151
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Ultrasound-propelled Janus Au NR-mSiO2 nanomotor for NIR-II photoacoustic imaging guided sonodynamic-gas therapy of large tumors. Sci China Chem 2021. [DOI: 10.1007/s11426-021-1070-6] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022]
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152
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Benouhiba A, Wurtz L, Rauch JY, Agnus J, Rabenorosoa K, Clévy C. NanoRobotic Structures with Embedded Actuation via Ion Induced Folding. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2103371. [PMID: 34554607 DOI: 10.1002/adma.202103371] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/03/2021] [Revised: 07/09/2021] [Indexed: 06/13/2023]
Abstract
4D structures are tridimensional structures with time-varying abilities that provide high versatility, sophisticated designs, and a broad spectrum of actuation and sensing possibilities. The downsizing of these structures below 100 μm opens up exceptional opportunities for many disciplines, including photonics, acoustics, medicine, and nanorobotics. However, it requires a paradigm shift in manufacturing methods, especially for dynamic structures. A novel fabrication method based on ion-induced folding of planar multilayer structures embedding their actuation is proposed-the planar structures are fabricated in bulk through batch microfabrication techniques. Programmable and accurate bidirectional foldings (-70° - +90°) of Silica/Chromium/Aluminium (SiO2 /Cr/Al) multilayer structures are modeled, experimentally demonstrated then applied to embedded electrothermal actuation of controllable and dynamic 4D nanorobotic structures. The method is used to produce high-performances case-study grippers for nanorobotic applications in confined environments. Once folded, a gripping task at the nano-scale is demonstrated. The proposed fabrication method is suitable for creating small-scale 4D systems for nanorobotics, medical devices, and tunable metamaterials, where rapid folding and enhanced dynamic control are required.
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Affiliation(s)
- Amine Benouhiba
- FEMTO-ST Institute, CNRS AS2M department, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, Besançon, 25000, France
| | - Léo Wurtz
- FEMTO-ST Institute, CNRS AS2M department, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, Besançon, 25000, France
| | - Jean-Yves Rauch
- FEMTO-ST Institute, CNRS AS2M department, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, Besançon, 25000, France
| | - Joël Agnus
- FEMTO-ST Institute, CNRS AS2M department, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, Besançon, 25000, France
| | - Kanty Rabenorosoa
- FEMTO-ST Institute, CNRS AS2M department, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, Besançon, 25000, France
| | - Cédric Clévy
- FEMTO-ST Institute, CNRS AS2M department, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, Besançon, 25000, France
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153
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Chen H, Zhang H, Xu T, Yu J. An Overview of Micronanoswarms for Biomedical Applications. ACS NANO 2021; 15:15625-15644. [PMID: 34647455 DOI: 10.1021/acsnano.1c07363] [Citation(s) in RCA: 21] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Micronanoswarms have attracted extensive attention worldwide due to their great promise in biomedical applications. The collective behaviors among thousands, or even millions, of tiny active agents indicate immense potential for benefiting the progress of clinical therapeutic and diagnostic methods. In recent years, with the development of smart materials, remote actuation modalities, and automatic control strategies, the motion dexterity, environmental adaptability, and functionality versatility of micronanoswarms are improved. Swarms can thus be designed as dexterous platforms inside living bodies to perform a multitude of tasks related to healthcare. Existing surveys summarize the design, functionalization, and biomedical applications of micronanorobots and the actuation and motion control strategies of micronanoswarms. This review presents the recent progress of micronanoswarms, aiming for biomedical applications. The recent advances on structural design of artificial, living, and hybrid micronanoswarms are summarized, and the biomedical applications that could be tackled using micronanoswarms are introduced, such as targeted drug delivery, hyperthermia, imaging and sensing, and thrombolysis. Moreover, potential challenges and promising trends of future developments are discussed. It is envisioned that the future success of these promising tools will have a significant impact on clinical treatment.
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Affiliation(s)
- Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
| | - Huimin Zhang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
| | - Tiantian Xu
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518126, China
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
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154
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Pacheco M, Jurado-Sánchez B, Escarpa A. Functional coatings enable navigation of light-propelled micromotors in blood for effective biodetoxification. NANOSCALE 2021; 13:17106-17115. [PMID: 34633018 DOI: 10.1039/d1nr04842b] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Herein we report the coating of visible light-driven polycaprolactone (PCL) based micromotors with an anti-biofouling poly lactic-co-glycolic acid (PLGA) layer for effective navigation and detoxification in blood samples. The micromotors encapsulate CdSe@ZnS quantum dots as photoresponsive materials and a Fe3O4 nanoparticle patch to promote electron transfer and reaction with glucose present in the media for diffusiophoretic propulsion in diluted blood. The coating of the micromotor with the PLGA layer prevents red blood cell adhesion and protein adsorption due to the creation of a highly efficient hydration layer. This results in an enhanced speed and efficient operation for enhanced toxin removal as compared with the bare PCL micromotors. Hemolysis and MTT assays along with no platelets aggregation revealed the high biocompatibility of the micromotors with living cells. Effective adsorptive removal of two relevant toxins, sepsis associated Escherichia coli O111:B4 toxin and snake venom α-bungarotoxin from blood is achieved with the PLGA micromotors. The new developments illustrated here represent one step forward in the use of light-driven micromotors for biomedical applications.
