51
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Gao Q, Yang Z, Zhu R, Wang J, Xu P, Liu J, Chen X, Yan Z, Peng Y, Wang Y, Zheng H, Cai F, Wang W. Ultrasonic Steering Wheels: Turning Micromotors by Localized Acoustic Microstreaming. ACS NANO 2023; 17:4729-4739. [PMID: 36815761 DOI: 10.1021/acsnano.2c11070] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
The ability to steer micromotors in specific directions and at precise speeds is highly desired for their use in complex environments. However, a generic steering strategy that can be applied to micromotors of all types and surface coatings is yet to be developed. Here, we report that ultrasound of ∼100 kHz can spin a spherical micromotor so that it turns left or right when moving forward, or that it moves in full circles. The direction and angular speeds of their spinning and the radii of circular trajectories are precisely tunable by varying ultrasound voltages and frequencies, as well as particle properties such as its radius, materials, and coating thickness. Such spinning is hypothesized to originate from the circular microstreaming flows localized around a solid microsphere vibrating in ultrasound. In addition to causing a micromotor to spin, such streaming flows also helped release cargos from a micromotor during a capture-transport-release mission. Localized microstreaming does not depend on or interference with a specific propulsion mechanism and can steer a wide variety of micromotors. This work suggests that ultrasound can be used to steer microrobots in complex, biologically relevant environments as well as to steer microorganisms and cells.
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Affiliation(s)
- Qiang Gao
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Zhou Yang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Ruitong Zhu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Jinping Wang
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Pengzhao Xu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Jiayu Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Xiaowen Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Zuyao Yan
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yixin Peng
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yanping Wang
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Hairong Zheng
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Feiyan Cai
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Wei Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
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52
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Sun Y, Pan R, Chen Y, Wang Y, Sun L, Wang N, Ma X, Wang GP. Efficient Preparation of a Magnetic Helical Carbon Nanomotor for Targeted Anticancer Drug Delivery. ACS NANOSCIENCE AU 2023; 3:94-102. [PMID: 37101464 PMCID: PMC10125355 DOI: 10.1021/acsnanoscienceau.2c00042] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/30/2022] [Revised: 11/04/2022] [Accepted: 11/08/2022] [Indexed: 04/28/2023]
Abstract
The applications of nanomotors in the biomedical field have been attracting extensive attention. However, it remains a challenge to fabricate nanomotors in a facile way and effectively load drugs for active targeted therapy. In this work, we combine the microwave heating method and chemical vapor deposition (CVD) to fabricate magnetic helical nanomotors efficiently. The microwave heating method can accelerate intermolecular movement, which converts kinetic energy into heat energy and shortens the preparation time of the catalyst used for carbon nanocoil (CNC) synthesis by 15 times. Fe3O4 nanoparticles are in situ nucleated on the CNC surface by the microwave heating method to fabricate magnetically driven CNC/Fe3O4 nanomotors. In addition, we achieved precise control of the magnetically driven CNC/Fe3O4 nanomotors through remote manipulation of magnetic fields. Anticancer drug doxorubicin (DOX) is then efficiently loaded onto the nanomotors via π-π stacking interactions. Finally, the drug-loaded CNC/Fe3O4@DOX nanomotor can accurately accomplish cell targeting under external magnetic field control. Under short-time irradiation of near-infrared light, DOX can be quickly released onto target cells to effectively kill the cells. More importantly, CNC/Fe3O4@DOX nanomotors allow for single-cell or cell-cluster-targeted anticancer drug delivery, providing a dexterous platform to potentially perform many medically relevant tasks in vivo. The efficient preparation method and application in drug delivery are beneficial for future industrial production and provide inspiration for advanced micro/nanorobotic systems using the CNC as a carrier for a wide range of biomedical applications.
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Affiliation(s)
- Yanming Sun
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
| | - Renjie Pan
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
| | - Yuduo Chen
- School
of Materials Science and Engineering, Harbin
Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
- Sauvage
Laboratory for Smart Materials, Harbin Institute
of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yong Wang
- School
of Materials Science and Engineering, Harbin
Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
- Sauvage
Laboratory for Smart Materials, Harbin Institute
of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Lei Sun
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
| | - Neng Wang
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
| | - Xing Ma
- School
of Materials Science and Engineering, Harbin
Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
- Sauvage
Laboratory for Smart Materials, Harbin Institute
of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Guo Ping Wang
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
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53
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Kang J, Li H. Multiphysics modeling for pressure-thermal sensitive hydrogels. Phys Chem Chem Phys 2023; 25:2882-2889. [PMID: 36629076 DOI: 10.1039/d2cp04868j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/24/2022]
Abstract
Some smart hydrogels, like poly(N-isopropylacrylamide) (PNIPA) hydrogels, are sensitive to both stimulus hydrostatic pressure and temperature. The model for thermal-sensitive only hydrogels has been well established in the past two decades. In this work, by combining Flory's mean-field theory and Poisson-Nernst-Planck nonlinear equations, we develop a multiphysics model coupling chemo-electro-thermal-mechanical fields which can quantitatively calculate both hydrostatic pressure and thermal sensitivity of hydrogels in an electrolyte bathing solution. Considering PNIPA hydrogels as an example, the proposed model is validated by comparing the numerical results with experimental results reported in the literature. We investigate the influences of initial fixed-charge density, temperature, hydrostatic pressure, and bathing solution concentration on the volume expansion ratio of the hydrogels. Moreover, the concentration of mobile ions and distribution of electric potential within the hydrogel body and bathing solution are quantitatively predicted. The model and results obtained in this paper can be used to better understand the response of smart hydrogels sensitive to both hydrostatic pressure and temperature.
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Affiliation(s)
- Jingtian Kang
- Key Laboratory of Structural Dynamics of Liaoning Province, College of Sciences, Northeastern University, Shenyang, 110819, P. R. China. .,School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798, Republic of Singapore.
| | - Hua Li
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798, Republic of Singapore.
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54
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Zhang D, Gorochowski TE, Marucci L, Lee HT, Gil B, Li B, Hauert S, Yeatman E. Advanced medical micro-robotics for early diagnosis and therapeutic interventions. Front Robot AI 2023; 9:1086043. [PMID: 36704240 PMCID: PMC9871318 DOI: 10.3389/frobt.2022.1086043] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/01/2022] [Accepted: 12/15/2022] [Indexed: 01/12/2023] Open
Abstract
Recent technological advances in micro-robotics have demonstrated their immense potential for biomedical applications. Emerging micro-robots have versatile sensing systems, flexible locomotion and dexterous manipulation capabilities that can significantly contribute to the healthcare system. Despite the appreciated and tangible benefits of medical micro-robotics, many challenges still remain. Here, we review the major challenges, current trends and significant achievements for developing versatile and intelligent micro-robotics with a focus on applications in early diagnosis and therapeutic interventions. We also consider some recent emerging micro-robotic technologies that employ synthetic biology to support a new generation of living micro-robots. We expect to inspire future development of micro-robots toward clinical translation by identifying the roadblocks that need to be overcome.
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Affiliation(s)
- Dandan Zhang
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, Bristol, United Kingdom
| | - Thomas E. Gorochowski
- School of Biological Sciences, University of Bristol, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Lucia Marucci
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- School of Biological Sciences, University of Bristol, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Hyun-Taek Lee
- Department of Mechanical Engineering, Inha University, Incheon, South Korea
| | - Bruno Gil
- Department of Electrical and Electronic Engineering, Imperial College London, London, United Kingdom
| | - Bing Li
- The Institute for Materials Discovery, University College London, London, United Kingdom
- Department of Brain Science, Imperial College London, London, United Kingdom
- Care Research & Technology Centre, UK Dementia Research Institute, Imperial College London, London, United Kingdom
| | - Sabine Hauert
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Eric Yeatman
- Department of Electrical and Electronic Engineering, Imperial College London, London, United Kingdom
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55
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Liu T, Xie L, Price CAH, Liu J, He Q, Kong B. Controlled propulsion of micro/nanomotors: operational mechanisms, motion manipulation and potential biomedical applications. Chem Soc Rev 2022; 51:10083-10119. [PMID: 36416191 DOI: 10.1039/d2cs00432a] [Citation(s) in RCA: 31] [Impact Index Per Article: 15.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
Abstract
Inspired by natural mobile microorganisms, researchers have developed micro/nanomotors (MNMs) that can autonomously move by transducing different kinds of energies into kinetic energy. The rapid development of MNMs has created tremendous opportunities for biomedical fields including diagnostics, therapeutics, and theranostics. Although the great progress has been made in MNM research, at a fundamental level, the accepted propulsion mechanisms are still a controversial matter. In practical applications such as precision nanomedicine, the precise control of the motion, including the speed and directionality, of MNMs is also important, which makes advanced motion manipulation desirable. Very recently, diverse MNMs with different propulsion strategies, morphologies, sizes, porosities and chemical structures have been fabricated and applied for various uses. Herein, we thoroughly summarize the physical principles behind propulsion strategies, as well as the recent advances in motion manipulation methods and relevant biomedical applications of these MNMs. The current challenges in MNM research are also discussed. We hope this review can provide a bird's eye overview of the MNM research and inspire researchers to create novel and more powerful MNMs.
