Magnetically Driven Micro and Nanorobots

Biocompatible smart micro/nanorobots for active gastrointestinal tract drug delivery

INTRODUCTION

Oral delivery is the most commonly used route of drug administration owing to good patient compliance. However, the gastrointestinal (GI) tract contains multiple physiological barriers that limit the absorption efficiency of conventional passive delivery systems resulting in a low drug concentration reaching the diseased sites. Micro/nanorobots can convert energy to self-propulsive force, providing a novel platform to actively overcome GI tract barriers for noninvasive drug delivery and treatment.

AREAS COVERED

In this review, we first describe the microenvironments and barriers in the different compartments of the GI tract. Afterward, the applications of micro/nanorobots to overcome GI tract barriers for active drug delivery are highlighted and discussed. Finally, we summarize and discuss the challenges and future prospects of micro/nanorobots for further clinical applications.

EXPERT OPINION

Micro/nanorobots with the ability to autonomously propel themselves and to load, transport, and release payloads on demand are ideal carriers for active oral drug delivery. Although there are many challenges to be addressed, micro/nanorobots have great potential to introduce a new era of drug delivery for precision therapy.

Untethered shape-changing devices in the gastrointestinal tract

INTRODUCTION

Advances in microfabrication, automation, and computer engineering seek to revolutionize small-scale devices and machines. Emerging trends in medicine point to smart devices that emulate the motility, biosensing abilities, and intelligence of cells and pathogens that inhabit the human body. Two important characteristics of smart medical devices are the capability to be deployed in small conduits, which necessitates being untethered, and the capacity to perform mechanized functions, which requires autonomous shape-changing.

AREAS COVERED

We motivate the need for untethered shape-changing devices in the gastrointestinal tract for drug delivery, diagnosis, and targeted treatment. We survey existing structures and devices designed and utilized across length scales from the macro to the sub-millimeter. These devices range from triggerable pre-stressed thin film microgrippers and spring-loaded devices to shape-memory and differentially swelling structures.

EXPERT OPINION

Recent studies demonstrate that when fully enabled, tether-free and shape-changing devices, especially at sub-mm scales, could significantly advance the diagnosis and treatment of GI diseases ranging from cancer and inflammatory bowel disease (IBD) to irritable bowel syndrome (IBS) by improving treatment efficacy, reducing costs, and increasing medication compliance. We discuss the challenges and possibilities associated with ensuring safe, reliable, and autonomous operation of these smart devices.

Design of a Bio-Inspired Untethered Soft Octopodal Robot Driven by Magnetic Field

Inspired by insects in nature, an increasing number of soft robots have been proposed to mimic their locomotion patterns. As a wireless actuation method, the magnetic actuation technique has been widely applied to drive soft magnetic robots for diverse applications. Although recent works on soft materials have stimulated the development of soft robots, it is challenging to achieve the efficient movement of soft robots for in vivo biomedical application. Inspired by centipede locomotion, a soft octopodal robot is designed in this paper. The robot is fabricated by mixing magnetic particles with silicone polymers, which is then magnetized by a specific magnetic field. The prototypes can be actuated by an external magnetic field (5-8 mT) produced by custom-made electromagnetic coils. Experimental results show that the soft robot can move at a high speed in the range of 0.536-1.604 mm/s on different surfaces, including paper, wood, and PMMA. This indicates that the soft robot can achieve comparable speeds to other robots, while being driven by a lower magnitude, resulting in energy savings. Furthermore, it achieves a high speed of 0.823 mm/s on the surface of a pig colon. The fine capabilities of the soft robot in terms of crossing uneven biological surfaces and carrying external loads are demonstrated. The results indicate that the reported soft robot exhibits promising applications in the biomedical field.

Autonomous metal-organic framework nanorobots for active mitochondria-targeted cancer therapy

Nanorobotic manipulation to access subcellular organelles remains unmet due to the challenge in achieving intracellular controlled propulsion. Intracellular organelles, such as mitochondria, are an emerging therapeutic target with selective targeting and curative efficacy. We report an autonomous nanorobot capable of active mitochondria-targeted drug delivery, prepared by facilely encapsulating mitochondriotropic doxorubicin-triphenylphosphonium (DOX-TPP) inside zeolitic imidazolate framework-67 (ZIF-67) nanoparticles. The catalytic ZIF-67 body can decompose bioavailable hydrogen peroxide overexpressed inside tumor cells to generate effective intracellular mitochondriotropic movement in the presence of TPP cation. This nanorobot-enhanced targeted drug delivery induces mitochondria-mediated apoptosis and mitochondrial dysregulation to improve the in vitro anticancer effect and suppression of cancer cell metastasis, further verified by in vivo evaluations in the subcutaneous tumor model and orthotopic breast tumor model. This nanorobot unlocks a fresh field of nanorobot operation with intracellular organelle access, thereby introducing the next generation of robotic medical devices with organelle-level resolution for precision therapy.

Field-Controlled Microrobots Fabricated by Photopolymerization

Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.

Multimodal-Driven Magnetic Microrobots with Enhanced Bactericidal Activity for Biofilm Eradication and Removal from Titanium Mesh

Modern micro/nanorobots can perform multiple tasks for biomedical and environmental applications. Particularly, magnetic microrobots can be completely controlled by a rotating magnetic field and their motion powered and controlled without the use of toxic fuels, which makes them most promising for biomedical application. Moreover, they are able to form swarms, allowing them to perform specific tasks at a larger scale than a single microrobot. In this work, they developed magnetic microrobots composed of halloysite nanotubes as backbone and iron oxide (Fe₃ O₄ ) nanoparticles as magnetic material allowing magnetic propulsion and covered these with polyethylenimine to load ampicillin and prevent the microrobots from disassembling. These microrobots exhibit multimodal motion as single robots as well as in swarms. In addition, they can transform from tumbling to spinning motion and vice-versa, and when in swarm mode they can change their motion from vortex to ribbon and back again. Finally, the vortex motion mode is used to penetrate and disrupt the extracellular matrix of Staphylococcus aureus biofilm colonized on titanium mesh used for bone restoration, which improves the effect of the antibiotic's activity. Such magnetic microrobots for biofilm removal from medical implants could reduce implant rejection and improve patients' well-being.

Microfluidic Approaches for Microactuators: From Fabrication, Actuation, to Functionalization

Microactuators can autonomously convert external energy into specific mechanical motions. With the feature sizes varying from the micrometer to millimeter scale, microactuators offer many operation and control possibilities for miniaturized devices. In recent years, advanced microfluidic techniques have revolutionized the fabrication, actuation, and functionalization of microactuators. Microfluidics can not only facilitate fabrication with continuously changing materials but also deliver various signals to stimulate the microactuators as desired, and consequently improve microfluidic chips with multiple functions. Herein, this cross-field that systematically correlates microactuator properties and microfluidic functions is comprehensively reviewed. The fabrication strategies are classified into two types according to the flow state of the microfluids: stop-flow and continuous-flow prototyping. The working mechanism of microactuators in microfluidic chips is discussed in detail. Finally, the applications of microactuator-enriched functional chips, which include tunable imaging devices, micromanipulation tools, micromotors, and microsensors, are summarized. The existing challenges and future perspectives are also discussed. It is believed that with the rapid progress of this cutting-edge field, intelligent microsystems may realize high-throughput manipulation, characterization, and analysis of tiny objects and find broad applications in various fields, such as tissue engineering, micro/nanorobotics, and analytical devices.

