1
|
Ren A, Hu J, Qin C, Xia N, Yu M, Xu X, Yang H, Han M, Zhang L, Ma L. Oral administration microrobots for drug delivery. Bioact Mater 2024; 39:163-190. [PMID: 38808156 PMCID: PMC11130999 DOI: 10.1016/j.bioactmat.2024.05.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2024] [Revised: 05/02/2024] [Accepted: 05/03/2024] [Indexed: 05/30/2024] Open
Abstract
Oral administration is the most simple, noninvasive, convenient treatment. With the increasing demands on the targeted drug delivery, the traditional oral treatment now is facing some challenges: 1) biologics how to implement the oral treatment and ensure the bioavailability is not lower than the subcutaneous injections; 2) How to achieve targeted therapy of some drugs in the gastrointestinal tract? Based on these two issues, drug delivery microrobots have shown great application prospect in oral drug delivery due to their characteristics of flexible locomotion or driven ability. Therefore, this paper summarizes various drug delivery microrobots developed in recent years and divides them into four categories according to different driving modes: magnetic-controlled drug delivery microrobots, anchored drug delivery microrobots, self-propelled drug delivery microrobots and biohybrid drug delivery microrobots. As oral drug delivery microrobots involve disciplines such as materials science, mechanical engineering, medicine, and control systems, this paper begins by introducing the gastrointestinal barriers that oral drug delivery must overcome. Subsequently, it provides an overview of typical materials involved in the design process of oral drug delivery microrobots. To enhance readers' understanding of the working principles and design process of oral drug delivery microrobots, we present a guideline for designing such microrobots. Furthermore, the current development status of various types of oral drug delivery microrobots is reviewed, summarizing their respective advantages and limitations. Finally, considering the significant concerns regarding safety and clinical translation, we discuss the challenges and prospections of clinical translation for various oral drug delivery microrobots presented in this paper, providing corresponding suggestions for addressing some existing challenges.
Collapse
Affiliation(s)
- An Ren
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Jiarui Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Changwei Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China
| | - Mengfei Yu
- The Affiliated Stomatologic Hospital, School of Medicine, Zhejiang University, Hangzhou 310003, China
| | - Xiaobin Xu
- Key Laboratory of Advanced Civil Engineering Materials of Ministry of Education, Key Laboratory of D&A for Metal-Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804 China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Min Han
- Institute of Pharmaceutics, Zhejiang Province Key Laboratory of Anti-Cancer Drug Research, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou, 310058, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China
| | - Liang Ma
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| |
Collapse
|
2
|
Wei K, Tang C, Ma H, Fang X, Yang R. 3D-printed microrobots for biomedical applications. Biomater Sci 2024; 12:4301-4334. [PMID: 39041236 DOI: 10.1039/d4bm00674g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/24/2024]
Abstract
Microrobots, which can perform tasks in difficult-to-reach parts of the human body under their own or external power supply, are potential tools for biomedical applications, such as drug delivery, microsurgery, imaging and monitoring, tissue engineering, and sensors and actuators. Compared with traditional fabrication methods for microrobots, recent improvements in 3D printers enable them to print high-precision microrobots, breaking through the limitations of traditional micromanufacturing technologies that require high skills for operators and greatly shortening the design-to-production cycle. Here, this review first introduces typical 3D printing technologies used in microrobot manufacturing. Then, the structures of microrobots with different functions and application scenarios are discussed. Next, we summarize the materials (body materials, propulsion materials and intelligent materials) used in 3D microrobot manufacturing to complete body construction and realize biomedical applications (e.g., drug delivery, imaging and monitoring). Finally, the challenges and future prospects of 3D printed microrobots in biomedical applications are discussed in terms of materials, manufacturing and advancement.
Collapse
Affiliation(s)
- Kun Wei
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Chenlong Tang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Hui Ma
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Xingmiao Fang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| |
Collapse
|
3
|
Le QV, Shim G. Biorobotic Drug Delivery for Biomedical Applications. Molecules 2024; 29:3663. [PMID: 39125066 PMCID: PMC11314275 DOI: 10.3390/molecules29153663] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2024] [Revised: 06/24/2024] [Accepted: 06/27/2024] [Indexed: 08/12/2024] Open
Abstract
Despite extensive efforts, current drug-delivery systems face biological barriers and difficulties in bench-to-clinical use. Biomedical robotic systems have emerged as a new strategy for drug delivery because of their innovative diminutive engines. These motors enable the biorobots to move independently rather than relying on body fluids. The main components of biorobots are engines controlled by external stimuli, chemical reactions, and biological responses. Many biorobot designs are inspired by blood cells or microorganisms that possess innate swimming abilities and can incorporate living materials into their structures. This review explores the mechanisms of biorobot locomotion, achievements in robotic drug delivery, obstacles, and the perspectives of translational research.
