Chemically powered micro- and nanomotors

Programmable Dynamic Shapes with a Swarm of Light-Powered Colloidal Motors

We report robust control over the dynamic assembly, disassembly, and reconfiguration of light-activated molybdenum disulfide (MoS₂ ) colloidal motor swarms with features not possible in equilibrium systems. A photochemical reaction produces chemical gradients across the MoS₂ colloidal motors to drive them to move. Under illumination of a gradient light, these colloidal motors display a positive phototactic motion. Mesoscale simulations prove that the self-diffusiophoresis induced by the locally consumed oxygen gradient across MoS₂ colloidal motors dominates the phototactic process. By programming the structured illumination, the collective migration and well-defined shapes of colloidal motor swarms can be externally regulated. The successful realization of programmable swarm transformation of colloidal motors like the emergent behaviors of living systems in nature provides a direct proof-of-concept for active soft materials and systems, with adaptive and interactive functions.

Surface polymerization induced locomotion

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

Engineering Active Micro and Nanomotors

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.

Solvent-induced electrochemistry at an electrically asymmetric carbon Janus particle

Chemical doping through heteroatom substitution is often used to control the Fermi level of semiconductor materials. Doping also occurs when surface adsorbed molecules modify the Fermi level of low dimensional materials such as carbon nanotubes. A gradient in dopant concentration, and hence the chemical potential, across such a material generates usable electrical current. This opens up the possibility of creating asymmetric catalytic particles capable of generating voltage from a surrounding solvent that imposes such a gradient, enabling electrochemical transformations. In this work, we report that symmetry-broken carbon particles comprised of high surface area single-walled carbon nanotube networks can effectively convert exothermic solvent adsorption into usable electrical potential, turning over electrochemical redox processes in situ with no external power supply. The results from ferrocene oxidation and the selective electro-oxidation of alcohols underscore the potential of solvent powered electrocatalytic particles to extend electrochemical transformation to various environments.

Chemical doping of low dimensional materials by surface adsorbed molecules has proven to be a source of electrical energy. Here, the authors find that asymmetric particles consisting of carbon nanotubes can drive electrochemical reactions by electrical potential generated from solvent adsorption.

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

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

Magnetic field-mediated Janus particles with sustained driving capability for severe bleeding control in perforating and inflected wounds

Severe bleeding in perforating and inflected wounds with forky cavities or fine voids encountered during prehospital treatments and surgical procedures is a complex challenge. Therefore, we present a novel hemostatic strategy based on magnetic field-mediated guidance. The biphasic Janus magnetic particle (MSS@Fe₂O₃-T) comprised aggregates of α-Fe₂O₃ nanoparticles (Fe₂O₃ NPs) as the motion actuator, negatively modified microporous starch (MSS) as the base hemostatic substrate, and thrombin as the loaded hemostatic drug. Before application, the particles were first wrapped using NaHCO₃ and then doped with protonated tranexamic acid (TXA-NH₃⁺), which ensured their high self-dispersibility in liquids. During application, the particles promptly self-diffused in blood by bubble propulsion and travelled to deep bleeding sites against reverse rushing blood flow under magnetic guidance. In vivo tests confirmed the superior hemostatic performance of the particles in perforating and inflected wounds (“V”-shaped femoral artery and “J”-shaped liver bleeding models). The present strategy, for the first time, extends the range of magnetically guided drug carriers to address the challenges in the hemorrhage control of perforating and inflected wounds.

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A new Janus hemostat was developed for treating severe bleeding.

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The “J” shape bleeding model was proposed for hemostatic test.

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Magnetic field-mediated driving capacity was employed for hemostasis.

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Explosive self-dispersibility endowed to the hemostat largely enhanced the bleeding control capacity.

Micromotor-mediated sperm constrictions for improved swimming performance

Sperm-driven micromotors, consisting of a single sperm cell captured in a microcap, utilize the strong propulsion generated by the flagellar beat of motile spermatozoa for locomotion. It enables the movement of such micromotors in biological media, while being steered remotely by means of an external magnetic field. The substantial decrease in swimming speed, caused by the additional hydrodynamic load of the microcap, limits the applicability of sperm-based micromotors. Therefore, to improve the performance of such micromotors, we first investigate the effects of additional cargo on the flagellar beat of spermatozoa. We designed two different kinds of microcaps, which each result in different load responses of the flagellar beat. As an additional design feature, we constrain rotational degrees of freedom of the cell's motion by modifying the inner cavity of the cap. Particularly, cell rolling is substantially reduced by tightly locking the sperm head inside the microcap. Likewise, cell yawing is decreased by aligning the micromotors under an external static magnetic field. The observed differences in swimming speed of different micromotors are not so much a direct consequence of hydrodynamic effects, but rather stem from changes in flagellar bending waves, hence are an indirect effect. Our work serves as proof-of-principle that the optimal design of microcaps is key for the development of efficient sperm-driven micromotors.