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Affiliation(s)
- Tianyi Liu
- Department of Chemistry, Shanghai Key Lab of Molecular Catalysis and Innovative Materials, Collaborative Innovation Center of Chemistry for Energy Materials, Fudan University, Shanghai 200438, China. .,DICP-Surrey Joint Centre for Future Materials, Department of Chemical and Process Engineering, University of Surrey, Guildford, Surrey GU2 7XH, UK.
| | - Lei Xie
- Department of Chemistry, Shanghai Key Lab of Molecular Catalysis and Innovative Materials, Collaborative Innovation Center of Chemistry for Energy Materials, Fudan University, Shanghai 200438, China.
| | - Cameron-Alexander Hurd Price
- DICP-Surrey Joint Centre for Future Materials, Department of Chemical and Process Engineering, University of Surrey, Guildford, Surrey GU2 7XH, UK.
| | - Jian Liu
- DICP-Surrey Joint Centre for Future Materials, Department of Chemical and Process Engineering, University of Surrey, Guildford, Surrey GU2 7XH, UK. .,State Key Laboratory of Catalysis, Dalian Institute of Chemical Physics, Chinese Academy of Sciences, Dalian 116023, Liaoning, China.,College of Chemistry and Chemical Engineering, Inner Mongolia University, Hohhot, Inner Mongolia, 010021, PR China
| | - Qiang He
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), Harbin Institute of Technology, Harbin, China.
| | - Biao Kong
- Department of Chemistry, Shanghai Key Lab of Molecular Catalysis and Innovative Materials, Collaborative Innovation Center of Chemistry for Energy Materials, Fudan University, Shanghai 200438, China. .,Yiwu Research Institute of Fudan University, Yiwu, Zhejiang 322000, China
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56
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Katuri J, Snezhko A, Sokolov A. Motility of acoustically powered micro-swimmers in a liquid crystalline environment. SOFT MATTER 2022; 18:8641-8646. [PMID: 36342339 DOI: 10.1039/d2sm01171a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Suspensions of microswimmers in liquid crystals demonstrate remarkably complex dynamics and serve as a model system for studying active nematics. So far, experimental realization of microswimmers suspended in liquid crystalline media has relied on biological microorganisms that impose strict limitations on the compatible media and makes it difficult to regulate activity. Here, we demonstrate that acoustically powered bubble microswimmers can efficiently self-propel in a lyotropic liquid crystal. The velocity of the swimmers is controlled by the amplitude of the acoustic field. Histograms of swimming directions with respect to the local nematic field reveal a bimodal distribution: the swimmers tend to either fully align with or swim perpendicular to the director field of the liquid crystal, occasionally switching between these two states. The bubble-induced streaming from a swimmer locally melts the liquid crystal and produces topological defects at the tail of the swimmer. We show that the defect proliferation rate increases with the angle between the swimmer's velocity and the local orientation of the director field.
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Affiliation(s)
- Jaideep Katuri
- Materials Science Division, Argonne National Laboratory, 9700 South Cass Avenue, Lemont, IL, 60439, USA.
| | - Alexey Snezhko
- Materials Science Division, Argonne National Laboratory, 9700 South Cass Avenue, Lemont, IL, 60439, USA.
| | - Andrey Sokolov
- Materials Science Division, Argonne National Laboratory, 9700 South Cass Avenue, Lemont, IL, 60439, USA.
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57
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Acoustic bubble array-induced jet flow for cleaning particulate contaminants on semiconductor wafers. KOREAN J CHEM ENG 2022. [DOI: 10.1007/s11814-022-1214-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
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58
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Multimodal collective swimming of magnetically articulated modular nanocomposite robots. Nat Commun 2022; 13:6750. [PMID: 36347849 PMCID: PMC9643480 DOI: 10.1038/s41467-022-34430-2] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/18/2022] [Accepted: 10/26/2022] [Indexed: 11/11/2022] Open
Abstract
Magnetically responsive composites can impart maneuverability to miniaturized robots. However, collective actuation of these composite robots has rarely been achieved, although conducting cooperative tasks is a promising strategy for accomplishing difficult missions with a single robot. Here, we report multimodal collective swimming of ternary-nanocomposite-based magnetic robots capable of on-demand switching between rectilinear translational swimming and rotational swimming. The nanocomposite robots comprise a stiff yet lightweight carbon nanotube yarn (CNTY) framework surrounded by a magnetic polymer composite, which mimics the hierarchical architecture of musculoskeletal systems, yielding magnetically articulated multiple robots with an agile above-water swimmability (~180 body lengths per second) and modularity. The multiple robots with multimodal swimming facilitate the generation and regulation of vortices, enabling novel vortex-induced transportation of thousands of floating microparticles and heavy semi-submerged cargos. The controllable collective actuation of these biomimetic nanocomposite robots can lead to versatile robotic functions, including microplastic removal, microfluidic vortex control, and transportation of pharmaceuticals.
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59
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Shah ZH, Wu B, Das S. Multistimuli-responsive microrobots: A comprehensive review. Front Robot AI 2022; 9:1027415. [PMID: 36420129 PMCID: PMC9676497 DOI: 10.3389/frobt.2022.1027415] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/25/2022] [Accepted: 10/24/2022] [Indexed: 11/16/2023] Open
Abstract
Untethered robots of the size of a few microns have attracted increasing attention for the potential to transform many aspects of manufacturing, medicine, health care, and bioengineering. Previously impenetrable environments have become available for high-resolution in situ and in vivo manipulations as the size of the untethered robots goes down to the microscale. Nevertheless, the independent navigation of several robots at the microscale is challenging as they cannot have onboard transducers, batteries, and control like other multi-agent systems, due to the size limitations. Therefore, various unconventional propulsion mechanisms have been explored to power motion at the nanoscale. Moreover, a variety of combinations of actuation methods has also been extensively studied to tackle different issues. In this survey, we present a thorough review of the recent developments of various dedicated ways to actuate and control multistimuli-enabled microrobots. We have also discussed existing challenges and evolving concepts associated with each technique.
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Affiliation(s)
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE, United States
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60
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Bozuyuk U, Aghakhani A, Alapan Y, Yunusa M, Wrede P, Sitti M. Reduced rotational flows enable the translation of surface-rolling microrobots in confined spaces. Nat Commun 2022; 13:6289. [PMID: 36271078 PMCID: PMC9586970 DOI: 10.1038/s41467-022-34023-z] [Citation(s) in RCA: 15] [Impact Index Per Article: 7.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/21/2022] [Accepted: 10/10/2022] [Indexed: 12/25/2022] Open
Abstract
Biological microorganisms overcome the Brownian motion at low Reynolds numbers by utilizing symmetry-breaking mechanisms. Inspired by them, various microrobot locomotion methods have been developed at the microscale by breaking the hydrodynamic symmetry. Although the boundary effects have been extensively studied for microswimmers and employed for surface-rolling microrobots, the behavior of microrobots in the proximity of multiple wall-based "confinement" is yet to be elucidated. Here, we study the confinement effect on the motion of surface-rolling microrobots. Our experiments demonstrate that the locomotion efficiency of spherical microrollers drastically decreases in confined spaces due to out-of-plane rotational flows generated during locomotion. Hence, a slender microroller design, generating smaller rotational flows, is shown to outperform spherical microrollers in confined spaces. Our results elucidate the underlying physics of surface rolling-based locomotion in confined spaces and present a design strategy with optimal flow generation for efficient propulsion in such areas, including blood vessels and microchannels.
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Affiliation(s)
- Ugur Bozuyuk
- grid.419534.e0000 0001 1015 6533Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany ,grid.5801.c0000 0001 2156 2780Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
| | - Amirreza Aghakhani
- grid.419534.e0000 0001 1015 6533Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Yunus Alapan
- grid.419534.e0000 0001 1015 6533Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Muhammad Yunusa
- grid.419534.e0000 0001 1015 6533Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Paul Wrede
- grid.419534.e0000 0001 1015 6533Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany ,grid.5801.c0000 0001 2156 2780Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
| | - Metin Sitti
- grid.419534.e0000 0001 1015 6533Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany ,grid.5801.c0000 0001 2156 2780Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland ,grid.15876.3d0000000106887552School of Medicine and School of Engineering, Koç University, Istanbul, 34450 Turkey
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61
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Xia N, Zhu G, Wang X, Dong Y, Zhang L. Multicomponent and multifunctional integrated miniature soft robots. SOFT MATTER 2022; 18:7464-7485. [PMID: 36189642 DOI: 10.1039/d2sm00891b] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Guangda Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Yue Dong
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
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62
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Cao HX, Nguyen VD, Jung D, Choi E, Kim CS, Park JO, Kang B. Acoustically Driven Cell-Based Microrobots for Targeted Tumor Therapy. Pharmaceutics 2022; 14:pharmaceutics14102143. [PMID: 36297578 PMCID: PMC9609374 DOI: 10.3390/pharmaceutics14102143] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/09/2022] [Revised: 10/06/2022] [Accepted: 10/06/2022] [Indexed: 11/06/2022] Open
Abstract
Targeted drug delivery using microrobots manipulated by an external actuator has significant potential to be a practical approach for wireless delivery of therapeutic agents to the targeted tumor. This work aimed to develop a novel acoustic manipulation system and macrophage-based microrobots (Macbots) for a study in targeted tumor therapy. The Macbots containing superparamagnetic iron oxide nanoparticles (SPIONs) can serve as drug carriers. Under an acoustic field, a microrobot cluster of the Macbots is manipulated by following a predefined trajectory and can reach the target with a different contact angle. As a fundamental validation, we investigated an in vitro experiment for targeted tumor therapy. The microrobot cluster could be manipulated to any point in the 4 × 4 × 4 mm region of interest with a position error of less than 300 μm. Furthermore, the microrobot could rotate in the O-XY plane with an angle step of 45 degrees without limitation of total angle. Finally, we verified that the Macbots could penetrate a 3D tumor spheroid that mimics an in vivo solid tumor. The outcome of this study suggests that the Macbots manipulated by acoustic actuators have potential applications for targeted tumor therapy.
