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Jeon S, Hoshiar AK, Kim S, Lee S, Kim E, Lee S, Kim K, Lee J, Kim JY, Choi H. Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot. MICRO AND NANO SYSTEMS LETTERS 2018. [DOI: 10.1186/s40486-018-0077-y] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Kafash Hoshiar A, Jeon S, Kim K, Lee S, Kim JY, Choi H. Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application. MICROMACHINES 2018; 9:mi9120617. [PMID: 30477149 PMCID: PMC6315821 DOI: 10.3390/mi9120617] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/10/2018] [Revised: 11/09/2018] [Accepted: 11/20/2018] [Indexed: 01/31/2023]
Abstract
Magnetically driven microrobots have been widely studied for various biomedical applications in the past decade. An important application of these biomedical microrobots is heart disease treatment. In intravascular treatments, a particular challenge is the submillimeter-sized guidewire steering; this requires a new microrobotic approach. In this study, a flexible microrobot was fabricated by the replica molding method, which consists of three parts: (1) a flexible polydimethylsiloxane (PDMS) body, (2) two permanent magnets, and (3) a micro-spring connector. A mathematical model was developed to describe the relationship between the magnetic field and the deformation. A system identification approach and an algorithm were proposed for steering. The microrobot was fabricated, and the models for steering were experimentally validated under a magnetic field intensity of 15 mT. Limitations to control were identified, and the microrobot was steered in an arbitrary path using the proposed model. Furthermore, the flexible microrobot was steered using the guidewire within a three-dimensional (3D) transparent phantom of the right coronary artery filled with water, to show the potential application in a realistic environment. The flexible microrobot presented here showed promising results for enhancing guidewire steering in percutaneous coronary intervention (PCI).
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Affiliation(s)
- Ali Kafash Hoshiar
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Sungwoong Jeon
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Kangho Kim
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Seungmin Lee
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Jin-Young Kim
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Hongsoo Choi
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
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Niu X, Chen J, Gao J. Nanocarriers as a powerful vehicle to overcome blood-brain barrier in treating neurodegenerative diseases: Focus on recent advances. Asian J Pharm Sci 2018; 14:480-496. [PMID: 32104476 PMCID: PMC7032222 DOI: 10.1016/j.ajps.2018.09.005] [Citation(s) in RCA: 98] [Impact Index Per Article: 16.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/04/2018] [Revised: 08/26/2018] [Accepted: 09/01/2018] [Indexed: 02/08/2023] Open
Abstract
Neurodegenerative diseases including Alzheimer's disease, Parkinson's disease, Huntington disease and amyotrophic lateral sclerosis throw a heavy burden on families and society. Related scientific researches make tardy progress. One reason is that the known pathogeny is just the tip of the iceberg. Another reason is that various physiological barriers, especially blood-brain barrier (BBB), hamper effective therapeutic substances from reaching site of action. Drugs in clinical treatment of neurodegenerative diseases are basically administered orally. And generally speaking, the brain targeting efficiency is pretty low. Nano-delivery technology brings hope for neurodegenerative diseases. The use of nanocarriers encapsulating molecules such as peptides and genomic medicine may enhance drug transport through the BBB in neurodegenerative disease and target relevant regions in the brain for regenerative processes. In this review, we discuss BBB composition and applications of nanocarriers -liposomes, nanoparticles, nanomicelles and new emerging exosomes in neurodegenerative diseases. Furthermore, the disadvantages and the potential neurotoxicity of nanocarriers according pharmacokinetics theory are also discussed.
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Affiliation(s)
- Xiaoqian Niu
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Jiejian Chen
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China.,Key Laboratory of Cancer Prevention and Intervention, the Second Affiliated Hospital, College of Medicine, Zhejiang University, Hangzhou 310058, China
| | - Jianqing Gao
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
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54
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Jeon S, Hoshiar AK, Kim K, Lee S, Kim E, Lee S, Kim JY, Nelson BJ, Cha HJ, Yi BJ, Choi H. A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network. Soft Robot 2018; 6:54-68. [PMID: 30312145 PMCID: PMC6386781 DOI: 10.1089/soro.2018.0019] [Citation(s) in RCA: 91] [Impact Index Per Article: 15.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/21/2022] Open
Abstract
Magnetically actuated soft robots may improve the treatment of disseminated intravascular coagulation. Significant progress has been made in the development of soft robotic systems that steer catheters. A more challenging task, however, is the development of systems that steer sub-millimeter-diameter guidewires during intravascular treatments; a novel microrobotic approach is required for steering. In this article, we develop a novel, magnetically actuated, soft microrobotic system, increasing the steerability of a conventional guidewire. The soft microrobot is attached to the tip of the guidewire, and it is magnetically steered by changing the direction and intensity of an external magnetic field. The microrobot is fabricated via replica molding and features a soft body made of polydimethylsiloxane, two permanent magnets, and a microspring. We developed a mathematical model mapping deformation of the soft microrobot using a feed-forward approach toward steering. Then, we used the model to steer a guidewire. The angulation of the microrobot can be controlled from 21.1° to 132.7° by using a magnetic field of an intensity of 15 mT. Steerability was confirmed by two-dimensional in vitro tracking. Finally, a guidewire with the soft microrobot was tested by using a three-dimensional (3D) phantom of the coronary artery to verify steerability in 3D space.