Micro/nano-machines for spilled-oil cleanup and recovery: A review

High-efficiency, safe and economically viable nano-engineered platforms for oil spill cleanup and recovery are of great importance. This review takes account of the concept of nanomotors and micromotors and their most advancements in use for oil spill treatment. The fundamental facets of artificial micro- and nano-machines/nanobots/nanomotors (MNMs) are first documented, followed by the most recent influencing developments in chemical engineering approaches toward their specific utilizations. The surface chemistry of these MNMs, their behaviors in different water matrices and their roles in the removal of oil are examined, revealing great rooms for improvement. The strategies for surface and structural modification of these tiny machines toward enhancing their reactivity in the removal of oil and coupled tasking are discussed in details, highlighting the significance of fit-for-duty design and tailored fabrication. The engineering limitations and practical implementation barriers of this emerging technology and how it can be overcome are also considered. Finally, some engineering boundaries and perspectives of this fast-evolving field are proposed at the end.

MnFe2O4 micromotors enhanced field digestion and solid phase extraction for on-site determination of arsenic in rice and water

Despite the increased interest and great progress obtained on arsenic test, it is still a challenge to accomplish the on-site determination of arsenic in rice due to the expensive instrumentation and harsh digestion process. In this work, MnFe₂O₄ micromotors were found to retain high catalytic activity to simultaneously produce large amounts of hydroxyl radicals and O₂ bubbles in the presence of H₂O₂. Interestingly, the generated bubbles autonomously propel the micromotors and prevent them from depositing, thus keeping their high catalytic activity. As a result, a MnFe₂O₄ micromotors enhanced digestion method was developed for the field digestion of rice samples within 100 min only using H₂O₂, which was further utilized to realize the on-site detection of arsenic in rice by coupling with the Gutzeit method followed headspace solid phase extraction. A quantification limit of 40 μg kg^-1 was obtained for the determination of arsenic in rice. Owing to their capabilities of the efficient and rapid adsorption of arsenic and continuous movement, a MnFe₂O₄ micromotors enhanced solid phase extraction was also established for the sensitive determination of arsenic in water with a 1 μg L^-1 of quantification limit. The accuracy of the developed method was validated via analysis of a Certified Reference Material of rice (GBW10043) and a series of rice and water samples with satisfactory results, showing promising potential in the sensitive on-site detection of arsenic in rice and water samples.

Current Status and Emerging Trend of Nanoshuttle in Biological Applications

Nanoshuttles are unique structures that resemble double-headed arrows or a nanorod with sharp tips for better penetration into the tumor cells, reduction of toxicity and minimization of off-targeting effect. These biologically- inspired multimetallic or bimetallic nano swimmers are capable of transporting cargoes from one end to another via self-propulsion in an efficient manner. Encapsulation with pH- and heat-sensitive polymers allows nanoshuttles to release cargos at the targeted site in a controlled fashion. This review article focuses on the methods of preparation and characterization of nanoshuttles with applications in the field of antineoplastic, antibacterial, erectile dysfunction, electrochemical biosensing, anticounterfeiting, on-demand and targeted delivery system for imaging as well as cell ablation therapy. Magnetic nanoshuttles exhibit modified optical properties for utilization in diagnostic imaging for sensitive and early diagnosis of diseases. Smart drug delivery is achieved when nanoshuttles are combined with nanomotors to exhibit distinctive, rapid and unidirectional movement in the bloodstream. Cost-effective synthesis of nanoshuttles will extend their applications in the commercial sectors by overcoming the limitations like scale-up and regulatory approval. In the near future, nanoshuttles will diversify in the fields of energy conversion, energy storage, 3D printing, stem cell fabrication and theranostics.

Carbon-nitride-based micromotor driven by chromate-hydrogen peroxide redox system: Application for removal of sulfamethaxazole

In this study, a Janus Fe/C₃N₄ micromotor driven by a chromate-hydrogen peroxide (Cr(VI)/H₂O₂) redox system was developed and its movement was analyzed. The motion of the micromotor was tracked via nanoparticle tracking analysis (NTA) and the corresponding diffusion coefficients (D) were determined. The NTA results revealed that D = 0 in water in the absence of additives (Cr(VI) or H₂O₂). The addition of H₂O₂ resulted in an increase in D from 0 to 12 × 10⁶ nm² s^-1, which further increased to 20 × 10⁶, 26.5 × 10⁶, 29 × 10⁶, and 44 × 10⁶ nm² s^-1 with the addition of 0.5, 1, 2, and 5 ppm of Cr(VI), respectively. Cr(VI) alone did not efficiently propel the Fe/C₃N₄-based micromotor. Therefore, it was proposed that the Cr(VI)/H₂O₂ redox system generates O₂, which plays a major role in the movement of the C₃N₄-based micromotor. In addition, the formation of reactive species, such as OH and ¹O₂, was confirmed through electron spin resonance experiments. The reactive species efficiently degraded sulfamethaxazole (SMX), an organic pollutant, as demonstrated through degradation studies and product analyses. The effects of various parameters, such as H₂O₂ concentration, Cr(VI) concentration, and initial pH on the movement of micromotor and degradation of SMX were also documented.