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Affiliation(s)
- Hiep Xuan Cao
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Van Du Nguyen
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Daewon Jung
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Eunpyo Choi
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Chang-Sei Kim
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
| | - Byungjeon Kang
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
- College of AI Convergence, Chonnam National University, Gwangju 61186, Korea
- Graduate School of Data Science, Chonnam National University, Gwangju 61186, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
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63
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Dong Y, Wang L, Zhang Z, Ji F, Chan TKF, Yang H, Chan CPL, Yang Z, Chen Z, Chang WT, Chan JYK, Sung JJY, Zhang L. Endoscope-assisted magnetic helical micromachine delivery for biofilm eradication in tympanostomy tube. SCIENCE ADVANCES 2022; 8:eabq8573. [PMID: 36206344 PMCID: PMC9544342 DOI: 10.1126/sciadv.abq8573] [Citation(s) in RCA: 24] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/09/2023]
Abstract
Occlusion of the T-tube (tympanostomy tube) is a common postoperative sequela related to bacterial biofilms. Confronting biofilm-related infections of T-tubes, maneuverable and effective treatments are still challenging presently. Here, we propose an endoscopy-assisted treatment procedure based on the wobbling Fe2O3 helical micromachine (HMM) with peroxidase-mimicking activity. Different from the ideal corkscrew motion, the Fe2O3 HMM applies a wobbling motion in the tube, inducing stronger mechanical force and fluid convections, which not only damages the biofilm occlusion into debris quickly but also enhances the catalytic generation and diffusion of reactive oxygen species (ROS) for killing bacteria cells. Moreover, the treatment procedure, which integrated the delivery, actuation, and retrieval of Fe2O3 HMM, was validated in the T-tube implanted in a human cadaver ex vivo. It enables the visual operation with ease and is gentle to the tympanic membrane and ossicles, which is promising in the clinical application.
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Affiliation(s)
- Yue Dong
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Lu Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
| | - Zifeng Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Tony K. F. Chan
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Catherine P. L. Chan
- Department of Otorhinolaryngology, Head and Neck Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Zigui Chen
- Department of Microbiology, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Wai Tsz Chang
- Department of Otorhinolaryngology, Head and Neck Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- Corresponding author. (L.Z.); (J.Y.K.C.); (W.T.C.)
| | - Jason Y. K. Chan
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Department of Otorhinolaryngology, Head and Neck Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- Corresponding author. (L.Z.); (J.Y.K.C.); (W.T.C.)
| | - Joseph J. Y. Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- Corresponding author. (L.Z.); (J.Y.K.C.); (W.T.C.)
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Abstract
Microrobots have attracted the attention of scientists owing to their unique features to accomplish tasks in hard-to-reach sites in the human body. Microrobots can be precisely actuated and maneuvered individually or in a swarm for cargo delivery, sampling, surgery, and imaging applications. In addition, microrobots have found applications in the environmental sector (e.g., water treatment). Besides, recent advancements of three-dimensional (3D) printers have enabled the high-resolution fabrication of microrobots with a faster design-production turnaround time for users with limited micromanufacturing skills. Here, the latest end applications of 3D printed microrobots are reviewed (ranging from environmental to biomedical applications) along with a brief discussion over the feasible actuation methods (e.g., on- and off-board), and practical 3D printing technologies for microrobot fabrication. In addition, as a future perspective, we discussed the potential advantages of integration of microrobots with smart materials, and conceivable benefits of implementation of artificial intelligence (AI), as well as physical intelligence (PI). Moreover, in order to facilitate bench-to-bedside translation of microrobots, current challenges impeding clinical translation of microrobots are elaborated, including entry obstacles (e.g., immune system attacks) and cumbersome standard test procedures to ensure biocompatibility. Microbots have attracted attention due to an ability to reach places and perform tasks which are not possible with conventional techniques in a wide range of applications. Here, the authors review the recent work in the field on the fabrication, application and actuation of 3D printed microbots offering a view of the direction of future microbot research.
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65
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Reynolds MF, Cortese AJ, Liu Q, Zheng Z, Wang W, Norris SL, Lee S, Miskin MZ, Molnar AC, Cohen I, McEuen PL. Microscopic robots with onboard digital control. Sci Robot 2022; 7:eabq2296. [PMID: 36129993 DOI: 10.1126/scirobotics.abq2296] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
Autonomous robots-systems where mechanical actuators are guided through a series of states by information processing units to perform a predesigned function-are expected to revolutionize everything from health care to transportation. Microscopic robots are poised for a similar revolution in fields from medicine to environmental remediation. A key hurdle to developing these microscopic robots is the integration of information systems, particularly electronics fabricated at commercial foundries, with microactuators. Here, we develop such an integration process and build microscopic robots controlled by onboard complementary metal oxide semiconductor electronics. The resulting autonomous, untethered robots are 100 to 250 micrometers in size, are powered by light, and walk at speeds greater than 10 micrometers per second. In addition, we demonstrate a microscopic robot that can respond to an optical command. This work paves the way for ubiquitous autonomous microscopic robots that perform complex functions, respond to their environments, and communicate with the outside world.
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Affiliation(s)
- Michael F Reynolds
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA
| | - Alejandro J Cortese
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA.,Department of Electrical and Computer Engineering, Cornell University, Ithaca, NY, USA
| | - Qingkun Liu
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA
| | - Zhangqi Zheng
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA
| | - Wei Wang
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA.,Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA
| | - Samantha L Norris
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA
| | - Sunwoo Lee
- Department of Electrical and Computer Engineering, Cornell University, Ithaca, NY, USA
| | - Marc Z Miskin
- Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA
| | - Alyosha C Molnar
- Department of Electrical and Computer Engineering, Cornell University, Ithaca, NY, USA.,Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, NY, USA
| | - Itai Cohen
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA.,Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, NY, USA
| | - Paul L McEuen
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA.,Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, NY, USA
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66
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Zhu S, Zheng W, Wang J, Fang X, Zhang L, Niu F, Wang Y, Luo T, Liu G, Yang R. Interactive and synergistic behaviours of multiple heterogeneous microrobots. LAB ON A CHIP 2022; 22:3412-3423. [PMID: 35880648 DOI: 10.1039/d2lc00265e] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Microrobots have been extensively studied for biomedical applications, and significant innovations and advances have been made in diverse aspects of the field. However, most studies have been based on individual microrobots with limited capabilities, constraining their scalability of functions for practical use. Here, we demonstrate the interactive and synergistic behaviours of multiple microrobots that are heterogeneous or incompletely homogeneous. A frequency-response theory is proposed where in a certain frequency range of an external rotating magnetic field (RMF), microrobots with dispersed and linearly aligned magnetic nanoparticles (MNPs) would exhibit similar and different behaviour, respectively. These microrobots rotate following the rotation of the external field, and such complete rotational motion is interrupted when the frequency exceeds a certain value, called the critical frequency (cf), but such behaviour is more prominent in microrobots with linear MNPs. Upon further investigating the effect of various parameters on the cf of the microrobots during the fabrication process, we find that heterogeneous microrobots with specific cf values can be customized. In addition, experiments and simulations are combined to show the hydrodynamic behaviours around the rotating microrobots at different frequencies. Based on these findings, the interactive and synergistic behaviours of multiple microrobots are presented, which suggests great potential for the independent execution of multiple tasks or the synergistic performance of complex tasks and is significant for the future development of interactive synergistic microrobots in the biomedical field.
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Affiliation(s)
- Shilu Zhu
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Weijie Zheng
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Jian Wang
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Xingmiao Fang
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Lijiu Zhang
- Dastroenterology Department, The Second Affiliated Hospital of Anhui Medical University, Hefei 230601, China
| | - Fuzhou Niu
- School of Mechanical Engineering Suzhou University of Science and Technology Suzhou, Jiangsu 215009, China
| | - Ying Wang
- School of Biomedical Engineering, Beihang University, Beijing 100191, China
| | - Tingting Luo
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Guangli Liu
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
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67
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Voß J, Wittkowski R. Acoustic Propulsion of Nano- and Microcones: Dependence on the Viscosity of the Surrounding Fluid. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2022; 38:10736-10748. [PMID: 35998334 DOI: 10.1021/acs.langmuir.2c00603] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
This article investigates how the acoustic propulsion of cone-shaped colloidal particles that are exposed to a traveling ultrasound wave depends on the viscosity of the fluid surrounding the particles. Using acoustofluidic computer simulations, we found that the propulsion of such nano- and microcones decreases strongly and even changes sign for increasing shear viscosity. In contrast, we found only a weak dependence of the propulsion on the bulk viscosity. The obtained results are in line with the findings of previous theoretical and experimental studies.