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Affiliation(s)
- Sungwoong Jeon
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Ali Kafash Hoshiar
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Kangho Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Seungmin Lee
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Eunhee Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Sunkey Lee
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Jin-Young Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Bradley J Nelson
- 2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea.,3 Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
| | - Hyo-Jeong Cha
- 4 Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea
| | - Byung-Ju Yi
- 4 Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea
| | - Hongsoo Choi
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
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Wong DW, Gan WL, Teo YK, Lew WS. Interplay of cell death signaling pathways mediated by alternating magnetic field gradient. Cell Death Discov 2018; 4:49. [PMID: 29736266 PMCID: PMC5920113 DOI: 10.1038/s41420-018-0052-7] [Citation(s) in RCA: 15] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/13/2018] [Revised: 03/19/2018] [Accepted: 03/23/2018] [Indexed: 12/22/2022] Open
Abstract
The ability to control or manipulate the pathways leading to cell death plays a pivotal role in cancer treatment. We demonstrate magneto-actuation of magnetic nanoparticles (MNPs) to induce different cell death signaling pathways, exemplifying the intricate interplay between apoptosis and necrosis. In vitro cell experiments show the cell viabilities decreases with increasing field strength and is lower in cells treated with low aspect ratio MNPs. In a strong vertical magnetic field gradient, the MNPs were able to apply sufficient force on the cell to trigger the intracellular pathway for cell apoptosis, thus significantly reducing the cell viability. The quantification of apoptotic and necrotic cell populations by fluorescence dual staining attributed the cell death mechanism to be predominantly apoptosis in a magnetic field gradient. In contrast, the MNPs in an alternating magnetic field gradient can effectively rupture the cell membrane leading to higher lactate dehydrogenase leakage and lower cell viability, proving to be an effective induction of cell death via necrosis.
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Affiliation(s)
- De Wei Wong
- School of Physical and Mathematical Sciences, Nanyang Technological University, 21 Nanyang Link, Singapore, 637371 Singapore
| | - Wei Liang Gan
- School of Physical and Mathematical Sciences, Nanyang Technological University, 21 Nanyang Link, Singapore, 637371 Singapore
| | - Yuan Kai Teo
- School of Biological Sciences, Nanyang Technological University, 60 Nanyang Drive, Singapore, 637551 Singapore
| | - Wen Siang Lew
- School of Physical and Mathematical Sciences, Nanyang Technological University, 21 Nanyang Link, Singapore, 637371 Singapore
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Liu X, Wang Y, Yan X, Zhang M, Zhang Y, Cheng J, Lu F, Qu H, Wang Q, Zhao Y. Novel Phellodendri Cortex (Huang Bo)-derived carbon dots and their hemostatic effect. Nanomedicine (Lond) 2018; 13:391-405. [PMID: 29338619 DOI: 10.2217/nnm-2017-0297] [Citation(s) in RCA: 38] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/07/2023] Open
Abstract
AIM To explore the hemostatic effect of Phellodendri Cortex-derived carbon dots. MATERIALS & METHODS Transmission electron microscopy, high-resolution transmission electron microscopy, Fourier transform infrared spectroscopy, ultraviolet-visible spectroscopy, fluorescence spectroscopy, x-ray photoelectron spectroscopy and a cell counting kit-8 assay were studied. Hemostatic effect of Phellodendri Cortex Carbonisatus-carbon dots (PCC-CDs) was studied in mouse bleeding models. To explore their related hemostatic mechanism, coagulation parameters and platelets were measured. RESULTS The PCC-CDs ranged in diameter from 1.2 to 4.8 nm and had a quantum yield of 9.62%. They exhibited no toxicity up to concentrations of 1000 μg/ml. After administration, mice had a significantly shortened bleeding time and coagulation parameters and platelets significantly increased. CONCLUSION These results showed the definite hemostatic effect of PCC-CDs.