Magnetically Driven Micro and Nanorobots

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.

Ultrafast Directional Janus Pt-Mesoporous Silica Nanomotors for Smart Drug Delivery

Development of bioinspired nanomachines with an efficient propulsion and cargo-towing has attracted much attention in the last years due to their potential biosensing, diagnostics, and therapeutics applications. In this context, self-propelled synthetic nanomotors are promising carriers for intelligent and controlled release of therapeutic payloads. However, the implementation of this technology in real biomedical applications is still facing several challenges. Herein, we report the design, synthesis, and characterization of innovative multifunctional gated platinum-mesoporous silica nanomotors constituted of a propelling element (platinum nanodendrite face), a drug-loaded nanocontainer (mesoporous silica nanoparticle face), and a disulfide-containing oligo(ethylene glycol) chain (S-S-PEG) as a gating system. These Janus-type nanomotors present an ultrafast self-propelled motion due to the catalytic decomposition of low concentrations of hydrogen peroxide. Likewise, nanomotors exhibit a directional movement, which drives the engines toward biological targets, THP-1 cancer cells, as demonstrated using a microchip device that mimics penetration from capillary to postcapillary vessels. This fast and directional displacement facilitates the rapid cellular internalization and the on-demand specific release of a cytotoxic drug into the cytosol, due to the reduction of the disulfide bonds of the capping ensemble by intracellular glutathione levels. In the microchip device and in the absence of fuel, nanomotors are neither able to move directionally nor reach cancer cells and deliver their cargo, revealing that the fuel is required to get into inaccessible areas and to enhance nanoparticle internalization and drug release. Our proposed nanosystem shows many of the suitable characteristics for ideal biomedical destined nanomotors, such as rapid autonomous motion, versatility, and stimuli-responsive controlled drug release.

Wetting of a solid surface by active matter

A lattice model is used to study repulsive active particles at a planar surface. A rejection-free Kinetic Monte Carlo method is employed to characterize the wetting behaviour. The model predicts a motility-induced phase separation of active particles, and the bulk coexistence of dense liquid-like and dilute vapour-like steady states is determined. An "ensemble", with a varying number of particles, analogous to a grand canonical ensemble in equilibrium, is introduced. The formation and growth of the liquid film between the solid surface and the vapour phase is investigated. At constant activity, as the system is brought towards coexistence from the vapour side, the thickness of the adsorbed film exhibits a divergent behaviour regardless of the activity. This suggests a complete wetting scenario along the full coexistence curve.

The ameliorating approach of nanorobotics in the novel drug delivery systems: a mechanistic review

Nanoscale robotics have the ability that it can productively transform multiple energy sources into motion and strength which reflects an expeditiously appearing and captivating area for research of robotics. In today's plethora, biomedical nanorobotics played an intricate character with numerous units of robots working at the pathological site in a coordinated manner. The synergistic action of the several nanorobotics has been employed for the fulfilment of the task such as large-scale detoxification, delivery of the large pharmacological/therapeutic efficacious payloads, etc. that is nearly unfeasible or unalterable practically by using single nanorobot. The collective intelligence of the nanorobot is advancing progressively at the nanoscale to reinforce their precision treatment potentially. Conclusively, after obtaining certain consideration regarding the nanorobotics sciences, many professionals are compendiously involving in the emerging highly efficacious therapeutic technology that encourages the scientist or designing of the tissues specific for the site-specific nanorobotic diagnostic devices. As a result, the closed and professional type between the field of Nanotechnology and Medical Sciences will provide another new highly oriented level to the domain of nanorobotics.

Mini/Micro/Nano Scale Liquid Metal Motors

Swimming motors navigating in complex fluidic environments have received tremendous attention over the last decade. In particular, liquid metal (LM) as a new emerging material has shown considerable potential in furthering the development of swimming motors, due to their unique features such as fluidity, softness, reconfigurability, stimuli responsiveness, and good biocompatibility. LM motors can not only achieve directional motion but also deformation due to their liquid nature, thus providing new and unique capabilities to the field of swimming motors. This review aims to provide an overview of the recent advances of LM motors and compare the difference in LM macro and micromotors from fabrication, propulsion, and application. Here, LM motors below 1 cm, named mini/micro/nano scale liquid metal motors (MLMTs) will be discussed. This work will present physicochemical characteristics of LMs and summarize the state-of-the-art progress in MLMTs. Finally, future outlooks including both opportunities and challenges of mini/micro/nano scale liquid metal motors are also provided.