Amoeba-Inspired Magnetic Venom Microrobots

Nature provides a successful evolutionary direction for single-celled organisms to solve complex problems and complete survival tasks - pseudopodium. Amoeba, a unicellular protozoan, can produce temporary pseudopods in any direction by controlling the directional flow of protoplasm to perform important life activities such as environmental sensing, motility, predation, and excretion. However, creating robotic systems with pseudopodia to emulate environmental adaptability and tasking capabilities of natural amoeba or amoeboid cells remains challenging. Here, this work presents a strategy that uses alternating magnetic fields to reconfigure magnetic droplet into Amoeba-like microrobot, and the mechanisms of pseudopodia generation and locomotion are analyzed. By simply adjusting the field direction, microrobots switch in monopodia, bipodia, and locomotion modes, performing all pseudopod operations such as active contraction, extension, bending, and amoeboid movement. The pseudopodia endow droplet robots with excellent maneuverability to adapt to environmental variations, including spanning 3D terrains and swimming in bulk liquids. Inspired by the "Venom," the phagocytosis and parasitic behaviors have also been investigated. Parasitic droplets inherit all the capabilities of amoeboid robot, expanding their applicable scenarios such as reagent analysis, microchemical reactions, calculi removal, and drug-mediated thrombolysis. This microrobot may provide fundamental understanding of single-celled livings, and potential applications in biotechnology and biomedicine.

Smart dental materials for antimicrobial applications

Smart biomaterials can sense and react to physiological or external environmental stimuli (e.g., mechanical, chemical, electrical, or magnetic signals). The last decades have seen exponential growth in the use and development of smart dental biomaterials for antimicrobial applications in dentistry. These biomaterial systems offer improved efficacy and controllable bio-functionalities to prevent infections and extend the longevity of dental devices. This review article presents the current state-of-the-art of design, evaluation, advantages, and limitations of bioactive and stimuli-responsive and autonomous dental materials for antimicrobial applications. First, the importance and classification of smart biomaterials are discussed. Second, the categories of bioresponsive antibacterial dental materials are systematically itemized based on different stimuli, including pH, enzymes, light, magnetic field, and vibrations. For each category, their antimicrobial mechanism, applications, and examples are discussed. Finally, we examined the limitations and obstacles required to develop clinically relevant applications of these appealing technologies.

Swarming Responsive Photonic Nanorobots for Motile-Targeting Microenvironmental Mapping and Mapping-Guided Photothermal Treatment

Micro/nanorobots can propel and navigate in many hard-to-reach biological environments, and thus may bring revolutionary changes to biomedical research and applications. However, current MNRs lack the capability to collectively perceive and report physicochemical changes in unknown microenvironments. Here we propose to develop swarming responsive photonic nanorobots that can map local physicochemical conditions on the fly and further guide localized photothermal treatment. The RPNRs consist of a photonic nanochain of periodically-assembled magnetic Fe3O4 nanoparticles encapsulated in a responsive hydrogel shell, and show multiple integrated functions, including energetic magnetically-driven swarming motions, bright stimuli-responsive structural colors, and photothermal conversion. Thus, they can actively navigate in complex environments utilizing their controllable swarming motions, then visualize unknown targets (e.g., tumor lesion) by collectively mapping out local abnormal physicochemical conditions (e.g., pH, temperature, or glucose concentration) via their responsive structural colors, and further guide external light irradiation to initiate localized photothermal treatment. This work facilitates the development of intelligent motile nanosensors and versatile multifunctional nanotheranostics for cancer and inflammatory diseases.

Self-Propelled Enzymatic Nanomotors from Prodrug-Skeletal Zeolitic Imidazolate Frameworks for Boosting Multimodel Cancer Therapy Efficiency

Self-propelled nanomotors, which can autonomous propelled by harnessing others type of energy, have shown tremendous potential as drug delivery systems for cancer therapy. However, it remains challenging for nanomotors in tumor theranostics because of their structural complexity and deficient therapeutic model. Herein, glucose-fueled enzymatic nanomotors (GC6@cPt ZIFs) are developed through encapsulation of glucose oxidase (GOx), catalase (CAT), and chlorin e6 (Ce6) using cisplatin-skeletal zeolitic imidazolate frameworks (cPt ZIFs) for synergetic photochemotherapy. The GC6@cPt ZIFs nanomotors can produce O₂ through enzymatic cascade reactions for propelling the self-propulsion. Trans-well chamber and multicellular tumor spheroids experiments demonstrate the deep penetration and high accumulation of GC6@cPt nanomotors. Importantly, the glucose-fueled nanomotor can release the chemotherapeutic cPt and generate reactive oxygen species under laser irradiation, and simultaneously consume intratumoral over-expressed glutathione. Mechanistically, such processes can inhibit cancer cell energy and destroy intratumoral redox balance to synergistically damage DNA and induce tumor cell apoptosis. Collectively, this work demonstrates that the self-propelled prodrug-skeleton nanomotors with oxidative stress activation can highlight a robust therapeutic capability of oxidants amplification and glutathione depletion to boost the synergetic cancer therapy efficiency.

Biodegradable Microrobots and Their Biomedical Applications: A Review

During recent years, microrobots have drawn extensive attention owing to their good controllability and great potential in biomedicine. Powered by external physical fields or chemical reactions, these untethered microdevices are promising candidates for in vivo complex tasks, such as targeted delivery, imaging and sensing, tissue engineering, hyperthermia, and assisted fertilization, among others. However, in clinical use, the biodegradability of microrobots is significant for avoiding toxic residue in the human body. The selection of biodegradable materials and the corresponding in vivo environment needed for degradation are increasingly receiving attention in this regard. This review aims at analyzing different types of biodegradable microrobots by critically discussing their advantages and limitations. The chemical degradation mechanisms behind biodegradable microrobots and their typical applications are also thoroughly investigated. Furthermore, we examine their feasibility and deal with the in vivo suitability of different biodegradable microrobots in terms of their degradation mechanisms; pathological environments; and corresponding biomedical applications, especially targeted delivery. Ultimately, we highlight the prevailing obstacles and perspective solutions, ranging from their manufacturing methods, control of movement, and degradation rate to insufficient and limited in vivo tests, that could be of benefit to forthcoming clinical applications.