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Affiliation(s)
- Xiaoman Liu
- School of Basic Medical Sciences, Beijing University of Chinese Medicine, Beijing, China
| | - Yongzhi Wang
- School of Chinese Materia Medica, Beijing University of Chinese Medicine, Beijing, China
| | - Xin Yan
- School of Chinese Materia Medica, Beijing University of Chinese Medicine, Beijing, China
| | - Meiling Zhang
- School of Chinese Materia Medica, Beijing University of Chinese Medicine, Beijing, China
| | - Yue Zhang
- School of Chinese Materia Medica, Beijing University of Chinese Medicine, Beijing, China
| | - Jinjun Cheng
- School of Basic Medical Sciences, Beijing University of Chinese Medicine, Beijing, China
| | - Fang Lu
- School of Basic Medical Sciences, Beijing University of Chinese Medicine, Beijing, China
| | - Huihua Qu
- Center of Scientific Experiment, Beijing University of Chinese Medicine, Beijing, China
| | - Qingguo Wang
- School of Basic Medical Sciences, Beijing University of Chinese Medicine, Beijing, China
| | - Yan Zhao
- School of Basic Medical Sciences, Beijing University of Chinese Medicine, Beijing, China
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Haptic-Based Manipulation Scheme of Magnetic Nanoparticles in a Multi-Branch Blood Vessel for Targeted Drug Delivery. MICROMACHINES 2018; 9:mi9010014. [PMID: 30393293 PMCID: PMC6187296 DOI: 10.3390/mi9010014] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/14/2017] [Revised: 12/25/2017] [Accepted: 12/28/2017] [Indexed: 12/18/2022]
Abstract
Magnetic drug targeting is a promising technique that can deliver drugs to the diseased region, while keeping the drug away from healthy parts of body. Introducing a human in the control loop of a targeted drug delivery system and using inherent bilateralism of a haptic device at the same time can considerably improve the performance of targeted drug delivery systems. In this paper, we suggest a novel intelligent haptic guidance scheme for steering a number of magnetic nanoparticles (MNPs) using forbidden region virtual fixtures and a haptic rendering scheme with multi particles. Forbidden region virtual fixtures are a general class of guidance modes implemented in software, which help a human-machine collaborative system accomplish a specific task by constraining a movement into limited regions. To examine the effectiveness of our proposed scheme, we implemented a magnetic guided drug delivery system in a virtual environment using a physics-based model of targeted drug delivery including a multi-branch blood vessel and realistic blood dynamics. We performed user studies with different guidance modes: unguided, semi virtual fixture and full virtual fixture modes. We found out that the efficiency of targeting was significantly improved using the forbidden region virtual fixture and the proposed haptic rendering of MNPs. We can expect that using intelligent haptic feedback in real targeted drug delivery systems can improve the targeting efficiency of MNPs in multi-branch vessels.
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Hoshiar AK, Le TA, Amin FU, Kim MO, Yoon J. A Novel Magnetic Actuation Scheme to Disaggregate Nanoparticles and Enhance Passage across the Blood-Brain Barrier. NANOMATERIALS 2017; 8:nano8010003. [PMID: 29271927 PMCID: PMC5791090 DOI: 10.3390/nano8010003] [Citation(s) in RCA: 24] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/16/2017] [Revised: 12/14/2017] [Accepted: 12/16/2017] [Indexed: 01/21/2023]
Abstract
The blood–brain barrier (BBB) hinders drug delivery to the brain. Despite various efforts to develop preprogramed actuation schemes for magnetic drug delivery, the unmodeled aggregation phenomenon limits drug delivery performance. This paper proposes a novel scheme with an aggregation model for a feed-forward magnetic actuation design. A simulation platform for aggregated particle delivery is developed and an actuation scheme is proposed to deliver aggregated magnetic nanoparticles (MNPs) using a discontinuous asymmetrical magnetic actuation. The experimental results with a Y-shaped channel indicated the success of the proposed scheme in steering and disaggregation. The delivery performance of the developed scheme was examined using a realistic, three-dimensional (3D) vessel simulation. Furthermore, the proposed scheme enhanced the transport and uptake of MNPs across the BBB in mice. The scheme presented here facilitates the passage of particles across the BBB to the brain using an electromagnetic actuation scheme.