Recent development of autonomously driven micro/nanobots for efficient treatment of polluted water

Autonomously propelled micro/nanobots are one of the most advanced and integrated structures which have been fascinated researchers owing to its exceptional property that enables them to be carried out user-defined tasks more precisely even on an atomic scale. The unique architecture and engineering aspects of these manmade tiny devices make them viable options for widespread biomedical applications. Moreover, recent development in this line of interest demonstrated that micro/nanobots would be very promising for the water treatment as these can efficiently absorb or degrade the toxic chemicals from the polluted water based on their tunable surface chemistry. These auto propelled micro/nanobots catalytically degrade toxic pollutants into non-hazardous compounds more rapidly and effectively. Thus, for the last few decades, nanobots mediated water treatment gaining huge popularity due to its ease of operation and scope of guided motion that could be monitored by various external fields and stimuli. Also, these are economical, energy-saving, and suitable for large scale water treatment, particularly required for industrial effluents. However, the efficacy of these bots hugely relies on its design, characteristic of materials, properties of the medium, types of fuel, and surface functional groups. Minute variation for one of these things may lead to a change in its performance and hinders its dynamics of propulsion. It is deemed that nanobots might be a smart choice for using these as the new generation devices for treating industrial effluents before discharging it in the water bodies, which is a major concern for human health and the environment.

Direct realization of an Operando Systems Chemistry Algorithm (OSCAL) for powering nanomotors

Systems chemistry focuses on emergent properties in a complex matter. To design and demonstrate such emergent properties like autonomous motion in nanomotors as an output of an Operando Systems Chemistry Algorithm (OSCAL), we employ a 2-component system comprising porous organic frameworks (POFs) and soft-oxometalates (SOMs). The OSCAL governs the motion of the nanocarpets by the coding and reading of information in an assembly/disassembly cascade switched on by a chemical stimulus. Assembly algorithm docks SOMs into the pores of the POFs of the nanocarpet leading to the encoding of supramolecular structural information in the SOM-POF hybrid nanocarpet. Input of a chemical fuel to the system induces a catalytic reaction producing propellant gases and switches on the disassembly of SOMs that are concomitantly released from the pores of the SOM-POF nanocarpets producing a ballast in the system as a read-out of the coded information acquired in the supramolecular assembly. The OSCAL governs the motion of the nanocarpets in steps. The assembly/disassembly of SOM-POFs, releasing SOMs from the pores of SOM-POFs induced by a catalytic reaction triggered by a chemical stimulus coupled with the evolution of gas are the input. The output is the autonomous linear motion of the SOM-POF nanocarpets resulting from the read-out of the input information. This work thus manifests the operation of a designed Systems Chemistry algorithm which sets supramolecularly assembled SOM-POF nanocarpets into autonomous ballistic motion.

Modulation of Immune Responses by Particle Size and Shape

The immune system has to cope with a wide range of irregularly shaped pathogens that can actively move (e.g., by flagella) and also dynamically remodel their shape (e.g., transition from yeast-shaped to hyphal fungi). The goal of this review is to draw general conclusions of how the size and geometry of a pathogen affect its uptake and processing by phagocytes of the immune system. We compared both theoretical and experimental studies with different cells, model particles, and pathogenic microbes (particularly fungi) showing that particle size, shape, rigidity, and surface roughness are important parameters for cellular uptake and subsequent immune responses, particularly inflammasome activation and T cell activation. Understanding how the physical properties of particles affect immune responses can aid the design of better vaccines.

Controlling Cell Motion and Microscale Flow with Polarized Light Fields

We investigate how light polarization affects the motion of photoresponsive algae, Euglena gracilis. In a uniformly polarized field, cells swim approximately perpendicular to the polarization direction and form a nematic state with zero mean velocity. When light polarization varies spatially, cell motion is modulated by local polarization. In such light fields, cells exhibit complex spatial distribution and motion patterns which are controlled by topological properties of the underlying fields; we further show that ordered cell swimming can generate directed transporting fluid flow. Experimental results are quantitatively reproduced by an active Brownian particle model in which particle motion direction is nematically coupled to local light polarization.

Biohybrid robotics: From the nanoscale to the macroscale

Biohybrid robotics is a field in which biological entities are combined with artificial materials in order to obtain improved performance or features that are difficult to mimic with hand-made materials. Three main level of integration can be envisioned depending on the complexity of the biological entity, ranging from the nanoscale to the macroscale. At the nanoscale, enzymes that catalyze biocompatible reactions can be used as power sources for self-propelled nanoparticles of different geometries and compositions, obtaining rather interesting active matter systems that acquire importance in the biomedical field as drug delivery systems. At the microscale, single enzymes are substituted by complete cells, such as bacteria or spermatozoa, whose self-propelling capabilities can be used to transport cargo and can also be used as drug delivery systems, for in vitro fertilization practices or for biofilm removal. Finally, at the macroscale, the combinations of millions of cells forming tissues can be used to power biorobotic devices or bioactuators by using muscle cells. Both cardiac and skeletal muscle tissue have been part of remarkable examples of untethered biorobots that can crawl or swim due to the contractions of the tissue and current developments aim at the integration of several types of tissue to obtain more realistic biomimetic devices, which could lead to the next generation of hybrid robotics. Tethered bioactuators, however, result in excellent candidates for tissue models for drug screening purposes or the study of muscle myopathies due to their three-dimensional architecture. This article is categorized under: Therapeutic Approaches and Drug Discovery > Emerging Technologies Nanotechnology Approaches to Biology > Nanoscale Systems in Biology.