Collapse
Affiliation(s)
- Quoc-Viet Le
- Faculty of Pharmacy, Ton Duc Thang University, Ho Chi Minh City 700000, Vietnam;
| | - Gayong Shim
- School of Systems Biomedical Science, Soongsil University, Seoul 06978, Republic of Korea
- Integrative Institute of Basic Sciences, Soongsil University, Seoul 06978, Republic of Korea
| |
Collapse
|
4
|
Dutta SD, Luthfikasari R, Patil TV, Ganguly K, Seol Y, Randhawa A, Lim KT. Sunflower Pollen-Morphology Mimicked Spiky Zinc Nanomotors as a Photosensitizer for Killing Bacteria and Cancer Cells. ACS APPLIED BIO MATERIALS 2024; 7:3731-3745. [PMID: 38842103 DOI: 10.1021/acsabm.4c00092] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/07/2024]
Abstract
Photosensitizing agents have received increased attention from the medical community, owing to their higher photothermal efficiency, induction of hyperthermia, and sustained delivery of bioactive molecules to their targets. Micro/nanorobots can be used as ideal photosensitizing agents by utilizing various physical stimuli for the targeted killing of pathogens (e.g., bacteria) and cancer cells. Herein, we report sunflower-pollen-inspired spiky zinc oxide (s-ZnO)-based nanorobots that effectively kill bacteria and cancer cells under near-infrared (NIR) light irradiation. The as-fabricated s-ZnO was modified with a catechol-containing photothermal agent, polydopamine (PDA), to improve its NIR-responsive properties, followed by the addition of antimicrobial (e.g., tetracycline/TCN) and anticancer (e.g., doxorubicin/DOX) drugs. The fabricated s-ZnO/PDA@Drug nanobots exhibited unique locomotory behavior with an average speed ranging from 13 to 14 μm/s under 2.0 W/cm2 NIR light irradiation. Moreover, the s-ZnO/PDA@TCN nanobots exhibited superior antibacterial activity against E. coli and S. epidermidis under NIR irradiation. The s-ZnO/PDA@DOX nanobots also displayed sufficient reactive oxygen species (ROS) amplification in B16F10 melanoma cells and induced apoptosis under NIR light, indicating their therapeutic efficacy. We hope the sunflower pollen-inspired s-ZnO nanorobots have tremendous potential in biomedical engineering from the phototherapy perspective, with the hope to reduce pathogen infections.
Collapse
Affiliation(s)
- Sayan Deb Dutta
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Institute of Forest Science, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Center for Surgical Bioengineering, School of Medicine, University of California Davis, Davis, California 95817, United States
| | - Rachmi Luthfikasari
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Tejal V Patil
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Interdisciplinary Program in Smart Agriculture, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Keya Ganguly
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Institute of Forest Science, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Youjin Seol
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Aayushi Randhawa
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Interdisciplinary Program in Smart Agriculture, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Ki-Taek Lim
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Institute of Forest Science, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Interdisciplinary Program in Smart Agriculture, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| |
Collapse
|
5
|
Bozuyuk U, Wrede P, Yildiz E, Sitti M. Roadmap for Clinical Translation of Mobile Microrobotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2311462. [PMID: 38380776 DOI: 10.1002/adma.202311462] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/31/2023] [Revised: 01/24/2024] [Indexed: 02/22/2024]
Abstract
Medical microrobotics is an emerging field to revolutionize clinical applications in diagnostics and therapeutics of various diseases. On the other hand, the mobile microrobotics field has important obstacles to pass before clinical translation. This article focuses on these challenges and provides a roadmap of medical microrobots to enable their clinical use. From the concept of a "magic bullet" to the physicochemical interactions of microrobots in complex biological environments in medical applications, there are several translational steps to consider. Clinical translation of mobile microrobots is only possible with a close collaboration between clinical experts and microrobotics researchers to address the technical challenges in microfabrication, safety, and imaging. The clinical application potential can be materialized by designing microrobots that can solve the current main challenges, such as actuation limitations, material stability, and imaging constraints. The strengths and weaknesses of the current progress in the microrobotics field are discussed and a roadmap for their clinical applications in the near future is outlined.