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Affiliation(s)
- Johannes Voß
- Institute of Theoretical Physics, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Raphael Wittkowski
- Institute of Theoretical Physics, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
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68
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Wu R, Zhu Y, Cai X, Wu S, Xu L, Yu T. Recent Process in Microrobots: From Propulsion to Swarming for Biomedical Applications. MICROMACHINES 2022; 13:1473. [PMID: 36144096 PMCID: PMC9503943 DOI: 10.3390/mi13091473] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/31/2022] [Revised: 08/26/2022] [Accepted: 08/30/2022] [Indexed: 06/16/2023]
Abstract
Recently, robots have assisted and contributed to the biomedical field. Scaling down the size of robots to micro/nanoscale can increase the accuracy of targeted medications and decrease the danger of invasive operations in human surgery. Inspired by the motion pattern and collective behaviors of the tiny biological motors in nature, various kinds of sophisticated and programmable microrobots are fabricated with the ability for cargo delivery, bio-imaging, precise operation, etc. In this review, four types of propulsion-magnetically, acoustically, chemically/optically and hybrid driven-and their corresponding features have been outlined and categorized. In particular, the locomotion of these micro/nanorobots, as well as the requirement of biocompatibility, transportation efficiency, and controllable motion for applications in the complex human body environment should be considered. We discuss applications of different propulsion mechanisms in the biomedical field, list their individual benefits, and suggest their potential growth paths.
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69
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Wang L, Chen L, Zheng X, Yu Z, Lv W, Sheng M, Wang L, Nie P, Li H, Guan D, Cui H. Multimodal Bubble Microrobot Near an Air-Water Interface. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2203872. [PMID: 36045100 DOI: 10.1002/smll.202203872] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/22/2022] [Revised: 08/09/2022] [Indexed: 05/27/2023]
Abstract
The development of multifunctional and robust swimming microrobots working at the free air-liquid interface has encountered challenge as new manipulation strategies are needed to overcome the complicated interfacial restrictions. Here, flexible but reliable mechanisms are shown that achieve a remote-control bubble microrobot with multiple working modes and high maneuverability by the assistance of a soft air-liquid interface. This bubble microrobot is developed from a hollow Janus microsphere (JM) regulated by a magnetic field, which can implement switchable working modes like pusher, gripper, anchor, and sweeper. The collapse of the microbubble and the accompanying directional jet flow play a key role for functioning in these working modes, which is analogous to a "bubble tentacle." Using a simple gamepad, the orientation and the navigation of the bubble microrobot can be easily manipulated. In particular, a speed modulation method is found for the bubble microrobot, which uses vertical magnetic field to control the orientation of the JM and the direction of the bubble-induced jet flow without changing the fuel concentration. The findings demonstrate a substantial advance of the bubble microrobot specifically working at the air-liquid interface and depict some nonintuitive mechanisms that can help develop more complicated microswimmers.
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Affiliation(s)
- Leilei Wang
- School of Environmental and Municipal Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Science, Beijing, 100190, China
| | - Li Chen
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Xu Zheng
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Science, Beijing, 100190, China
| | - Zexiong Yu
- School of Environmental and Municipal Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Wenchao Lv
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Minjia Sheng
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Lina Wang
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Pengcheng Nie
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Science, Beijing, 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Hangyu Li
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Science, Beijing, 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Dongshi Guan
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Science, Beijing, 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Haihang Cui
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
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70
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Kim H, Kang Y, Lim B, Kim K, Yoon J, Ali A, Torati SR, Kim C. Tailoring matter orbitals mediated using a nanoscale topographic interface for versatile colloidal current devices. MATERIALS HORIZONS 2022; 9:2353-2363. [PMID: 35792087 DOI: 10.1039/d2mh00523a] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Conventional micro-particle manipulation technologies have been used for various biomedical applications using dynamics on a plane without vertical movement. In this case, irregular topographic structures on surfaces could be a factor that causes the failure of the intended control. Here, we demonstrated a novel colloidal particle manipulation mediated by the topographic effect generated by the "micro hill" and "surface gradient" around a micro-magnet. The magnetic landscape, matter orbital, created by periodically arranged circular micro-magnets, induces a symmetric orbit of magnetic particle flow under a rotating magnetic field. The topographic effect can break this symmetry of the energy distribution by controlling the distance between the source of the driving force and target particles by several nanometers on the surface morphology. The origin symmetric orbit of colloidal flow can be distorted by modifying the symmetry in the energy landscape at the switching point without changing the driving force. The enhancement of the magnetic effect of the micro-magnet array can lead to the recovery of the symmetry of the orbit. Also, this effect on the surfaces of on-chip-based devices configured by symmetry control was demonstrated for selective manipulation, trapping, recovery, and altering the direction using a time-dependent magnetic field. Hence, the developed technique could be used in various precise lab-on-a-chip applications, including where the topographic effect is required as an additional variable without affecting the existing control method.
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Affiliation(s)
- Hyeonseol Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Yumin Kang
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Byeonghwa Lim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Keonmok Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Jonghwan Yoon
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Abbas Ali
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Sri Ramulu Torati
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - CheolGi Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
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71
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Al Harraq A, Bello M, Bharti B. A guide to design the trajectory of active particles: From fundamentals to applications. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101612] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/27/2022]
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72
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Wu Y, Boymelgreen A, Yossifon G. Micromotor-mediated label-free cargo manipulation. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101611] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
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73
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Soft microswimmers: Material capabilities and biomedical applications. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101609] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
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74
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Wang J, Soto F, Ma P, Ahmed R, Yang H, Chen S, Wang J, Liu C, Akin D, Fu K, Cao X, Chen P, Hsu EC, Soh HT, Stoyanova T, Wu JC, Demirci U. Acoustic Fabrication of Living Cardiomyocyte-based Hybrid Biorobots. ACS NANO 2022; 16:10219-10230. [PMID: 35671037 DOI: 10.1021/acsnano.2c01908] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Organized assemblies of cells have demonstrated promise as bioinspired actuators and devices; still, the fabrication of such "biorobots" has predominantly relied on passive assembly methods that reduce design capabilities. To address this, we have developed a strategy for the rapid formation of functional biorobots composed of live cardiomyocytes. We employ tunable acoustic fields to facilitate the efficient aggregation of millions of cells into high-density macroscopic architectures with directed cell orientation and enhanced cell-cell interaction. These biorobots can perform actuation functions both through naturally occurring contraction-relaxation cycles and through external control with chemical and electrical stimuli. We demonstrate that these biorobots can be used to achieve controlled actuation of a soft skeleton and pumping of microparticles. The biocompatible acoustic assembly strategy described here should prove generally useful for cellular manipulation in the context of tissue engineering, soft robotics, and other applications.
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Affiliation(s)
- Jie Wang
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Fernando Soto
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Peng Ma
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Rajib Ahmed
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Huaxiao Yang
- Stanford Cardiovascular Institute, Stanford University, Palo Alto, California 94304-5427, United States
| | - Sihan Chen
- Department of Biomedical Engineering, Wuhan University School of Basic Medical Sciences, Wuhan, 430071, China
- Hubei Province Key Laboratory of Allergy and Immunology, Wuhan, Hubei 430071, China
| | - Jibo Wang
- Department of Biomedical Engineering, Wuhan University School of Basic Medical Sciences, Wuhan, 430071, China
- Hubei Province Key Laboratory of Allergy and Immunology, Wuhan, Hubei 430071, China
| | - Chun Liu
- Stanford Cardiovascular Institute, Stanford University, Palo Alto, California 94304-5427, United States
| | - Demir Akin
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Kaiyu Fu
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
- Department of Electrical Engineering, Stanford University, Stanford, California 94305, United States
| | - Xu Cao
- Stanford Cardiovascular Institute, Stanford University, Palo Alto, California 94304-5427, United States
| | - Pu Chen
- Department of Biomedical Engineering, Wuhan University School of Basic Medical Sciences, Wuhan, 430071, China
- Hubei Province Key Laboratory of Allergy and Immunology, Wuhan, Hubei 430071, China
| | - En-Chi Hsu
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Hyongsok Tom Soh
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
- Department of Electrical Engineering, Stanford University, Stanford, California 94305, United States
| | - Tanya Stoyanova
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Joseph C Wu
- Stanford Cardiovascular Institute, Stanford University, Palo Alto, California 94304-5427, United States
| | - Utkan Demirci
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
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75
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Zhou Y, Dai L, Jiao N. Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly. MICROMACHINES 2022; 13:1068. [PMID: 35888885 PMCID: PMC9324494 DOI: 10.3390/mi13071068] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/07/2022] [Revised: 06/30/2022] [Accepted: 07/01/2022] [Indexed: 02/01/2023]
Abstract
In recent years, microbubbles have been widely used in the field of microrobots due to their unique properties. Microbubbles can be easily produced and used as power sources or tools of microrobots, and the bubbles can even serve as microrobots themselves. As a power source, bubbles can propel microrobots to swim in liquid under low-Reynolds-number conditions. As a manipulation tool, microbubbles can act as the micromanipulators of microrobots, allowing them to operate upon particles, cells, and organisms. As a microrobot, microbubbles can operate and assemble complex microparts in two- or three-dimensional spaces. This review provides a comprehensive overview of bubble applications in microrobotics including propulsion, micromanipulation, and microassembly. First, we introduce the diverse bubble generation and control methods. Then, we review and discuss how bubbles can play a role in microrobotics via three functions: propulsion, manipulation, and assembly. Finally, by highlighting the advantages and current challenges of this progress, we discuss the prospects of microbubbles in microrobotics.