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Affiliation(s)
- Marta Pacheco
- Department of Analytical Chemistry, Physical Chemistry and Chemical Engineering, University of Alcalá, Alcalá de Henares, E-28871 Madrid, Spain.
| | - Beatriz Jurado-Sánchez
- Department of Analytical Chemistry, Physical Chemistry and Chemical Engineering, University of Alcalá, Alcalá de Henares, E-28871 Madrid, Spain.
- Chemical Research Institute "Andrés M. del Rio" University of Alcalá, Alcalá de Henares, E-28871 Madrid, Spain
| | - Alberto Escarpa
- Department of Analytical Chemistry, Physical Chemistry and Chemical Engineering, University of Alcalá, Alcalá de Henares, E-28871 Madrid, Spain.
- Chemical Research Institute "Andrés M. del Rio" University of Alcalá, Alcalá de Henares, E-28871 Madrid, Spain
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155
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Jia L, Zhang P, Sun H, Dai Y, Liang S, Bai X, Feng L. Optimization of Nanoparticles for Smart Drug Delivery: A Review. NANOMATERIALS (BASEL, SWITZERLAND) 2021; 11:2790. [PMID: 34835553 PMCID: PMC8622036 DOI: 10.3390/nano11112790] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/25/2021] [Revised: 10/08/2021] [Accepted: 10/13/2021] [Indexed: 12/16/2022]
Abstract
Nanoparticle delivery systems have good application prospects in the treatment of various diseases, especially in cancer treatment. The effect of drug delivery is regulated by the properties of nanoparticles. There have been many studies focusing on optimizing the structure of nanoparticles in recent years, and a series of achievements have been made. This review summarizes the optimization strategies of nanoparticles from three aspects-improving biocompatibility, increasing the targeting efficiency of nanoparticles, and improving the drug loading rate of nanoparticles-aiming to provide some theoretical reference for the subsequent drug delivery of nanoparticles.
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Affiliation(s)
- Lina Jia
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (L.J.); (P.Z.); (H.S.); (Y.D.); (S.L.)
| | - Peng Zhang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (L.J.); (P.Z.); (H.S.); (Y.D.); (S.L.)
| | - Hongyan Sun
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (L.J.); (P.Z.); (H.S.); (Y.D.); (S.L.)
| | - Yuguo Dai
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (L.J.); (P.Z.); (H.S.); (Y.D.); (S.L.)
| | - Shuzhang Liang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (L.J.); (P.Z.); (H.S.); (Y.D.); (S.L.)
| | - Xue Bai
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (L.J.); (P.Z.); (H.S.); (Y.D.); (S.L.)
| | - Lin Feng
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (L.J.); (P.Z.); (H.S.); (Y.D.); (S.L.)
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100191, China
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156
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A Review of Microrobot's System: Towards System Integration for Autonomous Actuation In Vivo. MICROMACHINES 2021; 12:mi12101249. [PMID: 34683300 PMCID: PMC8540518 DOI: 10.3390/mi12101249] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/18/2021] [Revised: 10/07/2021] [Accepted: 10/11/2021] [Indexed: 12/30/2022]
Abstract
Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo clinically. However, the most important question is how to get microrobots to a given position accurately. Therefore, autonomous actuation technology based on medical imaging has become the solution receiving the most attention considering its low precision and efficiency of manual control. This paper investigates key components of microrobot’s autonomous actuation systems, including actuation systems, medical imaging systems, and control systems, hoping to help realize system integration of them. The hardware integration has two situations according to sharing the transmitting equipment or not, with the consideration of interference, efficiency, microrobot’s material and structure. Furthermore, system integration of hybrid actuation and multimodal imaging can improve the navigation effect of the microrobot. The software integration needs to consider the characteristics and deficiencies of the existing actuation algorithms, imaging algorithms, and the complex 3D working environment in vivo. Additionally, considering the moving distance in the human body, the autonomous actuation system combined with rapid delivery methods can deliver microrobots to specify position rapidly and precisely.
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157
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Urso M, Iffelsberger C, Mayorga-Martinez CC, Pumera M. Nickel Sulfide Microrockets as Self-Propelled Energy Storage Devices to Power Electronic Circuits "On-Demand". SMALL METHODS 2021; 5:e2100511. [PMID: 34927946 DOI: 10.1002/smtd.202100511] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/12/2021] [Revised: 08/02/2021] [Indexed: 06/14/2023]
Abstract
Miniaturized energy storage devices are essential to power the growing number and variety of microelectronic technologies. Here, a concept of self-propelled microscale energy storage elements that can move, reach, and power electronic circuits is reported. Microrockets consisting of a nickel sulfide (NiS) outer layer and a Pt inner layer are prepared by template-assisted electrodeposition, and designed to store energy through NiS-mediated redox reactions and propel via the Pt-catalyzed decomposition of H2 O2 fuel. Scanning electrochemical microscopy allows visualizing and studying the energy storage ability of a single microrocket, revealing its pseudocapacitive nature. This proves the great potential of such technique in the field of micro/nanomotors. On-demand delivery of energy storage units to electronic circuits has been demonstrated by releasing microrockets on an interdigitated array electrode as an example of electronic circuit. Owing to their self-propulsion ability, they reach the active area of the electrode and, in principle, power its functions. These autonomously moving energy storage devices will be employed for next-generation electronics to store and deliver energy in previously inaccessible locations.