Collapse
Affiliation(s)
- Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Paul Wrede
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8093, Switzerland
| | - Erdost Yildiz
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- School of Medicine and College of Engineering, Koc University, Istanbul, 34450, Turkey
| |
Collapse
|
6
|
Gao Q, Lin T, Liu Z, Chen Z, Chen Z, Hu C, Shen T. Study on Structural Design and Motion Characteristics of Magnetic Helical Soft Microrobots with Drug-Carrying Function. MICROMACHINES 2024; 15:731. [PMID: 38930701 PMCID: PMC11205992 DOI: 10.3390/mi15060731] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/02/2024] [Revised: 05/24/2024] [Accepted: 05/29/2024] [Indexed: 06/28/2024]
Abstract
Magnetic soft microrobots have a wide range of applications in targeted drug therapy, cell manipulation, and other aspects. Currently, the research on magnetic soft microrobots is still in the exploratory stage, and most of the research focuses on a single helical structure, which has limited space to perform drug-carrying tasks efficiently and cannot satisfy specific medical goals in terms of propulsion speed. Therefore, balancing the motion speed and drug-carrying performance is a current challenge to overcome. In this paper, a magnetically controlled cone-helix soft microrobot structure with a drug-carrying function is proposed, its helical propulsion mechanism is deduced, a dynamical model is constructed, and the microrobot structure is prepared using femtosecond laser two-photon polymerization three-dimensional printing technology for magnetic drive control experiments. The results show that under the premise of ensuring sufficient drug-carrying space, the microrobot structure proposed in this paper can realize helical propulsion quickly and stably, and the speed of motion increases with increases in the frequency of the rotating magnetic field. The microrobot with a larger cavity diameter and a larger helical pitch exhibits faster rotary advancement speed, while the microrobot with a smaller helical height and a smaller helical cone angle outperforms other structures with the same feature sizes. The microrobot with a cone angle of 0.2 rad, a helical pitch of 100 µm, a helical height of 220 µm, and a cavity diameter of 80 µm achieves a maximum longitudinal motion speed of 390 µm/s.
Collapse
Affiliation(s)
- Qian Gao
- Luohe Institute of Technology, Henan University of Technology, No. 123, University Road, Yuanhui District, Luohe 462000, China;
| | - Tingting Lin
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Ziteng Liu
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Zebiao Chen
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Zidong Chen
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Cheng Hu
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Teng Shen
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| |
Collapse
|
7
|
Lin J, Cong Q, Zhang D. Magnetic Microrobots for In Vivo Cargo Delivery: A Review. MICROMACHINES 2024; 15:664. [PMID: 38793237 PMCID: PMC11123378 DOI: 10.3390/mi15050664] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/16/2024] [Revised: 05/12/2024] [Accepted: 05/14/2024] [Indexed: 05/26/2024]
Abstract
Magnetic microrobots, with their small size and agile maneuverability, are well-suited for navigating the intricate and confined spaces within the human body. In vivo cargo delivery within the context of microrobotics involves the use of microrobots to transport and administer drugs and cells directly to the targeted regions within a living organism. The principal aim is to enhance the precision, efficiency, and safety of therapeutic interventions. Despite their potential, there is a shortage of comprehensive reviews on the use of magnetic microrobots for in vivo cargo delivery from both research and engineering perspectives, particularly those published after 2019. This review addresses this gap by disentangling recent advancements in magnetic microrobots for in vivo cargo delivery. It summarizes their actuation platforms, structural designs, cargo loading and release methods, tracking methods, navigation algorithms, and degradation and retrieval methods. Finally, it highlights potential research directions. This review aims to provide a comprehensive summary of the current landscape of magnetic microrobot technologies for in vivo cargo delivery. It highlights their present implementation methods, capabilities, and prospective research directions. The review also examines significant innovations and inherent challenges in biomedical applications.
Collapse
Affiliation(s)
| | | | - Dandan Zhang
- Department of Bioengineering, Imperial College London, Exhibition Road, South Kensington, London SW7 2AZ, UK; (J.L.); (Q.C.)
| |
Collapse
|
8
|
Xu R, Xu Q. A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation. MICROMACHINES 2024; 15:468. [PMID: 38675279 PMCID: PMC11052276 DOI: 10.3390/mi15040468] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 03/23/2024] [Accepted: 03/28/2024] [Indexed: 04/28/2024]
Abstract
Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.