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Affiliation(s)
- Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Liguo Dai
- College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China;
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
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76
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Huang Y, Guo J, Li Y, Li H, Fan DE. 2D-Material-Integrated Micromachines: Competing Propulsion Strategy and Enhanced Bacterial Disinfection. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2203082. [PMID: 35656917 DOI: 10.1002/adma.202203082] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/05/2022] [Revised: 05/27/2022] [Indexed: 06/15/2023]
Abstract
2D transition-metal-dichalcogenide materials, such as molybdenum disulfide (MoS2 ) have received immense interest owing to their remarkable structure-endowed electronic, catalytic, and mechanical properties for applications in optoelectronics, energy storage, and wearable devices. However, 2D materials have been rarely explored in the field of micro/nanomachines, motors, and robots. Here, MoS2 with anatase TiO2 is successfully integrated into an original one-side-open hollow micromachine, which demonstrates increased light absorption of TiO2 -based micromachines to the visible region and the first observed motion acceleration in response to ionic media. Both experimentation and theoretical analysis suggest the unique type-II bandgap alignment of MoS2 /TiO2 heterojunction that accounts for the observed unique locomotion owing to a competing propulsion mechanism. Furthermore, by leveraging the chemical properties of MoS2 /TiO2 , the micromachines achieve sunlight-powered water disinfection with 99.999% Escherichia coli lysed in an hour. This research suggests abundant opportunities offered by 2D materials in the creation of a new class of micro/nanomachines and robots.
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Affiliation(s)
- Yun Huang
- Materials Science and Engineering Program, University of Texas at Austin, Austin, TX, 78712, USA
| | - Jianhe Guo
- Materials Science and Engineering Program, University of Texas at Austin, Austin, TX, 78712, USA
| | - Yufan Li
- Department of Physics and Astronomy, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Huaizhi Li
- Materials Science and Engineering Program, University of Texas at Austin, Austin, TX, 78712, USA
| | - Donglei Emma Fan
- Materials Science and Engineering Program, University of Texas at Austin, Austin, TX, 78712, USA
- Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, 78712, USA
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77
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Wang W, Wu Z, Yang L, Si T, He Q. Rational Design of Polymer Conical Nanoswimmers with Upstream Motility. ACS NANO 2022; 16:9317-9328. [PMID: 35576530 DOI: 10.1021/acsnano.2c01979] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
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.
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Affiliation(s)
- Wei Wang
- Wenzhou Institute, University of Chinese Academy of Sciences, 1 Jinlian Street, Wenzhou 325000, China
| | - Zhiguang Wu
- Key Laboratory of Micro-systems and Micro-structures Manufacturing (Ministry of Education), Harbin Institute of Technology, 92 West Dazhi Street, Harbin 150080, China
| | - Ling Yang
- Wenzhou Institute, University of Chinese Academy of Sciences, 1 Jinlian Street, Wenzhou 325000, China
| | - Tieyan Si
- Key Laboratory of Micro-systems and Micro-structures Manufacturing (Ministry of Education), Harbin Institute of Technology, 92 West Dazhi Street, Harbin 150080, China
| | - Qiang He
- Wenzhou Institute, University of Chinese Academy of Sciences, 1 Jinlian Street, Wenzhou 325000, China
- Key Laboratory of Micro-systems and Micro-structures Manufacturing (Ministry of Education), Harbin Institute of Technology, 92 West Dazhi Street, Harbin 150080, China
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78
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Abstract
The concept of creating all-mechanical soft microrobotic systems has great potential to address outstanding challenges in biomedical applications, and introduce more sustainable and multifunctional products. To this end, magnetic fields and light have been extensively studied as potential energy sources. On the other hand, coupling the response of materials to pressure waves has been overlooked despite the abundant use of acoustics in nature and engineering solutions. In this study, we show that programmed commands can be contained on 3D nanoprinted polymer systems with the introduction of selectively excited air bubbles and rationally designed compliant mechanisms. A repertoire of micromechanical systems is engineered using experimentally validated computational models that consider the effects of primary and secondary pressure fields on entrapped air bubbles and the surrounding fluid. Coupling the dynamics of bubble oscillators reveals rich acoustofluidic interactions that can be programmed in space and time. We prescribe kinematics by harnessing the forces generated through these interactions to deform structural elements, which can be remotely reconfigured on demand with the incorporation of mechanical switches. These basic actuation and analog control modules will serve as the building blocks for the development of a novel class of micromechanical systems powered and programmed by acoustic signals.
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Affiliation(s)
- Murat Kaynak
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Amit Dolev
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Mahmut Selman Sakar
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
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79
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Wrede P, Degtyaruk O, Kalva SK, Deán-Ben XL, Bozuyuk U, Aghakhani A, Akolpoglu B, Sitti M, Razansky D. Real-time 3D optoacoustic tracking of cell-sized magnetic microrobots circulating in the mouse brain vasculature. SCIENCE ADVANCES 2022; 8:eabm9132. [PMID: 35544570 PMCID: PMC9094653 DOI: 10.1126/sciadv.abm9132] [Citation(s) in RCA: 39] [Impact Index Per Article: 19.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/20/2021] [Accepted: 03/25/2022] [Indexed: 05/16/2023]
Abstract
Mobile microrobots hold remarkable potential to revolutionize health care by enabling unprecedented active medical interventions and theranostics, such as active cargo delivery and microsurgical manipulations in hard-to-reach body sites. High-resolution imaging and control of cell-sized microrobots in the in vivo vascular system remains an unsolved challenge toward their clinical use. To overcome this limitation, we propose noninvasive real-time detection and tracking of circulating microrobots using optoacoustic imaging. We devised cell-sized nickel-based spherical Janus magnetic microrobots whose near-infrared optoacoustic signature is enhanced via gold conjugation. The 5-, 10-, and 20-μm-diameter microrobots are detected volumetrically both in bloodless ex vivo tissues and under real-life conditions with a strongly light-absorbing blood background. We further demonstrate real-time three-dimensional tracking and magnetic manipulation of the microrobots circulating in murine cerebral vasculature, thus paving the way toward effective and safe operation of cell-sized microrobots in challenging and clinically relevant intravascular environments.
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Affiliation(s)
- Paul Wrede
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Oleksiy Degtyaruk
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
| | - Sandeep Kumar Kalva
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
| | - Xosé Luis Deán-Ben
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Birgul Akolpoglu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
| | - Daniel Razansky
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
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80
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Jooss VM, Bolten JS, Huwyler J, Ahmed D. In vivo acoustic manipulation of microparticles in zebrafish embryos. SCIENCE ADVANCES 2022; 8:eabm2785. [PMID: 35333569 PMCID: PMC8956268 DOI: 10.1126/sciadv.abm2785] [Citation(s) in RCA: 25] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/05/2023]
Abstract
In vivo micromanipulation using ultrasound is an exciting technology with promises for cancer research, brain research, vasculature biology, diseases, and treatment development. In the present work, we demonstrate in vivo manipulation of gas-filled microparticles using zebrafish embryos as a vertebrate model system. Micromanipulation methods often are conducted in vitro, and they do not fully reflect the complex environment associated in vivo. Four piezoelectric actuators were positioned orthogonally to each other around an off-centered fluidic channel that allowed for two-dimensional manipulation of intravenously injected microbubbles. Selective manipulation of microbubbles inside a blood vessel with micrometer precision was achieved without interfering with circulating blood cells. Last, we studied the viability of zebrafish embryos subjected to the acoustic field. This successful high-precision, in vivo acoustic manipulation of intravenously injected microbubbles offers potentially promising therapeutic options.
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Affiliation(s)
- Viktor Manuel Jooss
- Acoustics Robotics Systems Lab (ARSL), ETH-Zürich, Rüschlikon CH-8803, Switzerland
| | - Jan Stephan Bolten
- Department of Pharmaceutical Sciences, Division of Pharmaceutical Technology, University of Basel, Basel CH-4056, Switzerland
| | - Jörg Huwyler
- Department of Pharmaceutical Sciences, Division of Pharmaceutical Technology, University of Basel, Basel CH-4056, Switzerland
| | - Daniel Ahmed
- Acoustics Robotics Systems Lab (ARSL), ETH-Zürich, Rüschlikon CH-8803, Switzerland
- Corresponding author.