Bioinspired claw-engaged and biolubricated swimming microrobots creating active retention in blood vessels

Swimming microrobots guided in the circulation system offer considerable promise in precision medicine but currently suffer from problems such as limited adhesion to blood vessels, intensive blood flow, and immune system clearance-all reducing the targeted interaction. A swimming microrobot design with clawed geometry, a red blood cell (RBC) membrane-camouflaged surface, and magnetically actuated retention is discussed, allowing better navigation and inspired by the tardigrade's mechanical claw engagement, coupled to an RBC membrane coating, to minimize blood flow impact. Using clinical intravascular optical coherence tomography in vivo, the microrobots' activity and dynamics in a rabbit jugular vein was monitored, illustrating very effective magnetic propulsion, even against a flow of ~2.1 cm/s, comparable with rabbit blood flow characteristics. The equivalent friction coefficient with magnetically actuated retention is elevated ~24-fold, compared to magnetic microspheres, achieving active retention at 3.2 cm/s, for >36 hours, showing considerable promise across biomedical applications.

Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots

With the development of advanced biomedical theragnosis and bioengineering tools, smart and soft responsive microstructures and nanostructures have emerged. These structures can transform their body shape on demand and convert external power into mechanical actions. Here, we survey the key advances in the design of responsive polymer-particle nanocomposites that led to the development of smart shape-morphing microscale robotic devices. We overview the technological roadmap of the field and highlight the emerging opportunities in programming magnetically responsive nanomaterials in polymeric matrixes, as magnetic materials offer a rich spectrum of properties that can be encoded with various magnetization information. The use of magnetic fields as a tether-free control can easily penetrate biological tissues. With the advances in nanotechnology and manufacturing techniques, microrobotic devices can be realized with the desired magnetic reconfigurability. We emphasize that future fabrication techniques will be the key to bridging the gaps between integrating sophisticated functionalities of nanoscale materials and reducing the complexity and footprints of microscale intelligent robots.

Small-Scale Robotics with Tailored Wettability

Small-scale robots (SSRs) have emerged as promising and versatile tools in various biomedical, sensing, decontamination, and manipulation applications, as they are uniquely capable of performing tasks at small length scales. With the miniaturization of robots from the macroscale to millimeter-, micrometer-, and nanometer-scales, the viscous and surface forces, namely adhesive forces and surface tension have become dominant. These forces significantly impact motion efficiency. Surface engineering of robots with both hydrophilic and hydrophobic functionalization presents a brand-new pathway to overcome motion resistance and enhance the ability to target and regulate robots for various tasks. This review focuses on the current progress and future perspectives of SSRs with hydrophilic and hydrophobic modifications (including both tethered and untethered robots). The study emphasizes the distinct advantages of SSRs, such as improved maneuverability and reduced drag forces, and outlines their potential applications. With continued innovation, rational surface engineering is expected to endow SSRs with exceptional mobility and functionality, which can broaden their applications, enhance their penetration depth, reduce surface fouling, and inhibit bacterial adhesion.

Breaking through Barriers: Ultrafast Microbullet Based on Cavitation Bubble

Micromotors hold great promise for extensive practical applications such as those in biomedical domains and reservoir exploration. However, insufficient propulsion of the micromotor limits its application in crossing biological barriers and breaking reservoir boundaries. In this study, an ultrafast microbullet based on laser cavitation that can utilize the energy of a cavitation bubble and realize its own hurtling motion is reported. The experiments are performed using high-speed photography. A boundary integral method is adopted to reveal the motion mechanism of a polystyrene (PS)/magnetic nanoparticle (MNP) microbullet under the action of laser cavitation. Furthermore, the influence of certain factors (including laser intensity, microbullet size, and ambient temperature) on the motion of the microbullet was explored. For the PS/MNP microbullet driven by laser cavitation, the instantaneous velocity obtained can reach 5.23 m s^-1 . This strategy of driving the PS/MNP microbullet provides strong penetration ability and targeted motion. It is believed that the reported propulsion mechanism opens up new possibilities for micromotors in a wide range of engineering applications.

In vivo applications of micro/nanorobots

Untethered robots in the size range of micro/nano-scale offer unprecedented access to hard-to-reach areas of the body. In these challenging environments, autonomous task completion capabilities of micro/nanorobots have been the subject of research in recent years. However, most of the studies have presented preliminary in vitro results that can significantly differ under in vivo settings. Here, we focus on the studies conducted with animal models to reveal the current status of micro/nanorobotic applications in real-world conditions. By a categorization based on target locations, we highlight the main strategies employed in organs and other body parts. We also discuss key challenges that require interest before the successful translation of micro/nanorobots to the clinic.

Fish-like magnetic microrobots for microparts transporting at liquid surfaces

Magnetic microrobots have tremendous potential applications due to their wireless actuation and fast response in confined spaces. Herein, inspired by fish, a magnetic microrobot working at liquid surfaces was proposed in order to transport microparts effectively. Different from other fish-like robots propelled by flexible caudal fins, the microrobot is designed as a simple sheet structure with a streamlined shape. It is fabricated monolithically utilizing polydimethylsiloxane doped with magnetic particles. The unequal thicknesses of different parts of the fish shape enable the microrobot to move faster via a liquid level difference around the body under an oscillating magnetic field. The propulsion mechanism is investigated through theoretical analysis and simulations. The motion performance characteristics are further characterized through experiments. It is interesting to find that the microrobot moves in a head-forward mode when the vertical magnetic field component is upward, whereas it moves in a tail-forward mode when the component is downward. Relying on the modulation of capillary forces, the microrobot is able to capture and deliver microballs along a given path. The maximum transporting speed can reach 1.2 mm s^-1, which is about three times the microball diameter per second. It is also found that the transporting speed with the microball is much higher than that of the microrobot alone. The reason for this is that when the micropart and microrobot combine, the increased asymmetry of the liquid surfaces caused by the forward movement of the gravity center can increase the forward driving force. The proposed microrobot and the transporting method are expected to have more applications in micromanipulation fields.

Nanostructured Hybrid BioBots for Beer Brewing

The brewing industry will amass a revenue above 500 billion euros in 2022, and the market is expected to grow annually. This industrial process is based on a slow sugar fermentation by yeast (commonly Saccharomyces cerevisiae). Herein, we encapsulate yeast cells into a biocompatible alginate (ALG) polymer along Fe₃O₄ nanoparticles to produce magneto/catalytic nanostructured ALG@yeast-Fe₃O₄ BioBots. Yeast encapsulated in these biocompatible BioBots keeps their biological activity (growth, reproduction, and catalytic fermentation) essential for brewing. Catalytic fermentation of sugars into CO₂ gas caused a continuous oscillatory motion of the BioBots in the solution. This BioBot motion is employed to enhance the beer fermentation process compared to static-free yeast cells. When the process is finished, magnetic actuation of BioBots is employed for their retrieval from the beer samples, which avoids the need of additional filtration steps. All in all, we demonstrate how an industrial process such as beer production can be benefited by miniaturized autonomous magneto/catalytic BioBots.