Collapse
Affiliation(s)
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China;
| |
Collapse
|
9
|
Tian Z, Xue J, Xiao X, Du C, Liu Y. Optomagnetic Coordination Helical Robot with Shape Transformation and Multimodal Motion Capabilities. NANO LETTERS 2024; 24:2885-2893. [PMID: 38407034 DOI: 10.1021/acs.nanolett.4c00047] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/27/2024]
Abstract
Soft robots with magnetic responsiveness exhibit diverse motion modes and programmable shape transformations. While the fixed magnetization configuration facilitates coupling control of robot posture and motion, it limits individual posture control to some extent. This poses a challenge in independently controlling the robot's transformation and motion, restricting its versatile applications. This research introduces a multifunctional helical robot responsive to both light and magnetism, segregating posture control from movements. Light fields assist in robot shaping, achieving a 78% maximum diameter shift. Magnetic fields guide helical robots in multimodal motions, encompassing rotation, flipping, rolling, and spinning-induced propulsion. By controlling multimodal locomotion and shape transformation on demand, helical robots gain enhanced flexibility. This innovation allows them to tightly grip and wirelessly transport designated payloads, showcasing potential applications in drug delivery, soft grippers, and chemical reaction platforms. The unique combination of structural design and control methods holds promise for intelligent robots in the future.
Collapse
Affiliation(s)
- Zhuangzhuang Tian
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Jingze Xue
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Xinze Xiao
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Chuankai Du
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Yan Liu
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
- Weihai Institute for Bionics, Jilin University, Weihai, 264402, China
- Institute of Structured and Architected Materials, Liaoning Academy of Materials, Shenyang 110167, China
| |
Collapse
|
10
|
Li R, Jiang M, Liu B, Jiang S, Chen C, Liang M, Qu L, Wang C, Zhao G, Hu Y, Wu D, Chu J, Li J. High-performance magnetic metal microrobot prepared by a two-photon polymerization and sintering method. LAB ON A CHIP 2024. [PMID: 38235769 DOI: 10.1039/d3lc01084h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/19/2024]
Abstract
Magnetically-actuated microrobots (MARs) exhibit great potential in biomedicine owing to their precise navigation, wireless actuation and remote operation in confined space. However, most previously explored MARs unfold the drawback of hypodynamic magnetic torque due to low magnetic content, leading to their limited applications in controlled locomotion in fast-flowing fluid and massive cargo carrying to the target position. Here, we report a high-performance pure-nickel magnetically-actuated microrobot (Ni-MAR), prepared by a femtosecond laser polymerization followed by sintering method. Our Ni-MAR possesses a high magnetic content (∼90 wt%), thus resulting in enhanced magnetic torque under low-strength rotating magnetic fields, which enables the microrobot to exhibit high-speed swimming and superior cargo carrying. The maximum velocity of our Ni-MAR, 12.5 body lengths per second, outperforms the velocity of traditional helical MARs. The high-speed Ni-MAR is capable of maintaining controlled locomotion in fast-flowing fluid. Moreover, the Ni-MAR with massive cargo carrying capability can push a 200-times heavier microcube with translation and rotation motion. A single cell and multiple cells can be transported facilely by a single Ni-MAR to the target position. This work provides a scheme for fabricating high-performance magnetic microrobots, which holds great promise for targeted therapy and drug delivery in vivo.
Collapse
Affiliation(s)
- Rui Li
- 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 230027, China.
| | - Modong Jiang
- 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 230027, China.
| | - Bingrui Liu
- 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 230027, China.
| | - Shaojun Jiang
- 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 230027, China.
| | - Chao Chen
- Department of Materials Physics and New Energy Device, School of Materials Science and Engineering, Hefei University of Technology, Hefei 230009, China
| | - Mengxue Liang
- CAS Key Laboratory of Urban Pollutant Conversion, Department of Environmental Science and Engineering, University of Science and Technology of China, Hefei 230026, China
| | - Lijie Qu
- 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 230027, China.
| | - Chaowei Wang
- 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 230027, China.
| | - Gang Zhao
- 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 230027, China.
| | - Yanlei Hu
- 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 230027, China.
| | - Dong Wu
- 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 230027, China.
| | - Jiaru Chu
- 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 230027, China.
| | - Jiawen Li
- 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 230027, China.