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81
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Costa BL, Adão RMR, Maibohm C, Accardo A, Cardoso VF, Nieder JB. Cellular Interaction of Bone Marrow Mesenchymal Stem Cells with Polymer and Hydrogel 3D Microscaffold Templates. ACS APPLIED MATERIALS & INTERFACES 2022; 14:13013-13024. [PMID: 35282678 PMCID: PMC8949723 DOI: 10.1021/acsami.1c23442] [Citation(s) in RCA: 16] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/03/2021] [Accepted: 02/03/2022] [Indexed: 05/05/2023]
Abstract
Biomimicking biological niches of healthy tissues or tumors can be achieved by means of artificial microenvironments, where structural and mechanical properties are crucial parameters to promote tissue formation and recreate natural conditions. In this work, three-dimensional (3D) scaffolds based on woodpile structures were fabricated by two-photon polymerization (2PP) of different photosensitive polymers (IP-S and SZ2080) and hydrogels (PEGDA 700) using two different 2PP setups, a commercial one and a customized one. The structures' properties were tuned to study the effect of scaffold dimensions (gap size) and their mechanical properties on the adhesion and proliferation of bone marrow mesenchymal stem cells (BM-MSCs), which can serve as a model for leukemic diseases, among other hematological applications. The woodpile structures feature gap sizes of 25, 50, and 100 μm and a fixed beam diameter of 25 μm, to systematically study the optimal cell colonization that promotes healthy cell growth and potential tissue formation. The characterization of the scaffolds involved scanning electron microscopy and mechanical nanoindenting, while their suitability for supporting cell growth was evaluated with live/dead cell assays and multistaining 3D confocal imaging. In the mechanical assays of the hydrogel material, we observed two different stiffness ranges depending on the indentation depth. Larger gap woodpile structures coated with fibronectin were identified as the most promising scaffolds for 3D BM-MSC cellular models, showing higher proliferation rates. The results indicate that both the design and the employed materials are suitable for further assays, where retaining the BM-MSC stemness and original features is crucial, including studies focused on BM disorders such as leukemia and others. Moreover, the combination of 3D scaffold geometry and materials holds great potential for the investigation of cellular behaviors in a co-culture setting, for example, mesenchymal and hematopoietic stem cells, to be further applied in medical research and pharmacological studies.
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Affiliation(s)
- Beatriz
N. L. Costa
- INL—International
Iberian Nanotechnology Laboratory, Ultrafast
Bio- and Nanophotonics Group, Av. Mestre José Veiga S/n, 4715-330 Braga, Portugal
- CMEMS-UMinho,
University of Minho, DEI, Campus de Azurém, Guimarães 4800-058, Portugal
- Faculty
of Mechanical, Maritime, and Materials Engineering (3mE), Department
of Precision and Microsystems Engineering (PME), Delft University of Technology, Mekelweg 2, Delft 2628 CD, The Netherlands
| | - Ricardo M. R. Adão
- INL—International
Iberian Nanotechnology Laboratory, Ultrafast
Bio- and Nanophotonics Group, Av. Mestre José Veiga S/n, 4715-330 Braga, Portugal
| | - Christian Maibohm
- INL—International
Iberian Nanotechnology Laboratory, Ultrafast
Bio- and Nanophotonics Group, Av. Mestre José Veiga S/n, 4715-330 Braga, Portugal
| | - Angelo Accardo
- Faculty
of Mechanical, Maritime, and Materials Engineering (3mE), Department
of Precision and Microsystems Engineering (PME), Delft University of Technology, Mekelweg 2, Delft 2628 CD, The Netherlands
| | - Vanessa F. Cardoso
- CMEMS-UMinho,
University of Minho, DEI, Campus de Azurém, Guimarães 4800-058, Portugal
- CF-UM-UP,
Centro de Física das Universidades do Minho e Porto, Universidade do Minho, Campus de Gualtar, 4710-057 Braga, Portugal
| | - Jana B. Nieder
- INL—International
Iberian Nanotechnology Laboratory, Ultrafast
Bio- and Nanophotonics Group, Av. Mestre José Veiga S/n, 4715-330 Braga, Portugal
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82
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Voß J, Wittkowski R. Orientation-Dependent Propulsion of Triangular Nano- and Microparticles by a Traveling Ultrasound Wave. ACS NANO 2022; 16:3604-3612. [PMID: 35263102 DOI: 10.1021/acsnano.1c02302] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Previous studies on ultrasound-propelled nano- and microparticles have considered only systems in which the particle orientation is perpendicular to the direction of propagation of the ultrasound. However, in future applications of these particles, they will typically be able to attain other orientations. Therefore, using direct acoustofluidic simulations, here we study how the propulsion of triangular nano- and microparticles, which are known to have a particularly efficient acoustic propulsion and are therefore promising candidates for future applications, depends on their orientation relative to the propagation direction of a traveling ultrasound wave. Our results reveal that the propulsion of the particles depends strongly on their orientation relative to the direction of wave propagation and that the particles tend to orient perpendicularly to the wave direction. We also address the orientation-averaged translational and angular velocities of the particles, which correspond to the particles' effective propulsion for an isotropic exposure to ultrasound. Our results allow assessment of how free ultrasound-propelled colloidal particles move in three spatial dimensions and thus constitute an important step toward the realization of envisaged future applications of such particles.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, D-48149 Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, D-48149 Münster, Germany
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83
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Acoustic power management by swarms of microscopic robots. JOURNAL OF MICRO-BIO ROBOTICS 2022. [DOI: 10.1007/s12213-022-00148-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
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84
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Aghakhani A, Pena-Francesch A, Bozuyuk U, Cetin H, Wrede P, Sitti M. High shear rate propulsion of acoustic microrobots in complex biological fluids. SCIENCE ADVANCES 2022; 8:eabm5126. [PMID: 35275716 PMCID: PMC8916727 DOI: 10.1126/sciadv.abm5126] [Citation(s) in RCA: 44] [Impact Index Per Article: 22.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/22/2021] [Accepted: 01/20/2022] [Indexed: 05/28/2023]
Abstract
Untethered microrobots offer a great promise for localized targeted therapy in hard-to-access spaces in our body. Despite recent advancements, most microrobot propulsion capabilities have been limited to homogenous Newtonian fluids. However, the biological fluids present in our body are heterogeneous and have shear rate-dependent rheological properties, which limit the propulsion of microrobots using conventional designs and actuation methods. We propose an acoustically powered microrobotic system, consisting of a three-dimensionally printed 30-micrometer-diameter hollow body with an oscillatory microbubble, to generate high shear rate fluidic flow for propulsion in complex biofluids. The acoustically induced microstreaming flow leads to distinct surface-slipping and puller-type propulsion modes in Newtonian and non-Newtonian fluids, respectively. We demonstrate efficient propulsion of the microrobots in diverse biological fluids, including in vitro navigation through mucus layers on biologically relevant three-dimensional surfaces. The microrobot design and high shear rate propulsion mechanism discussed herein could open new possibilities to deploy microrobots in complex biofluids toward minimally invasive targeted therapy.
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Affiliation(s)
- Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI 48109, USA
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich,, 8092 Zürich, Switzerland
| | - Hakan Cetin
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Electrical and Electronics Engineering Department, Özyegin University, 34794 Istanbul, Turkey
| | - Paul Wrede
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich,, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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85
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Athanassiadis AG, Ma Z, Moreno-Gomez N, Melde K, Choi E, Goyal R, Fischer P. Ultrasound-Responsive Systems as Components for Smart Materials. Chem Rev 2022; 122:5165-5208. [PMID: 34767350 PMCID: PMC8915171 DOI: 10.1021/acs.chemrev.1c00622] [Citation(s) in RCA: 75] [Impact Index Per Article: 37.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/14/2021] [Indexed: 02/06/2023]
Abstract
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.
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Affiliation(s)
- Athanasios G. Athanassiadis
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Zhichao Ma
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Nicolas Moreno-Gomez
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
| | - Kai Melde
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Eunjin Choi
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
| | - Rahul Goyal
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Peer Fischer
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
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86
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Li M, Pal A, Aghakhani A, Pena-Francesch A, Sitti M. Soft actuators for real-world applications. NATURE REVIEWS. MATERIALS 2022; 7:235-249. [PMID: 35474944 PMCID: PMC7612659 DOI: 10.1038/s41578-021-00389-7] [Citation(s) in RCA: 168] [Impact Index Per Article: 84.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Accepted: 09/21/2021] [Indexed: 05/22/2023]
Abstract
Inspired by physically adaptive, agile, reconfigurable and multifunctional soft-bodied animals and human muscles, soft actuators have been developed for a variety of applications, including soft grippers, artificial muscles, wearables, haptic devices and medical devices. However, the complex performance of biological systems cannot yet be fully replicated in synthetic designs. In this Review, we discuss new materials and structural designs for the engineering of soft actuators with physical intelligence and advanced properties, such as adaptability, multimodal locomotion, self-healing and multi-responsiveness. We examine how performance can be improved and multifunctionality implemented by using programmable soft materials, and highlight important real-world applications of soft actuators. Finally, we discuss the challenges and opportunities for next-generation soft actuators, including physical intelligence, adaptability, manufacturing scalability and reproducibility, extended lifetime and end-of-life strategies.