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Affiliation(s)
- Mario Urso
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Brno, 61200, Czech Republic
| | - Christian Iffelsberger
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Brno, 61200, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology Prague, Prague, 166 28, Czech Republic
| | - Martin Pumera
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Brno, 61200, Czech Republic
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology Prague, Prague, 166 28, Czech Republic
- Center for Nanorobotics and Machine Intelligence, Department of Chemistry and Biochemistry, Mendel University in Brno, Brno, CZ-613 00, Czech Republic
- Department of Medical Research, China Medical University Hospital, China Medical University, Taichung, 40402, Taiwan
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seodaemun-Gu, Seoul, 03722, South Korea
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158
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Qin N, Qian ZG, Zhou C, Xia XX, Tao TH. 3D electron-beam writing at sub-15 nm resolution using spider silk as a resist. Nat Commun 2021; 12:5133. [PMID: 34446721 PMCID: PMC8390743 DOI: 10.1038/s41467-021-25470-1] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2021] [Accepted: 08/05/2021] [Indexed: 11/09/2022] Open
Abstract
Electron beam lithography (EBL) is renowned to provide fabrication resolution in the deep nanometer scale. One major limitation of current EBL techniques is their incapability of arbitrary 3d nanofabrication. Resolution, structure integrity and functionalization are among the most important factors. Here we report all-aqueous-based, high-fidelity manufacturing of functional, arbitrary 3d nanostructures at a resolution of sub-15 nm using our developed voltage-regulated 3d EBL. Creating arbitrary 3d structures of high resolution and high strength at nanoscale is enabled by genetically engineering recombinant spider silk proteins as the resist. The ability to quantitatively define structural transitions with energetic electrons at different depths within the 3d protein matrix enables polymorphic spider silk proteins to be shaped approaching the molecular level. Furthermore, genetic or mesoscopic modification of spider silk proteins provides the opportunity to embed and stabilize physiochemical and/or biological functions within as-fabricated 3d nanostructures. Our approach empowers the rapid and flexible fabrication of heterogeneously functionalized and hierarchically structured 3d nanocomponents and nanodevices, offering opportunities in biomimetics, therapeutic devices and nanoscale robotics.
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Affiliation(s)
- Nan Qin
- State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China
| | - Zhi-Gang Qian
- State Key Laboratory of Microbial Metabolism, School of Life Sciences and Biotechnology, Shanghai Jiao Tong University, Shanghai, China
| | - Chengzhe Zhou
- State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China
| | - Xiao-Xia Xia
- State Key Laboratory of Microbial Metabolism, School of Life Sciences and Biotechnology, Shanghai Jiao Tong University, Shanghai, China.
| | - Tiger H Tao
- State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China.
- Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing, China.
- School of Graduate Study, University of Chinese Academy of Sciences, Beijing, China.
- 2020 X-Lab, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China.
- School of Physical Science and Technology, ShanghaiTech University, Shanghai, China.
- Institute of Brain-Intelligence Technology, Zhangjiang Laboratory, Shanghai, China.
- Shanghai Research Center for Brain Science and Brain-Inspired Intelligence, Shanghai, China.
- Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai, China.
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159
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Donor strategy for promoting nonradiative decay to achieve an efficient photothermal therapy for treating cancer. Sci China Chem 2021. [DOI: 10.1007/s11426-021-1055-0] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022]
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160
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Kichatov B, Korshunov A, Sudakov V, Gubernov V, Golubkov A, Kiverin A. Superfast Active Droplets as Micromotors for Locomotion of Passive Droplets and Intensification of Mixing. ACS APPLIED MATERIALS & INTERFACES 2021; 13:38877-38885. [PMID: 34351762 DOI: 10.1021/acsami.1c09912] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Micromotors are fascinating objects that are able to move autonomously and perform various complex tasks related to drug delivery, chemical processes, and environmental remediation. Among the types of micromotors, droplet-based micromotors are characterized by a wide range of functional properties related to the capability of encapsulation and deformation and the possibility of using them as microreactors. Relevant problems of micromotor utilization in the chemical processes include intensification of mixing and locomotion of passive objects. In this paper, the technique for preparation of superfast active droplets, which can be used as micromotors for effective locomotion of passive droplets in the oil-in-water emulsion, is demonstrated. The possibility of passive droplet locomotion in the emulsion is determined by a relation between the diameters of active and passive droplets. If the diameter of active droplets is larger than the diameter of passive droplets, the agglomerates form spontaneously in the emulsion and move in a straight line. In the case of the opposite relation between diameters, the agglomerates consisting of active and passive droplets rotate intensively. This makes it impossible to move the passive droplets to a given distance. Such micromotors can achieve unprecedentedly high velocities of motion and can be used to intensify mixing on the microscales.