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

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

Biomimetic soft micro-swimmers: from actuation mechanisms to applications

Underwater robot designs inspired by the behavior and morphological characteristics of aquatic animals can provide reinforced mobility and energy efficiency. In the past two decades, the emerging materials science and integrated circuit technology have been combined and applied to various types of bionic soft underwater miniaturized robots by researchers around the world. Further, the potential applications of biomimetic soft micro-swimmers in the biological and medical fields have been explored. Here, this paper reviews the development of biomimetic soft tiny swimmers, which are designed based on a variety of intelligent materials and control strategies. This review focuses on the various actuation mechanisms of soft tiny swimmers reported in the past two decades and classifies these robots into four categories: fish-like, snake-like, jellyfish-like and microbial-inspired ones. Besides, this review considers the practical challenges faced by actuation mechanisms of each type of robot, and summarizes and prospects how these challenges affect the potential applications of robots in real environments.

Magnetically actuated intelligent hydrogel-based child-parent microrobots for targeted drug delivery

Small intestine-targeted drug delivery by oral administration has aroused the growing interest of researchers. In this work, the child-parent microrobot (CPM) as a vehicle protects the child microrobots (CMs) under a gastric acid environment and releases them in the small intestinal environment. The intelligent hydrogel-based CPMs with sphere, mushroom, red blood cell, and teardrop shapes are fabricated by an extrusion-dripping method. The CPMs package uniform CMs, which are fabricated by designed microfluidic (MF) devices. The fabrication mechanism and tunability of CMs and CPMs with different sizes and shapes are analyzed, modeled, and simulated. The shape of CPM can affect its drug release efficiency and kinetic characteristics. A vision-feedback magnetic driving system (VMDS) actuates and navigates CPM along the predefined path to the destination and continuously releases drug in the simulated intestinal fluid (SIF, a low Reynolds number (Re) regime) using a new motion control method with the tracking-learning-detection (TLD) algorithm. The newly designed CPM combines the advantages of powerful propulsion, good biocompatibility, and remarkable drug loading and release capacity at the intestinal level, which is expected to be competent for oral administration of small intestine-targeted therapy in the future.

A Journey of Nanomotors for Targeted Cancer Therapy: Principles, Challenges, and a Critical Review of the State-of-the-Art

A nanomotor is a miniaturized device that converts energy stored in the environment into mechanical motion. The last two decades have witnessed a surge of research interests in the biomedical applications of nanomotors, but little clinical translation. To accelerate this process, targeted cancer therapy is used as an example to describe a "survive, locate, operate, and terminate" (SLOT) mission of a nanomotor, where it must 1) survive in the unfriendly in vivo environment, 2) locate its target as well as be located by human operators, 3) carry out specific operations, and 4) terminate after the mission is completed. Along this journey, the challenges presented to a nanomotor, including to power, navigate, steer, target, release, control, image, and communicate are discussed, and how state-of-the-art nanomotors meet or fall short of these requirements is critically reviewed. These discussions are then condensed into a table for easy reference. In particular, it is argued that chemically powered nanomotors are intrinsically ill-positioned for targeted cancer therapy, while nanomotors powered by magnetic fields or ultrasound show more promises. Following this argument, a tentative nanomotor design is then presented in the end to conform to the SLOT guideline, and to inspire practical, functional nanorobots that are yet to come.

3D Microprinting of Iron Platinum Nanoparticle-Based Magnetic Mobile Microrobots

Wireless magnetic microrobots are envisioned to revolutionize minimally invasive medicine. While many promising medical magnetic microrobots are proposed, the ones using hard magnetic materials are not mostly biocompatible, and the ones using biocompatible soft magnetic nanoparticles are magnetically very weak and, therefore, difficult to actuate. Thus, biocompatible hard magnetic micro/nanomaterials are essential toward easy-to-actuate and clinically viable 3D medical microrobots. To fill such crucial gap, this study proposes ferromagnetic and biocompatible iron platinum (FePt) nanoparticle-based 3D microprinting of microrobots using the two-photon polymerization technique. A modified one-pot synthesis method is presented for producing FePt nanoparticles in large volumes and 3D printing of helical microswimmers made from biocompatible trimethy- lolpropane ethoxylate triacrylate (PETA) polymer with embedded FePt nanoparticles. The 30 μm long helical magnetic microswimmers are able to swim at speeds of over five body lengths per second at 200 Hz, making them the fastest helical swimmer in the tens of micrometer length scale at the corresponding low- magnitude actuation fields of 5-10 mT. It is also experimentally in vitro verified that the synthesized FePt nanoparticles are biocompatible. Thus, such 3D-printed microrobots are biocompatible and easy to actuate toward creating clinically viable future medical microrobots.

