluid mixing and collective migration of nanomotors, demonstrating higher capability to swim across complex paths inside microfabricated phantoms, compared with inactive nanomotors. In vivo intravenous administration in mice confirmed their biocompatibility at the administered dose and the suitability of PET to quantitatively track nanomotors in vivo. Furthermore, nanomotors were administered directly into the bladder of mice by intravesical injection. When injected with the fuel, urea, a homogeneous distribution was observed even after the entrance of fresh urine. By contrast, control experiments using nonmotile nanomotors (i.e., without fuel or without urease) resulted in sustained phase separation, indicating that the nanomotors' self-propulsion promotes convection and mixing in living reservoirs. Active collective dynamics, together with the medical imaging tracking, constitute a key milestone and a step forward in the field of biomedical nanorobotics, paving the way toward their use in theranostic applications.

The Energy Conversion behind Micro-and Nanomotors

Inspired by the autonomously moving organisms in nature, artificially synthesized micro-nano-scale power devices, also called micro-and nanomotors, are proposed. These micro-and nanomotors that can self-propel have been used for biological sensing, environmental remediation, and targeted drug transportation. In this article, we will systematically overview the conversion of chemical energy or other forms of energy in the external environment (such as electrical energy, light energy, magnetic energy, and ultrasound) into kinetic mechanical energy by micro-and nanomotors. The development and progress of these energy conversion mechanisms in the past ten years are reviewed, and the broad application prospects of micro-and nanomotors in energy conversion are provided.

Biomedical Micro-/Nanomotors: From Overcoming Biological Barriers to In Vivo Imaging

Self-propelled micro- and nanomotors (MNMs) have shown great potential for applications in the biomedical field, such as active targeted delivery, detoxification, minimally invasive diagnostics, and nanosurgery, owing to their tiny size, autonomous motion, and navigation capacities. To enter the clinic, biomedical MNMs request the biodegradability of their manufacturing materials, the biocompatibility of chemical fuels or externally physical fields, the capability of overcoming various biological barriers (e.g., biofouling, blood flow, blood-brain barrier, cell membrane), and the in vivo visual positioning for autonomous navigation. Herein, the recent advances of synthetic MNMs in overcoming biological barriers and in vivo motion-tracking imaging techniques are highlighted. The challenges and future research priorities are also addressed. With continued attention and innovation, it is believed that, in the future, biomedical MNMs will pave the way to improve the targeted drug delivery efficiency.

External Power-Driven Microrobotic Swarm: From Fundamental Understanding to Imaging-Guided Delivery

Untethered micro/nanorobots have been widely investigated owing to their potential in performing various tasks in different environments. The significant progress in this emerging interdisciplinary field has benefited from the distinctive features of those tiny active agents, such as wireless actuation, navigation under feedback control, and targeted delivery of small-scale objects. In recent studies, collective behaviors of these tiny machines have received tremendous attention because swarming agents can enhance the delivery capability and adaptability in complex environments and the contrast of medical imaging, thus benefiting the imaging-guided navigation and delivery. In this review, we summarize the recent research efforts on investigating collective behaviors of external power-driven micro/nanorobots, including the fundamental understanding of swarm formation, navigation, and pattern transformation. The fundamental understanding of swarming tiny machines provides the foundation for targeted delivery. We also summarize the swarm localization using different imaging techniques, including the imaging-guided delivery in biological environments. By highlighting the critical steps from understanding the fundamental interactions during swarm control to swarm localization and imaging-guided delivery applications, we envision that the microrobotic swarm provides a promising tool for delivering agents in an active, controlled manner.

On-demand mixing and dispersion in mini-pillar based microdroplets

The analysis and detection of ultra-trace biomarkers are often carried out in microliter droplets. Common stirring approaches have some difficulties in precise and contactless mixing and dispersion in microdroplets. In this work, an open mini-pillar-based platform that integrates with ultrasound units is developed to achieve contactless mixing and dispersion in microliter samples. On such a platform, mini-pillars can anchor microdroplets as individual microreactors, and each ultrasound unit can be remotely controlled to achieve on-demand contactless micro-stirring, which is also confirmed by mixing and dispersing of Fe3O4 nanoparticles (1 μm) in microdroplets (10 μL). Such on-demand high-throughput mixing and dispersion that integrates ultrasound mixing with microdroplet technology provides a potential robot-based platform for achieving high-throughput and ultra-trace biosensing in microliter droplets.