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Affiliation(s)
- Boris Kichatov
- Lebedev Physical Institute, Russian Academy of Sciences, 119991 Moscow, Russia
| | - Alexey Korshunov
- Lebedev Physical Institute, Russian Academy of Sciences, 119991 Moscow, Russia
| | - Vladimir Sudakov
- Lebedev Physical Institute, Russian Academy of Sciences, 119991 Moscow, Russia
- Moscow Institute of Physics and Technology, 141701 Dolgoprudny, Russia
| | - Vladimir Gubernov
- Lebedev Physical Institute, Russian Academy of Sciences, 119991 Moscow, Russia
| | - Alexandr Golubkov
- Lebedev Physical Institute, Russian Academy of Sciences, 119991 Moscow, Russia
| | - Alexey Kiverin
- Joint Institute for High Temperatures, Russian Academy of Sciences, 125412 Moscow, Russia
- Bauman Moscow State Technical University, 105005 Moscow, Russia
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161
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Yue L, Yang K, Li J, Cheng Q, Wang R. Self-Propelled Asymmetrical Nanomotor for Self-Reported Gas Therapy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2021; 17:e2102286. [PMID: 34258871 DOI: 10.1002/smll.202102286] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/20/2021] [Revised: 05/07/2021] [Indexed: 06/13/2023]
Abstract
Gas therapy has emerged as a new therapeutic strategy in combating cancer owing to its high therapeutic efficacy and biosafety. However, the clinical translation of gas therapy remains challenging due to the rapid diffusion and limited tissue penetration of therapeutic gases. Herein, a self-propelled, asymmetrical Au@MnO2 nanomotor for efficient delivery of therapeutic gas to deep-seated cancer tissue for enhanced efficacy of gas therapy, is reported. The Au@MnO2 nanoparticles (NPs) catalyze endogenous H2 O2 into O2 that propels NPs into deep solid tumors, where SO2 prodrug is released from the hollow NPs owing to the degradation of MnO2 shells. Fluorescein isothiocyanate (FITC) is conjugated onto the surface of Au via caspase-3 responsive peptide (DEVD) and the therapeutic process of gas therapy can be optically self-reported by the fluorescence of FITC that is turned on in the presence of overexpressed caspase-3 as an apoptosis indicator. Au@MnO2 nanomotors show self-reported therapeutic efficacy and high biocompatibility both in vitro and in vivo, offering important new insights to the design and development of novel nanomotors for efficient payload delivery into deep tumor tissue and in situ monitoring of the therapeutic process.
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Affiliation(s)
- Ludan Yue
- State Key Laboratory of Quality Research in Chinese Medicine, Institute of Chinese Medical Sciences, University of Macau, Taipa, Macau SAR, 999078, P. R. China
| | - Kuikun Yang
- State Key Laboratory of Quality Research in Chinese Medicine, Institute of Chinese Medical Sciences, University of Macau, Taipa, Macau SAR, 999078, P. R. China
| | - Junyan Li
- State Key Laboratory of Quality Research in Chinese Medicine, Institute of Chinese Medical Sciences, University of Macau, Taipa, Macau SAR, 999078, P. R. China
| | - Qian Cheng
- State Key Laboratory of Quality Research in Chinese Medicine, Institute of Chinese Medical Sciences, University of Macau, Taipa, Macau SAR, 999078, P. R. China
| | - Ruibing Wang
- State Key Laboratory of Quality Research in Chinese Medicine, Institute of Chinese Medical Sciences, University of Macau, Taipa, Macau SAR, 999078, P. R. China
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162
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Zhang Y, Gao X, Wu Y, Gui J, Guo S, Zheng H, Wang ZL. Self-powered technology based on nanogenerators for biomedical applications. EXPLORATION (BEIJING, CHINA) 2021; 1:90-114. [PMID: 37366464 PMCID: PMC10291576 DOI: 10.1002/exp.20210152] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/02/2021] [Accepted: 07/09/2021] [Indexed: 06/28/2023]
Abstract
Biomedical electronic devices have enormous benefits for healthcare and quality of life. Still, the long-term working of those devices remains a great challenge due to the short life and large volume of conventional batteries. Since the nanogenerators (NGs) invention, they have been widely used to convert various ambient mechanical energy sources into electrical energy. The self-powered technology based on NGs is dedicated to harvesting ambient energy to supply electronic devices, which is an effective pathway to conquer the energy insufficiency of biomedical electronic devices. With the aid of this technology, it is expected to develop self-powered biomedical electronic devices with advanced features and distinctive functions. The goal of this review is to summarize the existing self-powered technologies based on NGs and then review the applications based on self-powered technologies in the biomedical field during their rapid development in recent years, including two main directions. The first is the NGs as independent sensors to converts biomechanical energy and heat energy into electrical signals to reflect health information. The second direction is to use the electrical energy produced by NGs to stimulate biological tissues or powering biomedical devices for achieving the purpose of medical application. Eventually, we have analyzed and discussed the remaining challenges and perspectives of the field. We believe that the self-powered technology based on NGs would advance the development of modern biomedical electronic devices.