| |
Collapse
|
11
|
Zhou J, Li M, Li N, Zhou Y, Wang J, Jiao N. System integration of magnetic medical microrobots: from design to control. Front Robot AI 2023; 10:1330960. [PMID: 38169802 PMCID: PMC10758462 DOI: 10.3389/frobt.2023.1330960] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/31/2023] [Accepted: 11/28/2023] [Indexed: 01/05/2024] Open
Abstract
Magnetic microrobots are ideal for medical applications owing to their deep tissue penetration, precise control, and flexible movement. After decades of development, various magnetic microrobots have been used to achieve medical functions such as targeted delivery, cell manipulation, and minimally invasive surgery. This review introduces the research status and latest progress in the design and control systems of magnetic medical microrobots from a system integration perspective and summarizes the advantages and limitations of the research to provide a reference for developers. Finally, the future development direction of magnetic medical microrobot design and control systems are discussed.
Collapse
Affiliation(s)
- Junjian Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Mengyue Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Na Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Jingyi Wang
- College of Information and Electrical Engineering, Shenyang Agricultural University, Shenyang, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
| |
Collapse
|
12
|
Zimmermann CJ, Petruska AJ, Neeves KB, Marr DWM. Coupling magnetic torque and force for colloidal microbot assembly and manipulation. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 5:2300332. [PMID: 38737989 PMCID: PMC11086969 DOI: 10.1002/aisy.202300332] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2023] [Indexed: 05/14/2024]
Abstract
For targeted transport in the body, biomedical microbots (μbots) must move effectively in three-dimensional (3D) microenvironments. Swimming μbots translate via asymmetric or screw-like motions while rolling ones use friction with available surfaces to generate propulsive forces. We have previously shown that planar rotating magnetic fields assemble μm-scale superparamagnetic beads into circular μbots that roll along surfaces. In this, gravity is required to pull μbots near the surface; however, this is not necessarily practical in complex geometries. Here we show that rotating magnetic fields, in tandem with directional magnetic gradient forces, can be used to roll μbots on surfaces regardless of orientation. Simplifying implementation, we use a spinning permanent magnet to generate differing ratios of rotating and gradient fields, optimizing control for different environments. This use of a single magnetic actuator sidesteps the need for complex electromagnet or tandem field setups, removes requisite gravitational load forces, and enables μbot targeting in complex 3D biomimetic microenvironments.
Collapse
Affiliation(s)
- Coy J Zimmermann
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
| | - Andrew J Petruska
- Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA
| | - Keith B Neeves
- Departments of Bioengineering and Pediatrics, University of Colorado Denver | Anschutz Medical Campus, Aurora, CO
| | - David W M Marr
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
| |
Collapse
|
13
|
Dutta S, Noh S, Gual RS, Chen X, Pané S, Nelson BJ, Choi H. Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications. NANO-MICRO LETTERS 2023; 16:41. [PMID: 38032424 PMCID: PMC10689718 DOI: 10.1007/s40820-023-01259-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Accepted: 10/19/2023] [Indexed: 12/01/2023]
Abstract
Synthetic micromotor has gained substantial attention in biomedicine and environmental remediation. Metal-based degradable micromotor composed of magnesium (Mg), zinc (Zn), and iron (Fe) have promise due to their nontoxic fuel-free propulsion, favorable biocompatibility, and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media, efficient cargo delivery and favorable biocompatibility. A noteworthy number of degradable metal-based micromotors employ bubble propulsion, utilizing water as fuel to generate hydrogen bubbles. This novel feature has projected degradable metallic micromotors for active in vivo drug delivery applications. In addition, understanding the degradation mechanism of these micromotors is also a key parameter for their design and performance. Its propulsion efficiency and life span govern the overall performance of a degradable metallic micromotor. Here we review the design and recent advancements of metallic degradable micromotors. Furthermore, we describe the controlled degradation, efficient in vivo drug delivery, and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical applications. Moreover, we discuss micromotors' efficacy in detecting and destroying environmental pollutants. Finally, we address the limitations and future research directions of degradable metallic micromotors.
Collapse
Affiliation(s)
- Sourav Dutta
- Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu, 42988, Republic of Korea
| | - Seungmin Noh
- Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu, 42988, Republic of Korea
| | - Roger Sanchis Gual
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, 8092, Zurich, Switzerland
| | - Xiangzhong Chen
- Institute of Optoelectronics, State Key Laboratory of Photovoltaic Science and Technology, Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, 200433, People's Republic of China
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, 8092, Zurich, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, 8092, Zurich, Switzerland
| | - Hongsoo Choi
- Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea.