Engineering the Interaction Dynamics between Nano-Topographical Immunocyte-Templated Micromotors across Scales from Ions to Cells

Manufacturing mobile artificial micromotors with structural design factors, such as morphology nanoroughness and surface chemistry, can improve the capture efficiency through enhancing contact interactions with their surrounding targets. Understanding the interplay of such parameters targeting high locomotion performance and high capture efficiency at the same time is of paramount importance, yet, has so far been overlooked. Here, an immunocyte-templated nano-topographical micromotor is engineered and their interactions with various targets across multiple scales, from ions to cells are investigated. The macrophage templated nanorough micromotor demonstrates significantly increased surface interactions and significantly improved and highly efficient removal of targets from complex aqueous solutions, including in plasma and diluted blood, when compared to smooth synthetic material templated micromotors with the same size and surface chemistry. These results suggest that the surface nanoroughness of the micromotors for the locomotion performance and interactions with the multiscale targets should be considered simultaneously, for they are highly interconnected in design considerations impacting applications across scales.

Contactless acoustic micro/nano manipulation: a paradigm for next generation applications in life sciences

Acoustic actuation techniques offer a promising tool for contactless manipulation of both synthetic and biological micro/nano agents that encompass different length scales. The traditional usage of sound waves has steadily progressed from mid-air manipulation of salt grains to sophisticated techniques that employ nanoparticle flow in microfluidic networks. State-of-the-art in microfabrication and instrumentation have further expanded the outreach of these actuation techniques to autonomous propulsion of micro-agents. In this review article, we provide a universal perspective of the known acoustic micromanipulation technologies in terms of their applications and governing physics. Hereby, we survey these technologies and classify them with regards to passive and active manipulation of agents. These manipulation methods account for both intelligent devices adept at dexterous non-contact handling of micro-agents, and acoustically induced mechanisms for self-propulsion of micro-robots. Moreover, owing to the clinical compliance of ultrasound, we provide future considerations of acoustic manipulation techniques to be fruitfully employed in biological applications that range from label-free drug testing to minimally invasive clinical interventions.

Janus dendritic silica/carbon@Pt nanomotors with multiengines for H2O2, near-infrared light and lipase powered propulsion

Hybrid micro/nanomotors with multiple distinct propulsion modes are expected to improve their motion ability in complex body fluids. Herein, we report a multi-stimuli propelled Janus lipase-modified dendritic silica/carbon@Pt (DMS/C@Pt) nanomotor with built-in engines for hybrid propulsions of H2O2, light, and enzyme. The enhanced motion of the DMS/C@Pt nanomotor is achieved under the stimulus of H2O2 that produces an oxygen concentration gradient derived from the asymmetric catalysis of Pt nanoparticles. Irradiated with near-infrared (NIR) light, the uneven photothermal effect of the carbon part propels this nanomotor by self-thermophoresis. Besides, lipase is efficiently loaded into the dendritic pores, which decomposes triglyceride on the silica part and induces self-diffusiophoretic propulsion. These multiple propulsions shed light on the rational integration of various functional building blocks into one micro/nanomotor for complex tasks in biomedical applications.

Antibody Conjugate Assembly on Ultrasound-Confined Microcarrier Particles

Bioconjugates are important next-generation drugs and imaging agents. Assembly of these increasingly complex constructs requires precise control over processing conditions, which is a challenge for conventional manual synthesis. This inadequacy has motivated the pursuit of new approaches for efficient, controlled modification of high-molecular-weight biologics such as proteins, carbohydrates, and nucleic acids. We report a novel, hands-free, semiautomated platform for synthetic manipulation of biomolecules using acoustically responsive microparticles as three-dimensional reaction substrates. The microfluidic reactor incorporates a longitudinal acoustic trap that controls the chemical reactions within a localized acoustic field. Forces generated by this field immobilize the microscale substrates against the continuous flow of participating chemical reagents. Thus, the motion of substrates and reactants is decoupled, enabling exquisite control over multistep reaction conditions and providing high-yield, high-purity products with minimal user input. We demonstrate these capabilities by conjugating clinically relevant antibodies with a small molecule. The on-bead synthesis comprises capture of the antibody, coupling of a fluorescent tag, product purification, and product release. Successful capture and modification of a fluorescently labeled antibody are confirmed via fold increases of 49 and 11 in the green (antibody)- and red (small-molecule dye)-channel median intensities determined using flow cytometry. Antibody conjugates assembled on acoustically responsive, ultrasound-confined microparticles exhibit similar quality and quantity to those prepared manually by a skilled technician.