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Affiliation(s)
- Yuanzheng Zhang
- Key Laboratory of Artificial Micro‐ and Nano‐structures of Ministry of EducationSchool of Physics and TechnologyWuhan UniversityWuhanP. R. China
- International Joint Research Laboratory of New Energy Materials and Devices of Henan ProvinceHenan UniversityKaifengP. R. China
| | - Xiangyang Gao
- Key Laboratory of Artificial Micro‐ and Nano‐structures of Ministry of EducationSchool of Physics and TechnologyWuhan UniversityWuhanP. R. China
| | - Yonghui Wu
- International Joint Research Laboratory of New Energy Materials and Devices of Henan ProvinceHenan UniversityKaifengP. R. China
| | - Jinzheng Gui
- Key Laboratory of Artificial Micro‐ and Nano‐structures of Ministry of EducationSchool of Physics and TechnologyWuhan UniversityWuhanP. R. China
| | - Shishang Guo
- Key Laboratory of Artificial Micro‐ and Nano‐structures of Ministry of EducationSchool of Physics and TechnologyWuhan UniversityWuhanP. R. China
| | - Haiwu Zheng
- International Joint Research Laboratory of New Energy Materials and Devices of Henan ProvinceHenan UniversityKaifengP. R. China
| | - Zhong Lin Wang
- Beijing Institute of Nanoenergy and NanosystemsChinese Academy of SciencesBeijingP. R. China
- School of Materials Science and EngineeringGeorgia Institute of TechnologyAtlantaGeorgiaUSA
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163
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Mair LO, Adam G, Chowdhury S, Davis A, Arifin DR, Vassoler FM, Engelhard HH, Li J, Tang X, Weinberg IN, Evans BA, Bulte JWM, Cappelleri DJ. Soft Capsule Magnetic Millirobots for Region-Specific Drug Delivery in the Central Nervous System. Front Robot AI 2021; 8:702566. [PMID: 34368238 PMCID: PMC8340882 DOI: 10.3389/frobt.2021.702566] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2021] [Accepted: 07/06/2021] [Indexed: 01/03/2023] Open
Abstract
Small soft robotic systems are being explored for myriad applications in medicine. Specifically, magnetically actuated microrobots capable of remote manipulation hold significant potential for the targeted delivery of therapeutics and biologicals. Much of previous efforts on microrobotics have been dedicated to locomotion in aqueous environments and hard surfaces. However, our human bodies are made of dense biological tissues, requiring researchers to develop new microrobotics that can locomote atop tissue surfaces. Tumbling microrobots are a sub-category of these devices capable of walking on surfaces guided by rotating magnetic fields. Using microrobots to deliver payloads to specific regions of sensitive tissues is a primary goal of medical microrobots. Central nervous system (CNS) tissues are a prime candidate given their delicate structure and highly region-specific function. Here we demonstrate surface walking of soft alginate capsules capable of moving on top of a rat cortex and mouse spinal cord ex vivo, demonstrating multi-location small molecule delivery to up to six different locations on each type of tissue with high spatial specificity. The softness of alginate gel prevents injuries that may arise from friction with CNS tissues during millirobot locomotion. Development of this technology may be useful in clinical and preclinical applications such as drug delivery, neural stimulation, and diagnostic imaging.
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Affiliation(s)
- Lamar O Mair
- Weinberg Medical Physics, Inc., North Bethesda, MD, United States
| | - Georges Adam
- Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, United States
| | - Sagar Chowdhury
- Weinberg Medical Physics, Inc., North Bethesda, MD, United States.,Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, United States
| | - Aaron Davis
- Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, United States
| | - Dian R Arifin
- Russel H. Morgan Department of Radiology and Radiological Science, Division of Magnetic Resonance Research, The Johns Hopkins University School of Medicine, Baltimore, MD, United States.,Cellular Imaging Section and Vascular Biology Program, Institute for Cell Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - Fair M Vassoler
- Cummings School of Veterinary Medicine, Tufts University, North Grafton, MA, United States
| | - Herbert H Engelhard
- Affiliated Neurosurgery Corporation, Chicago, IL, United States.,Department of Bioengineering, University of Illinois at Chicago, Chicago, IL, United States
| | - Jinxing Li
- Department of Biomedical Engineering, Institute for Quantitative Health Science and Engineering, Michigan State University, East Lansing, MI, United States
| | - Xinyao Tang
- Weinberg Medical Physics, Inc., North Bethesda, MD, United States
| | | | | | - Jeff W M Bulte
- Russel H. Morgan Department of Radiology and Radiological Science, Division of Magnetic Resonance Research, The Johns Hopkins University School of Medicine, Baltimore, MD, United States.,Cellular Imaging Section and Vascular Biology Program, Institute for Cell Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, United States.,Departments of Oncology, Biomedical Engineering and Chemical and Biomolecular Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - David J Cappelleri
- Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, United States.,Weldon School of Biomedical Engineering, Purdue University, West Lafayette, IN, United States
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164
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Kryuchkov NP, Yurchenko SO. Collective excitations in active fluids: Microflows and breakdown in spectral equipartition of kinetic energy. J Chem Phys 2021; 155:024902. [PMID: 34266286 DOI: 10.1063/5.0054854] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/14/2022] Open
Abstract
The effect of particle activity on collective excitations in active fluids of microflyers is studied. With an in silico study, we observed an oscillating breakdown of equipartition (uniform spectral distribution) of kinetic energy in reciprocal space. The phenomenon is related to short-range velocity-velocity correlations that were realized without forming of long-lived mesoscale vortices in the system. This stands in contrast to well-known mesoscale turbulence operating in active nematic systems (bacterial or artificial) and reveals the features of collective dynamics in active fluids, which should be important for structural transitions and glassy dynamics in active matter.