Sensitivity of PS/CoPd Janus particles to an external magnetic field

The dual nature of Janus particles confers fascinating properties such as a response to multiple stimuli. In this communication, we systematically study the sensitivity to a uniform external magnetic field of isolated Janus rod-shaped and spherical particles in water confined to two dimensions. The Janus asymmetry of the particles is given by magnetic [Co(0.28 nm)/Pd(0.90 nm)]₈ multilayer films deposited onto monodisperse polystyrene (PS) nanorods and microspheres, respectively. It is shown that the particles dispersed in water respond to weak magnetic field applied in in-plane direction. Here we demonstrate that a precise control of the in-plane particle orientation can be obtained for magnetic field strengths higher than 0.1 mT for microspheres and 0.4 mT for nanorods.

PS/CoPd Janus particles respond very sensitively to application of low external magnetic fields. Owing to the magnetic properties, the PS/CoPd particles may be used, for example, to sense the presence of weak magnetic fields as micro-magnetometers.

Progress in Nanorobotics for Advancing Biomedicine

Nanorobotics, which has long been a fantasy in the realm of science fiction, is now a reality due to the considerable developments in diverse fields including chemistry, materials, physics, information and nanotechnology in the past decades. Not only different prototypes of nanorobots whose sizes are nanoscale are invented for various biomedical applications, but also robotic nanomanipulators which are able to handle nano-objects obtain substantial achievements for applications in biomedicine. The outstanding achievements in nanorobotics have significantly expanded the field of medical robotics and yielded novel insights into the underlying mechanisms guiding life activities, remarkably showing an emerging and promising way for advancing the diagnosis & treatment level in the coming era of personalized precision medicine. In this review, the recent advances in nanorobotics (nanorobots, nanorobotic manipulations) for biomedical applications are summarized from several facets (including molecular machines, nanomotors, DNA nanorobotics, and robotic nanomanipulators), and the future perspectives are also presented.

Nanomotors Sense Local Physicochemical Heterogeneities in Tumor Microenvironments*

The invasion of cancer is brought about by continuous interaction of malignant cells with their surrounding tissue microenvironment. Investigating the remodeling of local extracellular matrix (ECM) by invading cells can thus provide fundamental insights into the dynamics of cancer progression. In this paper, we use an active untethered nanomechanical tool, realized as magnetically driven nanomotors, to locally probe a 3D tissue culture environment. We observed that nanomotors preferentially adhere to the cancer-proximal ECM and magnitude of the adhesive force increased with cell lines of higher metastatic ability. We experimentally confirmed that sialic acid linkage specific to cancer-secreted ECM makes it differently charged, which causes this adhesion. In an assay consisting of both cancerous and non-cancerous epithelia, that mimics the in vivo histopathological milieu of a malignant breast tumor, we find that nanomotors preferentially decorate the region around the cancer cells.

Catalytically propelled 3D printed colloidal microswimmers

Synthetic microswimmers are widely employed model systems in the studies of out-of-equilibrium phenomena. Unlike biological microswimmers which naturally occur in various shapes and forms, synthetic microswimmers have so far been limited almost exclusively to spherical shapes. Here, we exploit 3D printing to produce microswimmers with complex shapes in the colloidal size regime. We establish the flexibility of 3D printing by two-photon polymerisation to produce particles smaller than 10 microns with a high-degree of shape complexity. We further demonstrate that 3D printing allows control over the location of the active site through orienting the particles in different directions during printing. We verify that particles behave colloidally by imaging their motion in the passive and active states and by investigating their mean square displacement. In addition, we find that particles exhibit shape-dependant behavior, thereby demonstrating the potential of our method to launch a wide-range of in-depth studies into shape-dependent active motion and behaviour.

Enzyme-Powered Porous Micromotors Built from a Hierarchical Micro- and Mesoporous UiO-Type Metal-Organic Framework

Here, we report the design, synthesis, and functional testing of enzyme-powered porous micromotors built from a metal-organic framework (MOF). We began by subjecting a presynthesized microporous UiO-type MOF to ozonolysis, to confer it with mesopores sufficiently large to adsorb and host the enzyme catalase (size: 6-10 nm). We then encapsulated catalase inside the mesopores, observing that they are hosted in those mesopores located at the subsurface of the MOF crystals. In the presence of H₂O₂ fuel, MOF motors (or MOFtors) exhibit jet-like propulsion enabled by enzymatic generation of oxygen bubbles. Moreover, thanks to their hierarchical pore system, the MOFtors retain sufficient free space for adsorption of additional targeted species, which we validated by testing a MOFtor for removal of rhodamine B during self-propulsion.