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Affiliation(s)
- Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Aniket Pal
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey
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87
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Mohanty S, Paul A, Matos PM, Zhang J, Sikorski J, Misra S. CeFlowBot: A Biomimetic Flow-Driven Microrobot that Navigates under Magneto-Acoustic Fields. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2105829. [PMID: 34889051 DOI: 10.1002/smll.202105829] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/23/2021] [Revised: 11/19/2021] [Indexed: 06/13/2023]
Abstract
Aquatic organisms within the Cephalopoda family (e.g., octopuses, squids, cuttlefish) exist that draw the surrounding fluid inside their bodies and expel it in a single jet thrust to swim forward. Like cephalopods, several acoustically powered microsystems share a similar process of fluid expulsion which makes them useful as microfluidic pumps in lab-on-a-chip devices. Herein, an array of acoustically resonant bubbles are employed to mimic this pumping phenomenon inside an untethered microrobot called CeFlowBot. CeFlowBot contains an array of vibrating bubbles that pump fluid through its inner body thereby boosting its propulsion. CeFlowBots are later functionalized with magnetic layers and steered under combined influence of magnetic and acoustic fields. Moreover, acoustic power modulation of CeFlowBots is used to grasp nearby objects and release it in the surrounding workspace. The ability of CeFlowBots to navigate remote environments under magneto-acoustic fields and perform targeted manipulation makes such microrobots useful for clinical applications such as targeted drug delivery. Lastly, an ultrasound imaging system is employed to visualize the motion of CeFlowBots which provides means to deploy such microrobots in hard-to-reach environments inaccessible to optical cameras.
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Affiliation(s)
- Sumit Mohanty
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Aniruddha Paul
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
- School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, SE-100 44, Sweden
| | - Pedro M Matos
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Jiena Zhang
- Vascularization Lab, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Jakub Sikorski
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen and University Medical Center Groningen, Groningen, AV 9713, The Netherlands
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88
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Ahmad B, Gauthier M, Laurent GJ, Bolopion A. Mobile Microrobots for In Vitro Biomedical Applications: A Survey. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3085245] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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89
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Wang Z, Xu Z, Zhu B, Zhang Y, Lin J, Wu Y, Wu D. Design, fabrication and application of magnetically actuated micro/nanorobots: a review. NANOTECHNOLOGY 2022; 33:152001. [PMID: 34915458 DOI: 10.1088/1361-6528/ac43e6] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/15/2021] [Accepted: 12/16/2021] [Indexed: 06/14/2023]
Abstract
Magnetically actuated micro/nanorobots are typical micro- and nanoscale artificial devices with favorable attributes of quick response, remote and contactless control, harmless human-machine interaction and high economic efficiency. Under external magnetic actuation strategies, they are capable of achieving elaborate manipulation and navigation in extreme biomedical environments. This review focuses on state-of-the-art progresses in design strategies, fabrication techniques and applications of magnetically actuated micro/nanorobots. Firstly, recent advances of various robot designs, including helical robots, surface walkers, ciliary robots, scaffold robots and biohybrid robots, are discussed separately. Secondly, the main progresses of common fabrication techniques are respectively introduced, and application achievements on these robots in targeted drug delivery, minimally invasive surgery and cell manipulation are also presented. Finally, a short summary is made, and the current challenges and future work for magnetically actuated micro/nanorobots are discussed.
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Affiliation(s)
- Zhongbao Wang
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Zhenjin Xu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Bin Zhu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Yang Zhang
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Jiawei Lin
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Yigen Wu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Dezhi Wu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
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90
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Erez S, Karshalev E, Wu Y, Wang J, Yossifon G. Electrical Propulsion and Cargo Transport of Microbowl Shaped Janus Particles. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2101809. [PMID: 34761509 DOI: 10.1002/smll.202101809] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/27/2021] [Revised: 09/09/2021] [Indexed: 06/13/2023]
Abstract
Herein the effective electrical propulsion, cargo trapping, and transport capabilities of microbowl-shaped Janus particles (JPs) are demonstrated and evaluated. These active JPs are made by deposition of Au and Ti layers onto sacrificial spherical polystyrene particles, followed by oxidation of the Ti to TiO2 . In contrast to the commonly studied spherical JP, the dual broken symmetry of both geometrical and electrical properties of the microbowl renders a strong dependence of its mobility and cargo loading on the order of the layering of Au and TiO2 . Specifically, an opposite direction of motion is obtained for interchanged layers of Au and TiO2 , using only electrical propulsion as the sole mechanism of motion. The concave side of the microbowl exhibits a negative dielectrophoretic trap of large size wherein trapped cargo is protected from hydrodynamic shearing, leading to an enhanced cargo loading capacity compared to that obtained using common spherical JP. Such enhanced cargo capability of the microbowl along with the ease of engineering it by interchanging the order of the layers are very attractive for future in vitro biological and biomedical applications.
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Affiliation(s)
- Shahar Erez
- Faculty of Mechanical Engineering, Micro and Nanofluidics Laboratory, Technion - Israel Institute of Technology, Technion City, 3200000, Israel
- Department of Nanoengineering, University of California San Diego, La Jolla, CA, 92093, USA
| | - Emil Karshalev
- Department of Nanoengineering, University of California San Diego, La Jolla, CA, 92093, USA
| | - Yue Wu
- Faculty of Mechanical Engineering, Micro and Nanofluidics Laboratory, Technion - Israel Institute of Technology, Technion City, 3200000, Israel
| | - Joseph Wang
- Department of Nanoengineering, University of California San Diego, La Jolla, CA, 92093, USA
| | - Gilad Yossifon
- Faculty of Mechanical Engineering, Micro and Nanofluidics Laboratory, Technion - Israel Institute of Technology, Technion City, 3200000, Israel
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91
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Voß J, Wittkowski R. Acoustically propelled nano- and microcones: fast forward and backward motion. NANOSCALE ADVANCES 2021; 4:281-293. [PMID: 36132955 PMCID: PMC9417971 DOI: 10.1039/d1na00655j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/01/2021] [Accepted: 10/21/2021] [Indexed: 05/07/2023]
Abstract
We focus on cone-shaped nano- and microparticles, which have recently been found to show particularly strong propulsion when they are exposed to a traveling ultrasound wave, and study based on direct acoustofluidic computer simulations how their propulsion depends on the cones' aspect ratio. The simulations reveal that the propulsion velocity and even its sign are very sensitive to the aspect ratio, where short particles move forward whereas elongated particles move backward. Furthermore, we identify a cone shape that allows for a particularly large propulsion speed. Our results contribute to the understanding of the propulsion of ultrasound-propelled colloidal particles, suggest a method for separation and sorting of nano- and microcones concerning their aspect ratio, and provide useful guidance for future experiments and applications.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster D-48149 Münster Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster D-48149 Münster Germany
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92
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Yu S, Sun Z, Zhang Z, Sun H, Liu L, Wang W, Li M, Zhao Q, Li T. Magnetic Microdimer as Mobile Meter for Measuring Plasma Glucose and Lipids. Front Bioeng Biotechnol 2021; 9:779632. [PMID: 34900967 PMCID: PMC8660689 DOI: 10.3389/fbioe.2021.779632] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/19/2021] [Accepted: 10/08/2021] [Indexed: 01/21/2023] Open
Abstract
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.
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Affiliation(s)
- Shimin Yu
- Department of Pharmacy, The Second Affiliated Hospital of Harbin Medical University, Harbin, China.,State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Zhongqi Sun
- Department of Radiology, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Zhanxiang Zhang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.,Chongqing Research Institute of HIT, Harbin, China
| | - Haoran Sun
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Lina Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Wuyi Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Mu Li
- Department of Pharmacy, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Qingsong Zhao
- Department of Endocrinology, The Fourth Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
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93
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Dhatt-Gauthier K, Livitz D, Bishop KJM. Automating Bayesian inference and design to quantify acoustic particle levitation. SOFT MATTER 2021; 17:10128-10139. [PMID: 34729575 DOI: 10.1039/d1sm01116b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Self-propulsion of micro- and nanoparticles powered by ultrasound provides an attractive strategy for the remote manipulation of colloidal matter using biocompatible energy inputs. Quantitative understanding of particle motion and its dependence on size, shape, and composition requires accurate characterization of the acoustic field, which depends sensitively on the experimental setup. Here, we show how automated experiments based on Bayesian inference and design can accurately and efficiently characterize the acoustic field within resonant chambers used to propel acoustic nanomotors. Repeated cycles of observation, inference, and design (OID) are guided by a physical model that describes the rate at which levitating particles approach the nodal plane. Using video microscopy, we observe the relaxation of tracer particles to this plane following the application of the acoustic field. We use sequential Monte Carlo methods to infer model parameters such as the amplitude and frequency of the resonant chamber while accounting for particle-level measurement noise and population-level heterogeneity in the field. Guided by simulated outcomes, we select the optimal design for the next experiment as to maximize the information gain in the relevant parameters. We show how this iterative process serves to discriminate between competing hypotheses and efficiently converges to accurate parameter estimates using only few automated experiments. We discuss the need for model criticism to ensure the validity of the guiding model throughout automated cycles of observation, inference, and design. This work demonstrates how Bayesian methods can learn the parameters of nonlinear, hierarchical models used to describe video microscopy data of active colloids.