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Affiliation(s)
- Nikita P Kryuchkov
- Bauman Moscow State Technical University, 2nd Baumanskaya str. 5, 105005 Moscow, Russia
| | - Stanislav O Yurchenko
- Bauman Moscow State Technical University, 2nd Baumanskaya str. 5, 105005 Moscow, Russia
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165
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Dong X, Kheiri S, Lu Y, Xu Z, Zhen M, Liu X. Toward a living soft microrobot through optogenetic locomotion control of Caenorhabditis elegans. Sci Robot 2021; 6:6/55/eabe3950. [PMID: 34193562 DOI: 10.1126/scirobotics.abe3950] [Citation(s) in RCA: 22] [Impact Index Per Article: 7.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/20/2020] [Accepted: 06/09/2021] [Indexed: 12/12/2022]
Abstract
Learning from the locomotion of natural organisms is one of the most effective strategies for designing microrobots. However, the development of bioinspired microrobots is still challenging because of technical bottlenecks such as design and seamless integration of high-performance actuation mechanism and high-density energy source for untethered locomotion. Directly harnessing the activation energy and intelligence of living tissues in synthetic micromachines provides an alternative route to developing biohybrid microrobots. Here, we propose an approach to engineering the genetic and nervous systems of a nematode worm, Caenorhabditis elegans, and creating an untethered, highly controllable living soft microrobot (called "RoboWorm"). A living worm is engineered through optogenetic and biochemical methods to shut down the signal transmissions between its neuronal and muscular systems while its muscle cells still remain optically excitable. Through dynamic modeling and experimental verification of the worm crawling, we found that the phase difference between the worm body curvature and the muscular activation pattern generates the thrust force for crawling locomotion. By reproducing the phase difference via optogenetic excitation of the worm body muscles, we emulated the major worm crawling behaviors in a controllable manner. Furthermore, with real-time visual feedback of the worm crawling, we realized closed-loop regulation of the movement direction and destination of single worms. This technology may facilitate scientific studies on the biophysics and neural basis of crawling locomotion of C. elegans and other nematode species.
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Affiliation(s)
- Xianke Dong
- Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario M5S 3G8, Canada.,Department of Mechanical Engineering, McGill University, 817 Sherbrooke Street West, Montreal, Quebec H3A 2K6, Canada
| | - Sina Kheiri
- Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario M5S 3G8, Canada
| | - Yangning Lu
- Lunenfeld-Tanenbaum Research Institute, 600 University Avenue, Room 870, Toronto, Ontario M5G 1X5, Canada.,Department of Physiology, University of Toronto, 1 King's College Circle, Toronto, Ontario M5S 1A8, Canada
| | - Zhaoyi Xu
- Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario M5S 3G8, Canada
| | - Mei Zhen
- Lunenfeld-Tanenbaum Research Institute, 600 University Avenue, Room 870, Toronto, Ontario M5G 1X5, Canada.,Department of Physiology, University of Toronto, 1 King's College Circle, Toronto, Ontario M5S 1A8, Canada
| | - Xinyu Liu
- Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario M5S 3G8, Canada. .,Institute of Biomedical Engineering, University of Toronto, 164 College Street, Toronto, Ontario M5S 3G9, Canada
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166
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Vasantha Ramachandran R, Bhat R, Kumar Saini D, Ghosh A. Theragnostic nanomotors: Successes and upcoming challenges. WILEY INTERDISCIPLINARY REVIEWS-NANOMEDICINE AND NANOBIOTECHNOLOGY 2021; 13:e1736. [PMID: 34173342 DOI: 10.1002/wnan.1736] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/02/2021] [Revised: 05/28/2021] [Accepted: 05/30/2021] [Indexed: 12/12/2022]
Abstract
The idea of "fantastic voyagers" carrying out medical tasks within the human body has existed as part of popular culture for many decades. The concept revolved around a miniaturized robot that can travel inside the human body and perform complicated functions such as surgery, navigation of otherwise inaccessible biological environments, and delivery of therapeutics. Since the last decade, significant developments have occurred in this arena that are yet to enter mainstream biomedical practises. Here, we define the challenges to make this fiction into reality. We begin by chalking the journey from pills, nanoparticles, and then to micro-nanomotors. The review describes the principles, physicochemical contexts, and advantages that micro-nanomotors provide. The article then describes micro-nanomotors' obstacles such as maneuverability, in vivo imaging, toxicity, and biodistribution. This article is categorized under: Diagnostic Tools > In Vivo Nanodiagnostics and Imaging Nanotechnology Approaches to Biology > Nanoscale Systems in Biology.
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Affiliation(s)
| | - Ramray Bhat
- Department of Molecular Reproduction, Development and Genetics, Indian Institute of Science, Bangalore, India
| | - Deepak Kumar Saini
- Centre for Biosystems Science and Engineering, Indian Institute of Science, Bangalore, India.,Department of Molecular Reproduction, Development and Genetics, Indian Institute of Science, Bangalore, India
| | - Ambarish Ghosh
- Centre for Nano Science and Engineering, Indian Institute of Science, Bangalore, India.,Department of Physics, Indian Institute of Science, Bangalore, India
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167
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Engineering Active Micro and Nanomotors. MICROMACHINES 2021; 12:mi12060687. [PMID: 34208386 PMCID: PMC8231110 DOI: 10.3390/mi12060687] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/04/2021] [Revised: 06/03/2021] [Accepted: 06/04/2021] [Indexed: 12/18/2022]
Abstract
Micro- and nanomotors (MNMs) are micro/nanoparticles that can perform autonomous motion in complex fluids driven by different power sources. They have been attracting increasing attention due to their great potential in a variety of applications ranging from environmental science to biomedical engineering. Over the past decades, this field has evolved rapidly, with many significant innovations contributed by global researchers. In this review, we first briefly overview the methods used to propel motors and then present the main strategies used to design proper MNMs. Next, we highlight recent fascinating applications of MNMs in two examplary fields, water remediation and biomedical microrobots, and conclude this review with a brief discussion of challenges in the field.