Fundamentals and applications of enzyme powered micro/nano-motors

Micro/nanomotors (MNMs) are miniaturized machines that can convert many kinds of energy into mechanical motion. Over the past decades, a variety of driving mechanisms have been developed, which have greatly extended the application scenarios of MNMs. Enzymes exist in natural organisms which can convert chemical energy into mechanical force. It is an innovative attempt to utilize enzymes as biocatalyst providing driving force for MNMs. The fuels for enzymatic reactions are biofriendly as compared to traditional counterparts, which makes enzyme-powered micro/nanomotors (EMNMs) of great value in biomedical field for their nature of biocompatibility. Until now, EMNMs with various shapes can be propelled by catalase, urease and many others. Also, they can be endowed with multiple functionalities to accomplish on-demand tasks. Herein, combined with the development process of EMNMs, we are committed to present a comprehensive understanding of EMNMs, including their types, propelling principles, and potential applications. In this review, we will introduce single enzyme that can be used as motor, enzyme powered molecule motors and other micro/nano-architectures. The fundamental mechanism of energy conversion process of EMNMs and crucial factors that affect their movement behavior will be discussed. The current progress of proof-of-concept applications of EMNMs will also be elaborated in detail. At last, we will summarize and prospect the opportunities and challenges that EMNMs will face in their future development.

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Clear classification and description of different enzyme-powered micro/nanomotors (EMNMs).

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Discussion of the fundamental mechanism of energy conversion process of EMNMs and their movement influence factors.

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Introduction of the current progress of proof-of-concept applications of EMNMs.

Controlled Diffusion of Photoswitchable Receptors by Binding Anti-electrostatic Hydrogen-Bonded Phosphate Oligomers

Dihydrogen phosphate anions are found to spontaneously associate into anti-electrostatic oligomers via hydrogen bonding interactions at millimolar concentrations in DMSO. Diffusion NMR measurements supported formation of these oligomers, which can be bound by photoswitchable anion receptors to form large bridged assemblies of approximately three times the volume of the unbound receptor. Photoisomerization of the oligomer-bound receptor causes a decrease in diffusion coefficient of up to 16%, corresponding to a 70% increase in effective volume. This new approach to external control of diffusion opens prospects in controlling molecular transport using light.

Medical Micro/Nanorobots in Precision Medicine

Advances in medical robots promise to improve modern medicine and the quality of life. Miniaturization of these robotic platforms has led to numerous applications that leverages precision medicine. In this review, the current trends of medical micro and nanorobotics for therapy, surgery, diagnosis, and medical imaging are discussed. The use of micro and nanorobots in precision medicine still faces technical, regulatory, and market challenges for their widespread use in clinical settings. Nevertheless, recent translations from proof of concept to in vivo studies demonstrate their potential toward precision medicine.

Chemotaxis-Driven 2D Nanosheet for Directional Drug Delivery toward the Tumor Microenvironment

Micro/nanoscaled motor particles represent a group of intelligent materials that can precisely and rapidly respond to biological microenvironments and improve therapeutic outcomes. In order to maximize biomedical application potentials, developing a nanoscaled motor particle that is able to move autonomously toward a biological target is highly desired but still remains a critical challenge. Herein, a 2D nanosheet-based catalytic nanomotor with chemotaxis behavior is developed for enhanced drug delivery toward the tumor microenvironment. The nanomotors are constructed via a facile one-pot method and exhibit ultrathin monolayer nanosheet morphology. The 2D structure of nanomotors allows high catalytic activity, leading to responsive, sustained, and relatively long distance movement. Importantly, this nanomotor demonstrates directional motion toward the high gradient of H₂ O₂ fuel, exhibiting excellent chemotactic properties. After loading an anticancer drug doxorubicin, the nanomotor shows effective inhibition on cancer cell growth in simulated tumor microenvironments. The practical drug delivery application is further strengthened by the intracellular acidity-triggered biodegradability of the nanomotor after accomplishing the directional drug delivery function. This proof-of-concept work highlights the efficient catalytic activity, tumor microenvironment-guided chemotactic movement, excellent cellular performance of the 2D nanomotor, and opens an avenue for biomedical applications such as controlled and smart drug delivery.

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

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

Magnetic nanowires in biomedical applications

Magnetic nanostructures and nanomaterials play essential roles in modern bio medicine and technology. Proper surface functionalization of nanoparticles (NPs) allows the selective bonding thus application of magnetic forces to a vast range of cellular structures and biomolecules. However, the spherical geometry of NPs poises a series of limitations in various potential applications. Mostly, typical spherical core shell structure consists of magnetic and non-magnetic layers have little tunability in terms of magnetic responses, and their single surface functionality also limits chemical activity and selectivity. In comparison to spherical NPs, nanowires (NWs) possess more degrees of freedom in achieving magnetic and surface chemical tenability. In addition to adjustment of magnetic anisotropy and inter-layer interactions, another important feature of NWs is their ability to combine different components along their length, which can result in diverse bio-magnetic applications. Magnetic NWs have become the candidate material for biomedical applications owing to their high magnetization, cheapness and cost effective synthesis. With large magnetic moment, anisotropy, biocompatibility and low toxicity, magnetic NWs have been recently used in living cell manipulation, magnetic cell separation and magnetic hyperthermia. In this review, the basic concepts of magnetic characteristics of nanoscale objects and the influences of aspect ratio, composition and diameter on magnetic properties of NWs are addressed. Some underpinning physical principles of magnetic hyperthermia (MH), magnetic resonance imaging (MRI) and magnetic separation (MS) have been discussed. Finally, recent studies on magnetic NWs for the applications in MH, MRI and MS were discussed in detail.