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu, 42988, Republic of Korea.
| |
Collapse
|
14
|
Li Y, Dong D, Qu Y, Li J, Chen S, Zhao H, Zhang Q, Jiao Y, Fan L, Sun D. A Multidrug Delivery Microrobot for the Synergistic Treatment of Cancer. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2301889. [PMID: 37423966 DOI: 10.1002/smll.202301889] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/04/2023] [Revised: 06/21/2023] [Indexed: 07/11/2023]
Abstract
Multidrug combination therapy provides an effective strategy for malignant tumor treatment. This paper presents the development of a biodegradable microrobot for on-demand multidrug delivery. By combining magnetic targeting transportation with tumor therapy, it is hypothesized that loading multiple drugs on different regions of a single magnetic microrobot can enhance a synergistic effect for cancer treatment. The synergistic effect of using two drugs together is greater than that of using each drug separately. Here, a 3D-printed microrobot inspired by the fish structure with three hydrogel components: skeleton, head, and body structures is demonstrated. Made of iron oxide (Fe3 O4 ) nanoparticles embedded in poly(ethylene glycol) diacrylate (PEGDA), the skeleton can respond to magnetic fields for microrobot actuation and drug-targeted delivery. The drug storage structures, head, and body, made by biodegradable gelatin methacryloyl (GelMA) exhibit enzyme-responsive cargo release. The multidrug delivery microrobots carrying acetylsalicylic acid (ASA) and doxorubicin (DOX) in drug storage structures, respectively, exhibit the excellent synergistic effects of ASA and DOX by accelerating HeLa cell apoptosis and inhibiting HeLa cell metastasis. In vivo studies indicate that the microrobots improve the efficiency of tumor inhibition and induce a response to anti-angiogenesis. The versatile multidrug delivery microrobot conceptualized here provides a way for developing effective combination therapy for cancer.
Collapse
Affiliation(s)
- Yanfang Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Dingran Dong
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Yun Qu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Junyang Li
- Center for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen, 518000, China
- Department of Electronic Engineering, Ocean University of China, Qingdao, 266000, China
| | - Shuxun Chen
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Han Zhao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Qi Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Yang Jiao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Lei Fan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
- Center for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen, 518000, China
| | - Dong Sun
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
- Center for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen, 518000, China
| |
Collapse
|
15
|
Zhang Y, Lee G, Li S, Hu Z, Zhao K, Rogers JA. Advances in Bioresorbable Materials and Electronics. Chem Rev 2023; 123:11722-11773. [PMID: 37729090 DOI: 10.1021/acs.chemrev.3c00408] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/22/2023]
Abstract
Transient electronic systems represent an emerging class of technology that is defined by an ability to fully or partially dissolve, disintegrate, or otherwise disappear at controlled rates or triggered times through engineered chemical or physical processes after a required period of operation. This review highlights recent advances in materials chemistry that serve as the foundations for a subclass of transient electronics, bioresorbable electronics, that is characterized by an ability to resorb (or, equivalently, to absorb) in a biological environment. The primary use cases are in systems designed to insert into the human body, to provide sensing and/or therapeutic functions for timeframes aligned with natural biological processes. Mechanisms of bioresorption then harmlessly eliminate the devices, and their associated load on and risk to the patient, without the need of secondary removal surgeries. The core content focuses on the chemistry of the enabling electronic materials, spanning organic and inorganic compounds to hybrids and composites, along with their mechanisms of chemical reaction in biological environments. Following discussions highlight the use of these materials in bioresorbable electronic components, sensors, power supplies, and in integrated diagnostic and therapeutic systems formed using specialized methods for fabrication and assembly. A concluding section summarizes opportunities for future research.