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168
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Lee H, Kim DI, Kwon SH, Park S. Magnetically Actuated Drug Delivery Helical Microrobot with Magnetic Nanoparticle Retrieval Ability. ACS APPLIED MATERIALS & INTERFACES 2021; 13:19633-19647. [PMID: 33877809 DOI: 10.1021/acsami.1c01742] [Citation(s) in RCA: 29] [Impact Index Per Article: 9.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Therapeutic drug delivery microrobots capable of accurate targeting using an electromagnetic actuation (EMA) system are being developed. However, these drug delivery microrobots include a large number of magnetic nanoparticles (MNPs) for accurate EMA targeting, which causes side effects, such as problems with membrane integrity and normal cell apoptosis. Here, a biocompatible and hydrolyzable PEGDA-based drug delivery helical microrobot capable of MNP retrieval is proposed in which doxorubicin (DOX), an anticancer drug, is encapsulated and MNPs are conjugated by a disulfide bond. After being accurately delivered to the lesion of cancer cells through magnetic field manipulation, the fabricated microrobot provides rapid MNP separation and retrieval from the microrobot because of the use of dithiothreitol (DTT), a reducing agent, as an environment similar to the surrounding cancer cells and near-infrared (NIR) as an external stimulus. The characteristics of the fabricated microrobot are analyzed, and fundamental tests for active electromagnetic field manipulation, separation/retrieval of MNPs from the microrobot, and its hydrolysis are discussed. The therapeutic performance of the fabricated microrobot is verified through an in vitro test using tumor cells. Consequently, by use of an integrated system of microscope, eight-coil EMA, and NIR it is shown that the proposed microrobot can be moved to the target site by electromagnetic manipulation. The MNPs conjugated to the microrobot can be separated and retrieved, and the therapeutic effect on tumor cells by the encapsulated drug can be seen.
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Affiliation(s)
- Hyoryong Lee
- Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu 42988, Republic of Korea
| | - Dong-In Kim
- Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu 42988, Republic of Korea
| | - Su-Hyun Kwon
- Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu 42988, Republic of Korea
| | - Sukho Park
- Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu 42988, Republic of Korea
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169
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Zhang X, Fu Q, Duan H, Song J, Yang H. Janus Nanoparticles: From Fabrication to (Bio)Applications. ACS NANO 2021; 15:6147-6191. [PMID: 33739822 DOI: 10.1021/acsnano.1c01146] [Citation(s) in RCA: 97] [Impact Index Per Article: 32.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/27/2023]
Abstract
Janus nanoparticles (JNPs) refer to the integration of two or more chemically discrepant composites into one structure system. Studies into JNPs have been of significant interest due to their interesting characteristics stemming from their asymmetric structures, which can integrate different functional properties and perform more synergetic functions simultaneously. Herein, we present recent progress of Janus particles, comprehensively detailing fabrication strategies and applications. First, the classification of JNPs is divided into three blocks, consisting of polymeric composites, inorganic composites, and hybrid polymeric/inorganic JNPs composites. Then, the fabrication strategies are alternately summarized, examining self-assembly strategy, phase separation strategy, seed-mediated polymerization, microfluidic preparation strategy, nucleation growth methods, and masking methods. Finally, various intriguing applications of JNPs are presented, including solid surfactants agents, micro/nanomotors, and biomedical applications such as biosensing, controlled drug delivery, bioimaging, cancer therapy, and combined theranostics. Furthermore, challenges and future works in this field are provided.
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Affiliation(s)
- Xuan Zhang
- MOE Key Laboratory for Analytical Science of Food Safety and Biology, College of Chemistry, Fuzhou University, Fuzhou, Fujian 350116, P.R. China
| | - Qinrui Fu
- MOE Key Laboratory for Analytical Science of Food Safety and Biology, College of Chemistry, Fuzhou University, Fuzhou, Fujian 350116, P.R. China
| | - Hongwei Duan
- School of Chemical and Biomedical Engineering, Nanyang Technological University, 70 Nanyang Drive, Singapore 637457
| | - Jibin Song
- MOE Key Laboratory for Analytical Science of Food Safety and Biology, College of Chemistry, Fuzhou University, Fuzhou, Fujian 350116, P.R. China
| | - Huanghao Yang
- MOE Key Laboratory for Analytical Science of Food Safety and Biology, College of Chemistry, Fuzhou University, Fuzhou, Fujian 350116, P.R. China
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170
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Lao Z, Xia N, Wang S, Xu T, Wu X, Zhang L. Tethered and Untethered 3D Microactuators Fabricated by Two-Photon Polymerization: A Review. MICROMACHINES 2021; 12:465. [PMID: 33924199 PMCID: PMC8074609 DOI: 10.3390/mi12040465] [Citation(s) in RCA: 16] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/14/2021] [Revised: 04/11/2021] [Accepted: 04/16/2021] [Indexed: 12/14/2022]
Abstract
Microactuators, which can transform external stimuli into mechanical motion at microscale, have attracted extensive attention because they can be used to construct microelectromechanical systems (MEMS) and/or microrobots, resulting in extensive applications in a large number of fields such as noninvasive surgery, targeted delivery, and biomedical machines. In contrast to classical 2D MEMS devices, 3D microactuators provide a new platform for the research of stimuli-responsive functional devices. However, traditional planar processing techniques based on photolithography are inadequate in the construction of 3D microstructures. To solve this issue, researchers have proposed many strategies, among which 3D laser printing is becoming a prospective technique to create smart devices at the microscale because of its versatility, adjustability, and flexibility. Here, we review the recent progress in stimulus-responsive 3D microactuators fabricated with 3D laser printing depending on different stimuli. Then, an outlook of the design, fabrication, control, and applications of 3D laser-printed microactuators is propounded with the goal of providing a reference for related research.