Photocatalysis dramatically influences motion of magnetic microrobots: Application to removal of microplastics and dyes

Micromachines gain momentum in the applications for environmental remediation. Magnetic components have been used to functionalize light-responsive micromachines to achieve efficient magnetic microrobots with photodegradation activity for decomposition of environmental pollutants. However, the influence of photocatalyst itself on the trajectory of micromotors in conjunction with magnetic motion was never considered. In this work, light-powered catalysis and transversal rotating magnetic field have been independently and simultaneously applied over Fe₃O₄@BiVO₄ microrobots to investigate the dynamics of their hybrid motion. Light exposure of microrobots results in the production of reactive oxygen species (ROS) which power the microrobots, in addition to magnetic powered motion, and have a strong influence on the magnetic trajectories, resulting in an unexpected alteration of the direction of the motion of the microrobots. We have subsequently applied such magnetic/light powered micromachines for removal of microplastics in cigarette filter residues, one of the major contributors to the microplastic pollution, and dyes via photocatalysis. Such dual orthogonal propulsion modes act independently on the motion of the micromachines; and they also bring additional functionality as photodegradation agents. Hence, the dual magnetic/photocatalytic microrobots shall find a variety of catalytic applications in different fields.

Copper Single-Atom Jellyfish-like Nanomotors for Enhanced Tumor Penetration and Nanocatalytic Therapy

Single-atom catalysts with extraordinary catalytic activity have been receiving great attention in tumor therapy. However, most single-atom catalysts lack self-propulsion properties, restricting them from actively approaching cancer cells or penetrating the interior of tumors. Herein, we design N-doped jellyfish-like mesoporous carbon nanomotors coordinated with single-atom copper (Cu-JMCNs). It is a combination of single-atom nanocatalytic medicine and nanomotor self-propulsion for cancer therapy. The Cu single atom can catalyze H₂O₂ into toxic hydroxyl radical (^•OH) for chemodynamic therapy (CDT). Near-infrared light triggers Cu-JMCNs to achieve self-thermophoretic motion because of the jellyfish-like asymmetric structure and photothermal property of carbon, which significantly improves the cellular uptake and the penetration of three-dimensional tumors. In vivo experiments indicate that the combination of single-atom Cu for CDT and near-infrared light propulsion can achieve over 85% tumor inhibition rate. This work sheds light on the development of advanced nanomotors with single-atom catalysts for biomedical applications.

A comparative study of iron nanoflower and nanocube in terms of antibacterial properties

It is known that heavy metal containing nanomaterials can easily prevent the formation of microbial cultures. The emergence of new generation epidemic diseases in the last 2 years has increased the importance of both personal and environmental hygiene. For this reason, in addition to preventing the spread of diseases, studies on alternative disinfectant substances are also carried out. In this study, the antibacterial activity of nanoflower and nanocube, which are easily synthesized and nanoparticle species containing iron, were compared. The antioxidant abilities of new synthesized NF@FeO(OH) and NC@α-Fe2O3 were tested by DPPH scavenging activity assay. The highest DPPH inhibition was achieved with NC@α-Fe2O3 as 71.30% at 200 mg/L. NF@FeO(OH) and NC@α-Fe2O3 demonstrated excellent DNA cleavage ability. The antimicrobial capabilities of NF@FeO(OH) and NC@α-Fe2O3 were analyzed with micro dilution procedure. In 500 mg/L, the antimicrobial activity was 100%. In addition to these, the biofilm inhibition of NF@FeO(OH) and NC@α-Fe2O3 were investigated against S. aureus and P. aeruginosa and it was found that they showed significant antibiofilm inhibition. It is suggested that additional studies can be continued to be developed and used as an antibacterial according to the results of the nanoparticles after various toxicological test systems.

Supplementary Information

The online version contains supplementary material available at 10.1007/s13204-023-02822-5.

Mobile mechanical signal generator for macrophage polarization

The importance of mechanical signals in regulating the fate of macrophages is gaining increased attention recently. However, the recently used mechanical signals normally rely on the physical characteristics of matrix with non-specificity and instability or mechanical loading devices with uncontrollability and complexity. Herein, we demonstrate the successful fabrication of self-assembled microrobots (SMRs) based on magnetic nanoparticles as local mechanical signal generators for precise macrophage polarization. Under a rotating magnetic field (RMF), the propulsion of SMRs occurs due to the elastic deformation via magnetic force and hydrodynamics. SMRs perform wireless navigation toward the targeted macrophage in a controllable manner and subsequently rotate around the cell for mechanical signal generation. Macrophages are eventually polarized from M0 to anti-inflammatory related M2 phenotypes by blocking the Piezo1-activating protein-1 (AP-1）-CCL2 signaling pathway. The as-developed microrobot system provides a new platform of mechanical signal loading for macrophage polarization, which holds great potential for precise regulation of cell fate.

Azide click chemistry on magnetotactic bacteria: A versatile technique to attach a cargo

Adding biomolecules to living organisms and cells is the basis for creating living materials or biohybrids for robotic systems. Bioorthogonal chemistry allows covalently modifying biomolecules with functional groups not natively present under biological conditions and is therefore applicable to microorganisms and cells. Click chemistry is a biorthogonal chemistry approach that allows the study and manipulation of living entities. Incorporating the bioorthogonal click-chemistry handle, azide groups, into living microorganisms has been achieved by metabolic labeling, i.e., by culturing cells or organisms in a modified culture media having a specific natural molecular building block (e.g., amino acid, nucleotide, carbohydrate) modified with a tagged chemical analog. Here we explore the effect of the azide group incorporation into the magnetotactic bacteria Magnetospirillum gryphiswaldense (MSR-1) by adding a modified amino acid, 3-Azido-d-Alanine, during their cultivation. We show the existence of a concentration limit to effectively incorporate the azide group while maintaining the magnetic properties of the cells. We explore the use of this modification to explore the combination with versatile single-cell tagging methods.

Magnetically Driven Self-Degrading Zinc-Containing Cystine Microrobots for Treatment of Prostate Cancer

Prostate cancer is the most commonly diagnosed tumor disease in men, and its treatment is still a big challenge in standard oncology therapy. Magnetically actuated microrobots represent the most promising technology in modern nanomedicine, offering the advantage of wireless guidance, effective cell penetration, and non-invasive actuation. Here, new biodegradable magnetically actuated zinc/cystine-based microrobots for in situ treatment of prostate cancer cells are reported. The microrobots are fabricated via metal-ion-mediated self-assembly of the amino acid cystine encapsulating superparamagnetic Fe₃ O₄ nanoparticles (NPs) during the synthesis, which allows their precise manipulation by a rotating magnetic field. Inside the cells, the typical enzymatic reducing environment favors the disassembly of the aminoacidic chemical structure due to the cleavage of cystine disulfide bonds and disruption of non-covalent interactions with the metal ions, as demonstrated by in vitro experiments with reduced nicotinamide adenine dinucleotide (NADH). In this way, the cystine microrobots served for site-specific delivery of Zn²⁺ ions responsible for tumor cell killing via a "Trojan horse effect". This work presents a new concept of cell internalization exploiting robotic systems' self-degradation, proposing a step forward in non-invasive cancer therapy.