Optically Controlled Living Micromotors for the Manipulation and Disruption of Biological Targets

Bioinspired and biohybrid micromotors represent a revolution in microrobotic research and are playing an increasingly important role in biomedical applications. In particular, biological micromotors that are multifunctional and can perform complex tasks are in great demand. Here, we report living and multifunctional micromotors based on single cells (green microalgae: Chlamydomonas reinhardtii) that are controlled by optical force. The micromotor's locomotion can be carefully controlled in a variety of biological media including cell culture medium, saliva, human serum, plasma, blood, and bone marrow fluid. It exhibits the capabilities to perform multiple tasks, in particular, indirect manipulation of biological targets and disruption of biological aggregates including in vitro blood clots. These micromotors can also act as elements in reconfigurable motor arrays where they efficiently work collaboratively and synchronously. This work provides new possibilities for many in vitro biomedical applications including target manipulation, cargo delivery and release, and biological aggregate removal.

Molecular theory of Langevin dynamics for active self-diffusiophoretic colloids

Active colloidal particles that are propelled by a self-diffusiophoretic mechanism are often described by Langevin equations that are either postulated on physical grounds or derived using the methods of fluctuating hydrodynamics. While these descriptions are appropriate for colloids of micrometric and larger size, they will break down for very small active particles. A fully microscopic derivation of Langevin equations for self-diffusiophoretic particles powered by chemical reactions catalyzed asymmetrically by the colloid is given in this paper. The derivation provides microscopic expressions for the translational and rotational friction tensors, as well as reaction rate coefficients appearing in the Langevin equations. The diffusiophoretic force and torque are expressed in terms of nonequilibrium averages of fluid fields that satisfy generalized transport equations. The results provide a description of active motion on small scales where descriptions in terms of coarse grained continuum fluid equations combined with boundary conditions that account for the presence of the colloid may not be appropriate.

Medical Imaging of Microrobots: Toward In Vivo Applications

Medical microrobots (MRs) have been demonstrated for a variety of non-invasive biomedical applications, such as tissue engineering, drug delivery, and assisted fertilization, among others. However, most of these demonstrations have been carried out in in vitro settings and under optical microscopy, being significantly different from the clinical practice. Thus, medical imaging techniques are required for localizing and tracking such tiny therapeutic machines when used in medical-relevant applications. This review aims at analyzing the state of the art of microrobots imaging by critically discussing the potentialities and limitations of the techniques employed in this field. Moreover, the physics and the working principle behind each analyzed imaging strategy, the spatiotemporal resolution, and the penetration depth are thoroughly discussed. The paper deals with the suitability of each imaging technique for tracking single or swarms of MRs and discusses the scenarios where contrast or imaging agent's inclusion is required, either to absorb, emit, or reflect a determined physical signal detected by an external system. Finally, the review highlights the existing challenges and perspective solutions which could be promising for future in vivo applications.

Carbon nitride-based light-driven microswimmers with intrinsic photocharging ability

Controlling autonomous propulsion of microswimmers is essential for targeted drug delivery and applications of micro/nanomachines in environmental remediation and beyond. Herein, we report two-dimensional (2D) carbon nitride-based Janus particles as highly efficient, light-driven microswimmers in aqueous media. Due to the superior photocatalytic properties of poly(heptazine imide) (PHI), the microswimmers are activated by both visible and ultraviolet (UV) light in conjunction with different capping materials (Au, Pt, and SiO₂) and fuels (H₂O₂ and alcohols). Assisted by photoelectrochemical analysis of the PHI surface photoreactions, we elucidate the dominantly diffusiophoretic propulsion mechanism and establish the oxygen reduction reaction (ORR) as the major surface reaction in ambient conditions on metal-capped PHI and even with TiO₂-based systems, rather than the hydrogen evolution reaction (HER), which is generally invoked as the source of propulsion under ambient conditions with alcohols as fuels. Making use of the intrinsic solar energy storage ability of PHI, we establish the concept of photocapacitive Janus microswimmers that can be charged by solar energy, thus enabling persistent light-induced propulsion even in the absence of illumination-a process we call "solar battery swimming"-lasting half an hour and possibly beyond. We anticipate that this propulsion scheme significantly extends the capabilities in targeted cargo/drug delivery, environmental remediation, and other potential applications of micro/nanomachines, where the use of versatile earth-abundant materials is a key prerequisite.