Cancer Cell Membrane Camouflaged Semi-Yolk@Spiky-Shell Nanomotor for Enhanced Cell Adhesion and Synergistic Therapy

Cell adhesion of nanosystems is significant for efficient cellular uptake and drug delivery in cancer therapy. Herein, a near-infrared (NIR) light-driven biomimetic nanomotor is reported to achieve the improved cell adhesion and cellular uptake for synergistic photothermal and chemotherapy of breast cancer. The nanomotor is composed of carbon@silica (C@SiO₂ ) with semi-yolk@spiky-shell structure, loaded with the anticancer drug doxorubicin (DOX) and camouflaged with MCF-7 breast cancer cell membrane (i.e., mC@SiO₂ @DOX). Such biomimetic mC@SiO₂ @DOX nanomotors display efficient self-thermophoretic propulsion due to a thermal gradient generated by asymmetrically spatial distribution. Moreover, the MCF-7 cancer cell membrane coating can remarkably reduce the bioadhesion of nanomotors in biological medium and exhibit highly specific self-recognition of the source cell line. The combination of effective propulsion and homologous targeting dramatically improves cell adhesion and the resultant cellular uptake efficiency in vitro from 26.2% to 67.5%. Therefore, the biomimetic mC@SiO₂ @DOX displays excellent synergistic photothermal and chemotherapy with over 91% MCF-7 cell growth inhibition rate. Such smart design of the fuel-free, NIR light-powered biomimetic nanomotor may pave the way for the application of self-propelled nanomotors in biomedicine.

Light-Induced Dynamic Control of Particle Motion in Fluid-Filled Microchannels

The design of remotely programmable microfluidic systems with controlled fluid flow and particle transport is a significant challenge. Herein, we describe a system that harnesses the intrinsic thermal response of a fluid to spontaneously pump solutions and regulate the transport of immersed microparticles. Irradiating a silver-coated channel with ultraviolet (UV) light generates local convective vortexes, which, in addition to the externally imposed flow, can be used to guide particles along specific trajectories or to arrest their motion. The method provides the distinct advantage that the flow and the associated convective patterns can be dynamically altered by relocating the source of UV light. Moreover, the flow can be initiated and terminated "on-demand" by turning the light on or off.

Current status of micro/nanomotors in drug delivery

Synthetic micro/nanomotors (MNMs) are novel, self-propelled nano or microscale devices that are widely used in drug transport, cell stimulation and isolation, bio-imaging, diagnostic and monitoring, sensing, photocatalysis and environmental remediation. Various preparation methods and propulsion mechanisms make MNMs "tailormade" nanosystems for the intended purpose or use. As the one of the newest members of nano carriers, MNMs open a new perspective especially for rapid drug transport and gene delivery. Although there exists limited number of in-vivo studies for drug delivery purposes, existence of in-vitro supportive data strongly encourages researchers to move on in this field and benefit from the manoeuvre capability of these novel systems. In this article, we reviewed the preparation and propulsion mechanisms of nanomotors in various fields with special attention to drug delivery systems.

Cancer Cells Microsurgery via Asymmetric Bent Surface Au/Ag/Ni Microrobotic Scalpels Through a Transversal Rotating Magnetic Field

The actuation of micro/nanomachines by means of a magnetic field is a promising fuel-free way to transport cargo in microscale dimensions. This type of movement has been extensively studied for a variety of micro/nanomachine designs, and a special magnetic field configuration results in a near-surface walking. We developed "walking" micromachines which transversally move in a magnetic field, and we used them as microrobotic scalpels to enter and exit an individual cancer cell and cut a small cellular fragment. In these microscalpels, the center of mass lies approximately in the middle of their length. The microrobotic scalpels show good propulsion efficiency and high step-out frequencies of the magnetic field. Au/Ag/Ni microrobotic scalpels controlled by a transversal rotating magnetic field can enter the cytoplasm of cancer cells and also are able to remove a piece of the cytosol while leaving the cytoplasmic membrane intact in a microsurgery-like manner. We believe that this concept can be further developed for potential biological or medical applications.

Autonomous Motion of Bubble-Powered Carbonaceous Nanoflask Motors

We report a carbonaceous nanomotor with a characteristic flask-like hollow structure that can autonomously move under the propulsion of oxygen bubbles. The carbonaceous nanoflask (CNF) motor was fabricated by encapsulating platinum nanoparticles (Pt NPs) into the hollow cavity of the CNF. The internally encapsulated Pt NPs act as catalysts to decompose hydrogen peroxide (H₂O₂) fuel into oxygen bubbles. The generated oxygen bubbles recoil the motion of the CNF motors. Besides, the velocity of CNF motors can be controlled by adjusting the concentration of the H₂O₂ solution. The motion velocity increases with the increase of H₂O₂ concentration, up to 109.25 μm s^-1 at 10% H₂O₂. This study provides important implications for understanding the motion behaviors of nanomotors with an internal cavity, and the self-propelled CNF motors as smart carrier systems have potential applications in the future.