A bar-joint model based on the corrected resistive force theory for artificial flagellated micro-swimmers propelled by acoustic waves

In this work, we proposed a bar-joint model based on the corrected resistive force theory (CRFT) for studying artificial flagellated micro-swimmers (AFMSs) propelled by acoustic waves in a two-dimensional (2D) flow field or with a rectangular cross-section. Note that the classical resistive-force theory for 3D cylindrical flagellum leads to over 90% deviation in terminal velocity from those of 2D fluid-structure interaction (FSI) simulations, while the proposed CRFT bar-joint model can reduce the deviation to below 5%; hence, it enables a reliable prediction of the 2D locomotion of an acoustically actuated AFMS with a rectangular cross-section, which is the case in some experiments. Introduced in the CRFT is a single correction factorKdetermined by comparing the linear terminal velocities under acoustic actuation obtained from the CRFT with those from simulations. After the determination ofK, detailed comparisons of trajectories between the CRFT-based bar-joint AFMS model and the FSI simulation were presented, exhibiting an excellent consistency. Finally, a numerical demonstration of the purely acoustic or magneto-acoustic steering of an AFMS based on the CRFT was presented, which can be one of the choices for future AFMS-based precision therapy.

A Review of Advanced Multifunctional Magnetic Nanostructures for Cancer Diagnosis and Therapy Integrated into an Artificial Intelligence Approach

The new era of nanomedicine offers significant opportunities for cancer diagnostics and treatment. Magnetic nanoplatforms could be highly effective tools for cancer diagnosis and treatment in the future. Due to their tunable morphologies and superior properties, multifunctional magnetic nanomaterials and their hybrid nanostructures can be designed as specific carriers of drugs, imaging agents, and magnetic theranostics. Multifunctional magnetic nanostructures are promising theranostic agents due to their ability to diagnose and combine therapies. This review provides a comprehensive overview of the development of advanced multifunctional magnetic nanostructures combining magnetic and optical properties, providing photoresponsive magnetic platforms for promising medical applications. Moreover, this review discusses various innovative developments using multifunctional magnetic nanostructures, including drug delivery, cancer treatment, tumor-specific ligands that deliver chemotherapeutics or hormonal agents, magnetic resonance imaging, and tissue engineering. Additionally, artificial intelligence (AI) can be used to optimize material properties in cancer diagnosis and treatment, based on predicted interactions with drugs, cell membranes, vasculature, biological fluid, and the immune system to enhance the effectiveness of therapeutic agents. Furthermore, this review provides an overview of AI approaches used to assess the practical utility of multifunctional magnetic nanostructures for cancer diagnosis and treatment. Finally, the review presents the current knowledge and perspectives on hybrid magnetic systems as cancer treatment tools with AI models.

Radiopaque Nanorobots as Magnetically Navigable Contrast Agents for Localized In Vivo Imaging of the Gastrointestinal Tract

Magnetic nanorobots offer wireless navigation capability in hard-to-reach areas of the human body for targeted therapy and diagnosis. Though in vivo imaging is required for guidance of the magnetic nanorobots toward the target areas, most of the imaging techniques are inadequate to reveal the potential locomotion routes. This work proposes the use of radiopaque magnetic nanorobots along with microcomputed tomography (microCT) for localized in vivo imaging applications. The nanorobots consist of a contrast agent, barium sulfate (BaSO₄ ), magnetized by the decoration of magnetite (Fe₃ O₄ ) particles. The magnetic features lead to actuation under rotating magnetic fields and enable precise navigation in a microfluidic channel used to simulate confined spaces of the body. In this channel, the intrinsic radiopacity of the nanorobots also provides the possibility to reveal the internal structures by X-ray contrast. Furthermore, in vitro analysis indicates nontoxicity of the nanorobots. In vivo experiments demonstrate localization of the nanorobots in a specific part of the gastrointestinal (GI) tract upon the influence of the magnetic field, indicating the efficient control even in the presence of natural peristaltic movements. The nanorobots reported here highlight that smart nanorobotic contrast agents can improve the current imaging-based diagnosis techniques by providing untethered controllability in vivo.

Magneto-mechanical therapeutic effects and associated cell death pathways of magnetic nanocomposites with distinct geometries

Recent years have witnessed important developments in the emerging field of magneto-mechanical therapies. While such approaches have been demonstrated as a highly efficient route to augment, complement, or entirely replace other therapeutic strategies, important aspects are still poorly understood. Among these, the dependence between the cell death pathway and the geometry of magnetic nanocomposites enabling magneto-mechanical therapies under a low-frequency rotating magnetic field (RMF) is yet to be deciphered. To provide insights into this important problem, we evaluate the cell death pathway for two magnetic nanocomposites with highly distinct geometries: Zn_0.2Fe_2.8O₄-PLGA magnetic nanospheres (MNSs) and Zn_0.2Fe_2.8O₄-PLGA magnetic nanochains (MNCs). We show that under exposure to an RMF, the MNSs and the MNCs exhibit a corkscrewed circular propulsion mode and a steering propulsion mode, respectively. This distinct behavior, with important implications for the associated magneto-mechanical forces exerted by these nanomaterials on surrounding structures (e.g., the cellular membrane), depends on their specific geometries. Next, using numerical simulations and cell viability experiments, we demonstrate that the field strength of the RMF and the rotating speed of the MNSs or MNCs have strong implications for their magneto-mechanical therapeutic performance. Last, we reveal that the magneto-mechanical effects of MNSs are more prone to induce cell apoptosis, whereas those of the MNCs favor instead cell necrosis. Overall, this work enhances the current understanding of the dependences existing between the magneto-mechanical therapeutic effects of magnetic nanocomposites with different geometries and associated cell death pathways, paving the way for novel functionalization routes which could enable significantly enhanced cures and biomedical tools. STATEMENT OF SIGNIFICANCE.