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Affiliation(s)
| | - Dimitri Livitz
- Department of Chemical Engineering, Columbia University, New York, NY, USA.
| | - Kyle J M Bishop
- Department of Chemical Engineering, Columbia University, New York, NY, USA.
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94
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Dillinger C, Nama N, Ahmed D. Ultrasound-activated ciliary bands for microrobotic systems inspired by starfish. Nat Commun 2021; 12:6455. [PMID: 34753910 PMCID: PMC8578555 DOI: 10.1038/s41467-021-26607-y] [Citation(s) in RCA: 48] [Impact Index Per Article: 16.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/30/2020] [Accepted: 10/01/2021] [Indexed: 01/03/2023] Open
Abstract
Cilia are short, hair-like appendages ubiquitous in various biological systems, which have evolved to manipulate and gather food in liquids at regimes where viscosity dominates inertia. Inspired by these natural systems, synthetic cilia have been developed and utilized in microfluidics and microrobotics to achieve functionalities such as propulsion, liquid pumping and mixing, and particle manipulation. Here, we demonstrate ultrasound-activated synthetic ciliary bands that mimic the natural arrangements of ciliary bands on the surface of starfish larva. Our system leverages nonlinear acoustics at microscales to drive bulk fluid motion via acoustically actuated small-amplitude oscillations of synthetic cilia. By arranging the planar ciliary bands angled towards (+) or away (-) from each other, we achieve bulk fluid motion akin to a flow source or sink. We further combine these flow characteristics with a physical principle to circumvent the scallop theorem and realize acoustic-based propulsion at microscales. Finally, inspired by the feeding mechanism of a starfish larva, we demonstrate an analogous microparticle trap by arranging + and - ciliary bands adjacent to each other.
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Affiliation(s)
- Cornel Dillinger
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland
| | - Nitesh Nama
- grid.24434.350000 0004 1937 0060Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE USA
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland.
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95
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Abstract
Machines enabled the Industrial Revolution and are central to modern technological progress: A machine's parts transmit forces, motion, and energy to one another in a predetermined manner. Today's engineering frontier, building artificial micromachines that emulate the biological machinery of living organisms, requires faithful assembly and energy consumption at the microscale. Here, we demonstrate the programmable assembly of active particles into autonomous metamachines using optical templates. Metamachines, or machines made of machines, are stable, mobile and autonomous architectures, whose dynamics stems from the geometry. We use the interplay between anisotropic force generation of the active colloids with the control of their orientation by local geometry. This allows autonomous reprogramming of active particles of the metamachines to achieve multiple functions. It permits the modular assembly of metamachines by fusion, reconfiguration of metamachines and, we anticipate, a shift in focus of self-assembly towards active matter and reprogrammable materials.
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96
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Luo T, Wu M. Biologically inspired micro-robotic swimmers remotely controlled by ultrasound waves. LAB ON A CHIP 2021; 21:4095-4103. [PMID: 34549766 DOI: 10.1039/d1lc00575h] [Citation(s) in RCA: 22] [Impact Index Per Article: 7.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
We 3D print micro-robotic swimmers with the size of animal cells using a Nanoscribe. The micro-swimmers are powered by the microstreaming flows induced by the oscillating air bubbles entrapped within the micro-robotic swimmers. Previously, micro-swimmers propelled by acoustic streaming require the use of a magnetic field or an additional ultrasound transducer to steer their direction. Here, we show a two-bubble based micro-swimmer that can be propelled and steered entirely using one ultrasound transducer. The swimmer displays boundary following traits similar to those biological swimmers that are known to be important for performing robust biological functions. The micro-robotic swimmer has the potential to advance the current technology in targeted drug delivery and remote microsurgery.
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Affiliation(s)
- Tao Luo
- Departments of Biological and Environmental Engineering, Cornell University, Ithaca, NY 14853, USA.
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361005, China
| | - Mingming Wu
- Departments of Biological and Environmental Engineering, Cornell University, Ithaca, NY 14853, USA.
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97
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Wang W, Mallouk TE. A Practical Guide to Analyzing and Reporting the Movement of Nanoscale Swimmers. ACS NANO 2021; 15:15446-15460. [PMID: 34636550 DOI: 10.1021/acsnano.1c07503] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
The recent invention of nanoswimmers-synthetic, powered objects with characteristic lengths in the range of 10-500 nm-has sparked widespread interest among scientists and the general public. As more researchers from different backgrounds enter the field, the study of nanoswimmers offers new opportunities but also significant experimental and theoretical challenges. In particular, the accurate characterization of nanoswimmers is often hindered by strong Brownian motion, convective effects, and the lack of a clear way to visualize them. When coupled with improper experimental designs and imprecise practices in data analysis, these issues can translate to results and conclusions that are inconsistent and poorly reproducible. This Perspective follows the course of a typical nanoswimmer investigation from synthesis through to applications and offers suggestions for best practices in reporting experimental details, recording videos, plotting trajectories, calculating and analyzing mobility, eliminating drift, and performing control experiments, in order to improve the reliability of the reported results.
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Affiliation(s)
- Wei Wang
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Thomas E Mallouk
- Department of Chemistry, University of Pennsylvania, Philadelphia, Pennsylvania 19104-6243, United States
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98
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Singh S, Moran JL. Autonomously Propelled Colloids for Penetration and Payload Delivery in Complex Extracellular Matrices. MICROMACHINES 2021; 12:mi12101216. [PMID: 34683267 PMCID: PMC8541468 DOI: 10.3390/mi12101216] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/11/2021] [Revised: 10/01/2021] [Accepted: 10/03/2021] [Indexed: 11/30/2022]
Abstract
For effective treatment of diseases such as cancer or fibrosis, it is essential to deliver therapeutic agents such as drugs to the diseased tissue, but these diseased sites are surrounded by a dense network of fibers, cells, and proteins known as the extracellular matrix (ECM). The ECM forms a barrier between the diseased cells and blood circulation, the main route of administration of most drug delivery nanoparticles. Hence, a stiff ECM impedes drug delivery by limiting the transport of drugs to the diseased tissue. The use of self-propelled particles (SPPs) that can move in a directional manner with the application of physical or chemical forces can help in increasing the drug delivery efficiency. Here, we provide a comprehensive look at the current ECM models in use to mimic the in vivo diseased states, the different types of SPPs that have been experimentally tested in these models, and suggest directions for future research toward clinical translation of SPPs in diverse biomedical settings.
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Affiliation(s)
- Shrishti Singh
- Department of Bioengineering, George Mason University, Fairfax, VA 22030, USA;
| | - Jeffrey L. Moran
- Department of Bioengineering, George Mason University, Fairfax, VA 22030, USA;
- Department of Mechanical Engineering, George Mason University, Fairfax, VA 22030, USA
- Correspondence:
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99
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Joh H, Fan DE. Materials and Schemes of Multimodal Reconfigurable Micro/Nanomachines and Robots: Review and Perspective. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2101965. [PMID: 34410023 DOI: 10.1002/adma.202101965] [Citation(s) in RCA: 24] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/11/2021] [Revised: 05/15/2021] [Indexed: 06/13/2023]
Abstract
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.
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Affiliation(s)
- Hyungmok Joh
- Materials Science and Engineering Program, The University of Texas at Austin, Austin, TX, 78712, USA
| | - Donglei Emma Fan
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, 78712, USA
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100
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Kwon T, Kumari N, Kumar A, Lim J, Son CY, Lee IS. Au/Pt‐Egg‐in‐Nest Nanomotor for Glucose‐Powered Catalytic Motion and Enhanced Molecular Transport to Living Cells. Angew Chem Int Ed Engl 2021. [DOI: 10.1002/ange.202103827] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/20/2022]
Affiliation(s)
- Taewan Kwon
- Center for Nanospace-confined Chemical Reactions (NCCR) Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
- Department of Chemistry Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
| | - Nitee Kumari
- Center for Nanospace-confined Chemical Reactions (NCCR) Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
- Department of Chemistry Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
| | - Amit Kumar
- Center for Nanospace-confined Chemical Reactions (NCCR) Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
- Department of Chemistry Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
| | - Jongwon Lim
- Center for Nanospace-confined Chemical Reactions (NCCR) Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
- Department of Chemistry Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
| | - Chang Yun Son
- Department of Chemistry Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
| | - In Su Lee
- Center for Nanospace-confined Chemical Reactions (NCCR) Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
- Department of Chemistry Pohang University of Science and Technology (POSTECH) Pohang 37673 South Korea
- Institute for Convergence Research and Education in Advanced Technology (I-CREATE) Yonsei University Seoul 03722 South Korea
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