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Affiliation(s)
- Zhaoxin Lao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong 999077, China; (N.X.); (S.W.)
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Science and Opto-Electronics Engineering, Hefei University of Technology, Hefei 230009, China
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230022, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong 999077, China; (N.X.); (S.W.)
| | - Shijie Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong 999077, China; (N.X.); (S.W.)
| | - Tiantian Xu
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China; (T.X.); (X.W.)
| | - Xinyu Wu
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China; (T.X.); (X.W.)
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong 999077, China; (N.X.); (S.W.)
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171
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Abstract
![]()
Manipulation and navigation of micro
and nanoswimmers in different
fluid environments can be achieved by chemicals, external fields,
or even motile cells. Many researchers have selected magnetic fields
as the active external actuation source based on the advantageous
features of this actuation strategy such as remote and spatiotemporal
control, fuel-free, high degree of reconfigurability, programmability,
recyclability, and versatility. This review introduces fundamental
concepts and advantages of magnetic micro/nanorobots (termed here
as “MagRobots”) as well as basic knowledge of magnetic
fields and magnetic materials, setups for magnetic manipulation, magnetic
field configurations, and symmetry-breaking strategies for effective
movement. These concepts are discussed to describe the interactions
between micro/nanorobots and magnetic fields. Actuation mechanisms
of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave
locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted
motion), applications of magnetic fields in other propulsion approaches,
and magnetic stimulation of micro/nanorobots beyond motion are provided
followed by fabrication techniques for (quasi-)spherical, helical,
flexible, wire-like, and biohybrid MagRobots. Applications of MagRobots
in targeted drug/gene delivery, cell manipulation, minimally invasive
surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery,
pollution removal for environmental remediation, and (bio)sensing
are also reviewed. Finally, current challenges and future perspectives
for the development of magnetically powered miniaturized motors are
discussed.
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Affiliation(s)
- Huaijuan Zhou
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Tannenstrasse 3, 8092 Zurich, Switzerland
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Martin Pumera
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic.,Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung 40402, Taiwan.,Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, CZ-613 00 Brno, Czech Republic.,Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea.,Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, Brno CZ-612 00, Czech Republic
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172
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Yang H, Zhang Y, Liu Z, Liu X, Liu G. Posture Dynamic Modeling and Stability Analysis of a Magnetic Driven Dual-Spin Spherical Capsule Robot. MICROMACHINES 2021; 12:mi12030238. [PMID: 33652979 PMCID: PMC7996837 DOI: 10.3390/mi12030238] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/30/2021] [Revised: 02/18/2021] [Accepted: 02/23/2021] [Indexed: 12/22/2022]
Abstract
In order to realize the intervention operation in the unstructured and ample environments such as stomach and colon, a dual-spin spherical capsule robot (DSCR) driven by pure magnetic torque generated by the universal rotating magnetic field (URMF) is proposed. The coupled magnetic torque, the viscoelastic friction torque, and the gravity torque were analyzed. Furthermore, the posture dynamic model describing the electric-magnetic-mechanical-liquid coupling dynamic behavior of the DSCR in the gastrointestinal (GI) tract was established. This model is a second-order periodic variable coefficient dynamics equation, which should be regarded as an extension of the Lagrange case for the dual-spin body system under the fixed-point motion, since the external torques were applied. Based on the Floquet-Lyapunov theory, the stability domain of the DSCR for the asymptotically stable motion and periodic motion were obtained by investigating the influence of the angular velocity of the URMF, the magnetic induction intensity, and the centroid deviation. Research results show that the DSCR can realize three kinds of motion, which are asymptotically stable motion, periodic motion, and chaotic motion, according to the distribution of the system characteristic multipliers. Moreover, the posture stability of the DSCR can be improved by increasing the angular velocity of the URMF and reducing the magnetic induction intensity.
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173
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Wang Q, Zhang L. External Power-Driven Microrobotic Swarm: From Fundamental Understanding to Imaging-Guided Delivery. ACS NANO 2021; 15:149-174. [PMID: 33417764 DOI: 10.1021/acsnano.0c07753] [Citation(s) in RCA: 84] [Impact Index Per Article: 28.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Untethered micro/nanorobots have been widely investigated owing to their potential in performing various tasks in different environments. The significant progress in this emerging interdisciplinary field has benefited from the distinctive features of those tiny active agents, such as wireless actuation, navigation under feedback control, and targeted delivery of small-scale objects. In recent studies, collective behaviors of these tiny machines have received tremendous attention because swarming agents can enhance the delivery capability and adaptability in complex environments and the contrast of medical imaging, thus benefiting the imaging-guided navigation and delivery. In this review, we summarize the recent research efforts on investigating collective behaviors of external power-driven micro/nanorobots, including the fundamental understanding of swarm formation, navigation, and pattern transformation. The fundamental understanding of swarming tiny machines provides the foundation for targeted delivery. We also summarize the swarm localization using different imaging techniques, including the imaging-guided delivery in biological environments. By highlighting the critical steps from understanding the fundamental interactions during swarm control to swarm localization and imaging-guided delivery applications, we envision that the microrobotic swarm provides a promising tool for delivering agents in an active, controlled manner.
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Affiliation(s)
- Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
- T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
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