Optothermal rotation of micro-/nano-objects

Due to its contactless and fuel-free operation, optical rotation of micro-/nano-objects provides tremendous opportunities for cellular biology, three-dimensional (3D) imaging, and micro/nanorobotics. However, complex optics, extremely high operational power, and the applicability to limited objects restrict the broader use of optical rotation techniques. This Feature Article focuses on a rapidly emerging class of optical rotation techniques, termed optothermal rotation. Based on light-mediated thermal phenomena, optothermal rotation techniques overcome the bottlenecks of conventional optical rotation by enabling versatile rotary control of arbitrary objects with simpler optics using lower powers. We start with the fundamental thermal phenomena and concepts: thermophoresis, thermoelectricity, thermo-electrokinetics, thermo-osmosis, thermal convection, thermo-capillarity, and photophoresis. Then, we highlight various optothermal rotation techniques, categorizing them based on their rotation modes (i.e., in-plane and out-of-plane rotation) and the thermal phenomena involved. Next, we explore the potential applications of these optothermal manipulation techniques in areas such as single-cell mechanics, 3D bio-imaging, and micro/nanomotors. We conclude the Feature Article with our insights on the operating guidelines, existing challenges, and future directions of optothermal rotation.

Magnetically boosted 1D photoactive microswarm for COVID-19 face mask disruption

The recent COVID-19 pandemic has resulted in the massive discard of pandemic-related plastic wastes, causing serious ecological harm and a high societal burden. Most single-use face masks are made of synthetic plastics, thus their careless disposal poses a direct threat to wildlife as well as potential ecotoxicological effects in the form of microplastics. Here, we introduce a 1D magnetic photoactive microswarm capable of actively navigating, adhering to, and accelerating the degradation of the polypropylene microfiber of COVID-19 face masks. 1D microrobots comprise an anisotropic magnetic core (Fe₃O₄) and photocatalytic shell (Bi₂O₃/Ag), which enable wireless magnetic maneuvering and visible-light photocatalysis. The actuation of a programmed rotating magnetic field triggers a fish schooling-like 1D microswarm that allows active interfacial interactions with the microfiber network. The follow-up light illumination accelerates the disruption of the polypropylene microfiber through the photo-oxidative process as corroborated by morphological, compositional, and structural analyses. The active magnetic photocatalyst microswarm suggests an intriguing microrobotic solution to treat various plastic wastes and other environmental pollutants.

Water-Immiscible Coacervate as a Liquid Magnetic Robot for Intravascular Navigation

Developing magnetic ultrasoft robots to navigate through extraordinarily narrow and confined spaces like capillaries in vivo requires synthesizing materials with excessive deformability, responsive actuation, and rapid adaptability, which are difficult to achieve with the current soft polymeric materials, such as elastomers and hydrogels. We report a magnetically actuatable and water-immiscible (MAWI) coacervate based on the assembled magnetic core-shell nanoparticles to function as a liquid robot. The degradable and biocompatible millimeter-sized MAWI coacervate liquid robot can remain stable under changing pH and salt concentrations, release loaded cargoes on demand, squeeze through an artificial capillary network within seconds, and realize intravascular targeting in vivo guided by an external magnetic field. We believe the proposed "coacervate-based liquid robot" can implement demanding tasks beyond the capability of conventional elastomer or hydrogel-based soft robots in the field of biomedicine and represents a distinct design strategy for high-performance ultrasoft robots.

Soft robot-enabled controlled release of oral drug formulations

The creation of highly effective oral drug delivery systems (ODDSs) has long been the main objective of pharmaceutical research. Multidisciplinary efforts involving materials, electronics, control, and pharmaceutical sciences encourage the development of robot-enabled ODDSs. Compared with conventional rigid robots, soft robots potentially offer better mechanical compliance and biocompatibility with biological tissues, more versatile shape control and maneuverability, and multifunctionality. In this paper, we first describe and highlight the importance of manipulating drug release kinetics, i.e. pharmaceutical kinetics. We then introduce an overview of state-of-the-art soft robot-based ODDSs comprising resident, shape-programming, locomotive, and integrated soft robots. Finally, the challenges and outlook regarding future soft robot-based ODDS development are discussed.

Unveiling the Rolling to Kayak Transition in Propelling Nanorods with Cargo Trapping and Pumping

Magnetic nanorods driven by rotating fields in water can be rapidly steered along any direction while generating strong and localized hydrodynamic flow fields. Here we show that, when raising the frequency of the rotating field, these nanopropellers undergo a dynamic transition from a rolling to a kayak-like motion due to the increase in viscous drag and acquire a finite inclination angle with respect to the plane perpendicular to the bottom surface. We explain these experimental observations with a theoretical model which considers the nanorod as a pair of ferromagnetic particles hydrodynamically interacting with a close stationary surface. Further, we quantify how efficiently microscopic cargoes can be trapped or expelled from the moving nanorod and use numerical simulations to unveil the generated hydrodynamic flow field. These propulsion regimes can be implemented in microfluidic devices to perform precise operations based on the selective sorting of microscopic cargoes.

Precisely Navigated Biobot Swarms of Bacteria Magnetospirillum magneticum for Water Decontamination

Hybrid biological robots (biobots) prepared from living cells are at the forefront of micro-/nanomotor research due to their biocompatibility and versatility toward multiple applications. However, their precise maneuverability is essential for practical applications. Magnetotactic bacteria are hybrid biobots that produce magnetosome magnetite crystals, which are more stable than synthesized magnetite and can orient along the direction of earth's magnetic field. Herein, we used Magnetospirillum magneticum strain AMB-1 (M. magneticum AMB-1) for the effective removal of chlorpyrifos (an organophosphate pesticide) in various aqueous solutions by naturally binding with organic matter. Precision control of M. magneticum AMB-1 was achieved by applying a magnetic field. Under a programed clockwise magnetic field, M. magneticum AMB-1 exhibit swarm behavior and move in a circular direction. Consequently, we foresee that M. magneticum AMB-1 can be applied in various environments to remove and retrieve pollutants by directional control magnetic actuation.

Smart micro- and nanorobots for water purification

Less than 1% of Earth's freshwater reserves is accessible. Industrialization, population growth and climate change are further exacerbating clean water shortage. Current water-remediation treatments fail to remove most pollutants completely or release toxic by-products into the environment. The use of self-propelled programmable micro- and nanoscale synthetic robots is a promising alternative way to improve water monitoring and remediation by overcoming diffusion-limited reactions and promoting interactions with target pollutants, including nano- and microplastics, persistent organic pollutants, heavy metals, oils and pathogenic microorganisms. This Review introduces the evolution of passive micro- and nanomaterials through active micro- and nanomotors and into advanced intelligent micro- and nanorobots in terms of motion ability, multifunctionality, adaptive response, swarming and mutual communication. After describing removal and degradation strategies, we present the most relevant improvements in water treatment, highlighting the design aspects necessary to improve remediation efficiency for specific contaminants. Finally, open challenges and future directions are discussed for the real-world application of smart micro- and nanorobots.