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Affiliation(s)
- Ali Kafash Hoshiar
- Faculty of Industrial and Mechanical Engineering, Islamic Azad University, Qazvin Branch, Qazvin 34199-15195, Iran.
| | - Tuan-Anh Le
- School of Integrated Technology, Gwangju Institute of Science and Technology, 123 Cheomdangwagi-ro, Buk-gu, Gwangju 61005, Korea.
| | - Faiz Ul Amin
- Department of Biology and Applied Life Science, Gyeongsang National University, Jinju 660-701, Korea.
| | - Myeong Ok Kim
- Department of Biology and Applied Life Science, Gyeongsang National University, Jinju 660-701, Korea.
| | - Jungwon Yoon
- School of Integrated Technology, Gwangju Institute of Science and Technology, 123 Cheomdangwagi-ro, Buk-gu, Gwangju 61005, Korea.
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Magnetic Nanoparticles in the Central Nervous System: Targeting Principles, Applications and Safety Issues. Molecules 2017; 23:molecules23010009. [PMID: 29267188 PMCID: PMC5943969 DOI: 10.3390/molecules23010009] [Citation(s) in RCA: 45] [Impact Index Per Article: 6.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/20/2017] [Revised: 12/12/2017] [Accepted: 12/19/2017] [Indexed: 02/07/2023] Open
Abstract
One of the most challenging goals in pharmacological research is overcoming the Blood Brain Barrier (BBB) to deliver drugs to the Central Nervous System (CNS). The use of physical means, such as steady and alternating magnetic fields to drive nanocarriers with proper magnetic characteristics may prove to be a useful strategy. The present review aims at providing an up-to-date picture of the applications of magnetic-driven nanotheranostics agents to the CNS. Although well consolidated on physical ground, some of the techniques described herein are still under investigation on in vitro or in silico models, while others have already entered in—or are close to—clinical validation. The review provides a concise overview of the physical principles underlying the behavior of magnetic nanoparticles (MNPs) interacting with an external magnetic field. Thereafter we describe the physiological pathways by which a substance can reach the brain from the bloodstream and then we focus on those MNP applications that aim at a nondestructive crossing of the BBB such as static magnetic fields to facilitate the passage of drugs and alternating magnetic fields to increment BBB permeability by magnetic heating. In conclusion, we briefly cite the most notable biomedical applications of MNPs and some relevant remarks about their safety and potential toxicity.
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60
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Le TA, Zhang X, Hoshiar AK, Yoon J. Real-Time Two-Dimensional Magnetic Particle Imaging for Electromagnetic Navigation in Targeted Drug Delivery. SENSORS 2017; 17:s17092050. [PMID: 28880220 PMCID: PMC5621117 DOI: 10.3390/s17092050] [Citation(s) in RCA: 30] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/01/2017] [Revised: 08/28/2017] [Accepted: 09/01/2017] [Indexed: 11/25/2022]
Abstract
Magnetic nanoparticles (MNPs) are effective drug carriers. By using electromagnetic actuated systems, MNPs can be controlled noninvasively in a vascular network for targeted drug delivery (TDD). Although drugs can reach their target location through capturing schemes of MNPs by permanent magnets, drugs delivered to non-target regions can affect healthy tissues and cause undesirable side effects. Real-time monitoring of MNPs can improve the targeting efficiency of TDD systems. In this paper, a two-dimensional (2D) real-time monitoring scheme has been developed for an MNP guidance system. Resovist particles 45 to 65 nm in diameter (5 nm core) can be monitored in real-time (update rate = 2 Hz) in 2D. The proposed 2D monitoring system allows dynamic tracking of MNPs during TDD and renders magnetic particle imaging-based navigation more feasible.
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Affiliation(s)
- Tuan-Anh Le
- School of Mechanical and Aerospace Engineering & ReCAPT, Gyeongsang National University, Jinju 660-701, Korea.
| | - Xingming Zhang
- School of Naval Architecture and Ocean Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, China.
| | - Ali Kafash Hoshiar
- Faculty of Industrial and Mechanical Engineering, Islamic Azad University, Qazvin Branch, Qazvin 34199-15195, Iran.
| | - Jungwon Yoon
- School of Mechanical and Aerospace Engineering & ReCAPT, Gyeongsang National University, Jinju 660-701, Korea.
- School of Integrated Technology, Gwangju Institute of Science and Technology, 123 Cheomdan-gwagiro, Buk-gu, Gwangju 61005, Korea.
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