Anisotropic Exclusion Effect between Photocatalytic Ag/AgCl Janus Particles and Passive Beads in a Dense Colloidal Matrix

Synthetic nano- and micromotors interact with each other and their surroundings in a complex manner. Here, we report on the anisotropy of active-passive particle interaction in a soft matter system containing an immobile yet photochemical Ag/AgCl-based Janus particle embedded in a dense matrix of passive beads in pure water. The asymmetry in the chemical gradient around the Janus particle, triggered upon visible light illumination, distorts the isotropy of the surrounding electric potential and results in the repulsion of adjacent passive beads to a certain distance away from the Janus particle. This exclusion effect is found to be anisotropic with larger distances to passive beads in front of the Ag/AgCl cap of the Janus particle. We provide insight into this phenomenon by performing the angular analysis of the radii of exclusion and tracking their time evolution at the level of a single bead. Our study provides a novel fundamental insight into the collective behavior of a complex mixture of active and passive particles and is relevant for various application scenarios, e.g., particle transport at micro- and nanoscale and local chemical sensing.

Medical micro/nanorobots in complex media

Medical micro/nanorobots have received tremendous attention over the past decades owing to their potential to be navigated into hard-to-reach tissues for a number of biomedical applications ranging from targeted drug/gene delivery, bio-isolation, detoxification, to nanosurgery. Despite the great promise, the majority of the past demonstrations are primarily under benchtop or in vitro conditions. Many developed micro/nanoscale propulsion mechanisms are based on the assumption of a homogeneous, Newtonian environment, while realistic biological environments are substantially more complex. Moving toward practical medical use, the field of micro/nanorobotics must overcome several major challenges including propulsion through complex media (such as blood, mucus, and vitreous) as well as deep tissue imaging and control in vivo. In this review article, we summarize the recent research efforts on investigating how various complexities in biological environments impact the propulsion of micro/nanoswimmers. We also highlight the emerging technological approaches to enhance the locomotion of micro/nanorobots in complex environments. The recent demonstrations of in vivo imaging, control and therapeutic medical applications of such micro/nanorobots are introduced. We envision that continuing materials and technological innovations through interdisciplinary collaborative efforts can bring us steps closer to the fantasy of "swallowing a surgeon".

Molecular swarm robots: recent progress and future challenges

Recent advancements in molecular robotics have been greatly contributed by the progress in various fields of science and technology, particularly in supramolecular chemistry, bio- and nanotechnology, and informatics. Yet one of the biggest challenges in molecular robotics has been controlling a large number of robots at a time and employing the robots for any specific task as flocks in order to harness emergent functions. Swarming of molecular robots has emerged as a new paradigm with potentials to overcome this hurdle in molecular robotics. In this review article, we comprehensively discuss the latest developments in swarm molecular robotics, particularly emphasizing the effective utilization of bio- and nanotechnology in swarming of molecular robots. Importance of tuning the mutual interaction among the molecular robots in regulation of their swarming is introduced. Successful utilization of DNA, photoresponsive molecules, and natural molecular machines in swarming of molecular robots to provide them with processing, sensing, and actuating ability is highlighted. The potentials of molecular swarm robots for practical applications by means of their ability to participate in logical operations and molecular computations are also discussed. Prospects of the molecular swarm robots in utilizing the emergent functions through swarming are also emphasized together with their future perspectives.

Ultrasound-assisted cyanide extraction of gold from gold concentrate at low temperature

A sonochemical reactor was developed to study the ultrasound-assisted cyanide extraction of gold from gold ore at low temperature. The effects of ultrasound on gold leaching in low temperature and conventional conditions were investigated. At the low temperature of 10 °C, ultrasound-assisted extraction increased extraction rate of gold by 0.6%-0.8% and reduced the gold content of cyanide tailings to 0.28 g/t in the leaching of gold concentrate and cyanide tailings, respectively. At the conventional temperature of 25 °C, ultrasound-assisted extraction obtained a 0.1% higher extraction rate of gold compared with conventional extraction, with the unit consumption of NaCN reduction of 15%. The analysis of kinetic model also demonstrated that sonication indeed improved the reaction of gold leaching greatly. The mineralogy and morphology of ore were further analyzed by X-ray diffraction (XRD), scanning electron microscope (SEM) and particle size analyzer to explore the strengthening mechanism of gold leaching. The results showed that the ore particles were smashed, the ore particle surface was peeled, the passive film was destroyed and the reaction resistance decreased under ultrasonic processing. Therefore, the extraction rate of gold was improved and the extraction time was shortened significantly in ultrasound-assisted cyanide extraction.