Self-propelled predator-prey of swarming Janus micromotors

It is a long-standing challenge to accomplish bionic microrobot that acts in a similar way of white blood cell, chasing bacteria in complex environment. Without an effective external control field, most swarming microrobots systems are usually unable to perform directional movement and redirect their motion to capture the target. Here we report the predatory-prey dynamics of self-propelled clusters of Janus micromotors. The active cluster generates an oxygen bubbles cloud around itself by decomposing H₂O₂, which levitated it above the substrate, enhancing its mobility in solution to wander around to devour other clusters. The fast decomposition of H₂O₂ also induced a tubular low-concentration zone that bridges two clusters far separated from each other, resulting in a diffusio-osmotic pressure that drives the two clusters to meet. This predatory-prey phenomena mimic white blood cells chasing bacteria and swarming flocks in nature, shedding light on emergent collective intelligence in biology.

Magnetically driven micro-optical choppers fabricated by two-photon polymerization

In this Letter, a series of magnetically driven micro-optical choppers based on customized photoresist were fabricated by two-photon polymerization (TPP) technology. Synthetic Fe₃O₄ nanoparticles (NPs) were modified and dispersed in the original photoresist to achieve magnetic field response. After accurately formulating a magnetic photoresist containing Rhodamine B to reduce the light transmittance, four micro-optical choppers with different slot widths were printed using optimized processing parameters. The micro-optical choppers were remotely manipulated to rotate by the external magnetic field. More importantly, the function demonstration of the micro-optical choppers with an excellent chopping effect was achieved at a given light wavelength of 515 nm. The magnetically driven micro-optical choppers provide a new approach, to the best of our knowledge, for the fabrication of external field-responsive optical components.

Three-dimensional liquid crystal polymer actuators assembled by athermal photo-welding

Photodeformable liquid crystal polymers (LCPs) exhibit shape changes of different modes like bending, twisting, and oscillation, which depend on the orientation of liquid crystals. However, it is challenging to create a three-dimensional (3D) actuator with distinct actuation modes due to the difficulty of local orientation in a complex bulk architecture. Here we propose a strategy based on athermal photo-welding to integrate different orientations into a single flexible actuator by the photofluidization of azobenzene-containing linear LCPs. Stretch-induced uniaxial films are cut in different directions and subsequently welded via local photofluidization, during which the LCP transitions from a high-modulus glassy state to a rubbery state upon photoisomerization of azobenzene at room temperature. As a consequence, a cucumber vine-like structure with the opposite handedness and a lifting gripper are constructed by such a cut-and-weld process, demonstrating diverse deformation modes of winding, unwinding, and curling. This strategy provides an athermal process for the fabrication of seamless 3D flexible actuators without structural defects, which have potential applications in micromechanical systems, soft robotics, and artificial muscles.

Swarming Magnetic Microrobots for Pathogen Isolation from Milk

Bovine mastitis produced by Staphylococcus aureus (S. aureus) causes major problems in milk production due to the staphylococcal enterotoxins produced by this bacterium. These enterotoxins are stable and cannot be eradicated easily by common hygienic procedures once they are formed in dairy products. Here, magnetic microrobots (MagRobots) are developed based on paramagnetic hybrid microstructures loaded with IgG from rabbit serum that can bind and isolate S. aureus from milk in a concentration of 3.42 10⁴ CFU g^-1 (allowable minimum level established by the United States Food and Drug Administration, FDA). Protein A, which is present on the cell wall of S. aureus, selectively binds IgG from rabbit serum and loads the bacteria onto the surface of the MagRobots. The selective isolation of S. aureus is confirmed using a mixed suspension of S. aureus and Escherichia coli (E. coli). Moreover, this fuel-free system based on magnetic robots does not affect the natural milk microbiota or add any toxic compound resulting from fuel catalysis. This system can be used to isolate and transport efficiently S. aureus and discriminate it from nontarget bacteria for subsequent identification. Finally, this system can be scaled up for industrial use in food production.

Rotation and separation of chiral active particles in a ring-shaped channel

Transport of chiral active particles is numerically investigated in a two-dimensional ring-shaped channel. The ring-shaped channel is transversal asymmetric and can induce the directed transport (rotation) of chiral active particles. For the particles with small chirality, they slide along the outer boundary of the channel. For the particles with large chirality, the particles move along some small local circular orbits and can also exhibit directed rotation. Moreover, the rotation effect can be strongly enhanced by modifying the inner boundary geometry. Based on the study of particle rotation, we further study the separation of active particles with different chiralities. It is found that the particles with different chiralities may be distributed in different regions of the ring-shaped channel. Interestingly, these particles can be completely separated by shifting the channel's inner boundary or adding a blocking plate in the channel. Our results may be useful for understanding relevant experimental phenomena and provide a scheme for the separation of binary mixtures.

Photomagnetically Powered Spiky Nanomachines with Thermal Control of Viscosity for Enhanced Cancer Mechanotherapy

Nanomachines with active propulsion have emerged as an intelligent platform for targeted cancer therapy. Achieving an efficient locomotion performance using an external energy conversion is a key requirement in the design of nanomachines. In this study, inspired by diverse spiky structures in nature, a photomagnetically powered nanomachine (PMN) with a spiky surface and thermally dependent viscosity tunability is proposed to facilitate mechanical motion in lysosomes for cancer mechanotherapy. The hybrid nanomachine is integrated with magnetic nanoparticles as the core and covered with gold nanotips. Physical simulations and experimental results prove that the spiky structure endows nanomachines with an obvious photomagnetic coupling effect in the NIR-II region through the alignment and orienting movement of plasmons on the gold tips. Using a coupling-enhanced magnetic field, PMNs are efficiently assembled into chain-like structures to further elevate energy conversion efficiency. Notably, PMNs with the thermal control of viscosity are efficiently propelled under simultaneously applied dual external energy sources in cell lysosomes. Enhanced mechanical destruction of cancer cells via PMNs is confirmed both in vitro and in vivo under photomagnetic treatment. This study provides a new direction for designing integrated nanomachines with active adaptability to physiological environments for cancer treatment.

Cell-Mimic Directional Cargo Transportation in a Visible-Light-Activated Colloidal Motor/Lipid Tube System

Active tether and transportation of cargoes on cytoskeletal highway enabled by molecular motors is key for accurate delivery of vesicles and organelles in the complex intracellular environment. Here, a hybrid system composed of colloidal motors and self-assembled lipid tubes is designed to mimic the subcellular traffic system in living cells. The colloidal motors, composed of gold-coated hematite, display light-activated self-propulsion tunable by the light intensity and the concentration of hydrogen peroxide fuel. Importantly, the motors show light-switchable binding with lipid cargoes and attachment to the lipid tubes, whereby the latter act as the motor highways. Upon assembly, the colloidal motor/lipid tube system demonstrates directional delivery of lipid vesicles, emulating intracellular transportation. The assembly and function of the hybrid system are rationalized by a cooperative action of light-triggered electrophoretic and hydrodynamic effects, supported by finite element analysis. A synthetic analog of the biological protein motor/cytoskeletal filament system is realized for the manipulation and delivery of different matter at the microscale, which is expected to be a promising platform for various applications in materials science, nanotechnology, microfluidics, and synthetic biology.

Achieving Control in Micro-/Nanomotor Mobility

Unprecedented opportunities exist for the generation of advanced nanotechnologies based on synthetic micro/nanomotors (MNMs), such as active transport of medical agents or the removal of pollutants. In this regard, great efforts have been dedicated toward controlling MNM motion (e.g., speed, directionality). This was generally performed by precise engineering and optimizing of the motors' chassis, engine, powering mode (i.e., chemical or physical), and mechanism of motion. Recently, new insights have emerged to control motors mobility, mainly by the inclusion of different modes that drive propulsion. With high degree of synchronization, these modes work providing the required level of control. In this Minireview, we discuss the diverse factors that impact motion; these include MNM morphology, modes of mobility, and how control over motion was achieved. Moreover, we highlight the main limitations that need to be overcome so that such motion control can be translated into real applications.

On Nanomachines and Their Future Perspectives in Biomedicine

Nano/micromotors are a class of active matter that can self-propel converting different types of input energy into kinetic energy. The huge efforts that are made in this field over the last years result in remarkable advances. Specifically, a high number of publications have dealt with biomedical applications that these motors may offer. From the first attempts in 2D cell cultures, the research has evolved to tissue and in vivo experimentation, where motors show promising results. In this Perspective, an overview over the evolution of motors with focus on bio-relevant environments is provided. Then, a discussion on the advances and challenges is presented, and eventually some remarks and perspectives of the field are outlined.

Optothermal rotation of micro-/nano-objects in liquids

Controllable rotation of micro-/nano-objects provides tremendous opportunities for cellular biology, three-dimensional (3D) imaging, and micro/nanorobotics. Among different rotation techniques, optical rotation is particularly attractive due to its contactless and fuel-free operation. However, optical rotation precision is typically impaired by the intrinsic optical heating of the target objects. Optothermal rotation, which harnesses light-modulated thermal effects, features simpler optics, lower operational power, and higher applicability to various objects. In this Feature Article, we discuss the recent progress of optothermal rotation with a focus on work from our research group. We categorize the various rotation techniques based on distinct physical mechanisms, including thermophoresis, thermoelectricity, thermo-electrokinetics, thermo-osmosis, thermal convection, and thermo-capillarity. Benefiting from the different rotation modes (i.e., in-plane and out-of-plane rotation), diverse applications in single-cell mechanics, 3D bio-imaging, and micro/nanomotors are demonstrated. We conclude the article with our perspectives on the operating guidelines, existing challenges, and future directions of optothermal rotation.

Bio-inspired magnetic-driven folded diaphragm for biomimetic robot

Functional soft materials, exhibiting multiple types of deformation, have shown their potential/abilities to achieve complicated biomimetic behaviors (soft robots). Inspired by the locomotion of earthworm, which is conducted through the contraction and stretching between body segments, this study proposes a type of one-piece-mold folded diaphragm, consisting of the structure of body segments with radial magnetization property, to achieve large 3D and bi-directional deformation with inside-volume change capability subjected to the low homogeneous magnetically driving field (40 mT). Moreover, the appearance based on the proposed magnetic-driven folded diaphragm is able to be easily customized to desired ones and then implanted into different untethered soft robotic systems as soft drivers. To verify the above points, we design the diaphragm pump providing unique properties of lightweight, powerful output and rapid response, and the soft robot including the bio-earthworm crawling robot and swimming robot inspired by squid to exhibit the flexible and rapid locomotion excited by single homogeneous magnetic fields.

Microrobots for Targeted Delivery and Therapy in Digestive System

Untethered miniature robots enable targeted delivery and therapy deep inside the gastrointestinal tract in a minimally invasive manner. By combining actuation systems and imaging tools, significant progress has been made toward the development of functional microrobots. These robots can be actuated by external fields and fuels while featuring real-time tracking feedback toward certain regions and can perform the therapeutic process by rational exertion of the local environment of the gastrointestinal tract (e.g., pH, enzyme). Compared with conventional surgical tools, such as endoscopic devices and catheters, miniature robots feature minimally invasive diagnosis and treatment, multifunctionality, high safety and adaptivity, embodied intelligence, and easy access to tortuous and narrow lumens. In addition, the active motion of microrobots enhances local penetration and retention of drugs in tissues compared to common passive oral drug delivery. Based on the dissimilar microenvironments in the various sections of the gastrointestinal tract, this review introduces the advances of miniature robots for minimally invasive targeted delivery and therapy of diseases along the gastrointestinal tract. The imaging modalities for the tracking and their application scenarios are also discussed. We finally evaluate the challenges and barriers that retard their applications and hint on future research directions in this field.

Soft Magnetic Microrobots for Photoactive Pollutant Removal

"Soft" robotics based on hydrogels appears as an alternative to the traditional technology of "hard" robotics. Soft microrobots are employed for drug delivery and cell manipulation. This work develops magnetic hydrogel-based microrobots using chitosan (CHI) as the body of the micromotor and Fe₃ O₄ nanoparticles to allow for its magnetic actuation. In addition, ZnO nanoparticles are incorporated inside the CHI body of the microrobot to act as an active component for pollutants photodegradation. CHI@Fe₃ O₄ -ZnO microrobots are used for the efficient photodegradation of persistent organic pollutants (POPs). The high absorption of CHI hydrogel enhances the POP photodegradation, degrading it 75% in just 30 min. The adsorption-degradation and magnetic properties of CHI@Fe₃ O₄ -ZnO microrobots are used in five cycles while maintaining up to 60% photodegradation efficiency. The proof-of-concept present in this work represents a simple way to obtain soft microrobots with magnetic actuation and photodegradation functionalities for several water purification applications.

Drug delivery approaches for enhanced antibiofilm therapy

Biofilms have attracted increasing attention in recent years. Many bacterial infections are associated with biofilm formation. A bacterial biofilm is an aggregated membrane-like substance that is composed of a large number of bacteria and their secreted extracellular polymeric substances. The traditional antibiofilm approaches, such as chemotherapy based on antibiotics, are often ineffective in eradicating biofilms owing to the limited diffusion ability of antibiotics within biofilms and inactivation of antibiotics by biofilms. Moreover, a larger dosage of antibiotics could be effective, but leads to an increased tolerance. Smart drug delivery systems that deliver antibiotics into the biofilm interior is a promising strategy to meet this challenge. In this review, we focus on the methods to improve drug delivery efficiency for enhanced chemotherapy of biofilms. Furthermore, we have summarized chemical approaches for enhanced drug delivery, such as chemical shields, charge reversal, and dual corona enhanced delivery strategies; these methods focus on physicochemical biofilm properties and specific biofilm features. Afterwards, physical approaches are discussed, such as magnetism-mediated drug delivery, electricity-mediated drug delivery, ultrasound-mediated drug delivery, and shock wave-mediated drug delivery. Finally, a perspective on the development of next-generation antibiofilm drug delivery systems is given.