Collapse
Affiliation(s)
- Yamin Zhang
- Center for Bio-Integrated Electronics, Northwestern University, Evanston, Illinois 60208, United States
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, Illinois 60208, United States
| | - Geumbee Lee
- Center for Bio-Integrated Electronics, Northwestern University, Evanston, Illinois 60208, United States
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, Illinois 60208, United States
| | - Shuo Li
- Center for Bio-Integrated Electronics, Northwestern University, Evanston, Illinois 60208, United States
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, Illinois 60208, United States
| | - Ziying Hu
- Center for Bio-Integrated Electronics, Northwestern University, Evanston, Illinois 60208, United States
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, Illinois 60208, United States
| | - Kaiyu Zhao
- Department of Materials Science and Engineering, Northwestern University, Evanston, Illinois 60208, United States
| | - John A Rogers
- Center for Bio-Integrated Electronics, Northwestern University, Evanston, Illinois 60208, United States
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, Illinois 60208, United States
- Department of Materials Science and Engineering, Northwestern University, Evanston, Illinois 60208, United States
- Department of Neurological Surgery, Feinberg School of Medicine, Northwestern University, Chicago, Illinois 60611, United States
- Department of Mechanical Engineering, Biomedical Engineering, Chemistry, Electrical Engineering and Computer Science, Northwestern University, Evanston, Illinois 60208, United States
| |
Collapse
|
16
|
Zhu S, Cheng Y, Wang J, Liu G, Luo T, Li X, Yang S, Yang R. Biohybrid magnetic microrobots: An intriguing and promising platform in biomedicine. Acta Biomater 2023; 169:88-106. [PMID: 37572981 DOI: 10.1016/j.actbio.2023.08.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2023] [Revised: 07/19/2023] [Accepted: 08/03/2023] [Indexed: 08/14/2023]
Abstract
Biohybrid magnetic microrobots (BMMs) have emerged as an exciting class of microrobots and have been considered as a promising platform in biomedicine. Many microorganisms and body's own cells show intriguing properties, such as morphological characteristics, biosafety, and taxis abilities (e.g., chemotaxis, aerotaxis), which have made them attractive for the fabrication of microrobots. For remote controllability and sustainable actuation, magnetic components are usually incorporated onto these biological entities, and other functionalized non-biological components (e.g., therapeutic agents) are also included for specific applications. This review highlights the latest developments in BMMs with a focus on their biomedical applications. It starts by introducing the fundamental understanding of the propulsion system at the microscale in a magnetically driven manner, followed by a summary of diverse BMMs based on different microorganisms and body's own cells along with their relevant applications. Finally, the review discusses how BMMs contribute to the advancements of microrobots, the current challenges of using BMMs in practical clinical settings, and the future perspectives of this exciting field. STATEMENT OF SIGNIFICANCE: Biohybrid magnetic microrobots (BMMs), composed of biological entities and functional parts, hold great potential and serve as a novel and promising platform for biomedical applications such as targeted drug delivery. This review comprehensively summarizes the recent advancements in BMMs for biomedical applications, mainly focused on the representative propulsion modalities in a magnetically propelled manner and diverse designs of BMMs based on different biological entities, including microorganisms and body's own cells. We hope this review can provide ideas for the future design, development, and innovation of micro/nanorobots in the field of biomedicine.
Collapse
Affiliation(s)
- Shilu Zhu
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Yifan Cheng
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Jian Wang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Guangli Liu
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Tingting Luo
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China.
| | - Xiaojian Li
- Department of Management, Hefei University of Technology, Hefei 230009, China.
| | - Shanlin Yang
- Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei 230009, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China.
| |
Collapse
|
17
|
Choi J, Kim DI, Kim JY, Pané S, Nelson BJ, Chang YT, Choi H. Magnetically Enhanced Intracellular Uptake of Superparamagnetic Iron Oxide Nanoparticles for Antitumor Therapy. ACS NANO 2023; 17:15857-15870. [PMID: 37477428 DOI: 10.1021/acsnano.3c03780] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/22/2023]
Abstract
Superparamagnetic iron oxide nanoparticles (SPIONs) have been widely employed in biomedical fields, including targeted delivery of antitumor therapy. Conventional magnetic tumor targeting has used simple static magnetic fields (SMFs), which cause SPIONs to linearly aggregate into a long chain-like shape. Such agglomeration greatly hinders the intracellular targeting of SPIONs into tumors, thus reducing the therapeutic efficacy. In this study, we investigated the enhancement of the intracellular uptake of SPIONs through the application of rotating magnetic fields (RMFs). Based on the physical principles of SPION chain disassembly, we investigated physical parameters to predict the chain length favorable for intracellular uptake. Our prediction was validated by clear visualization of the intracellular distributions of SPIONs in tumor cells at both cellular and three-dimensional microtissue levels. To identify the potential therapeutic effects of enhanced intracellular uptake, magnetic hyperthermia as antitumor therapy was investigated under varying conditions of magnetic hyperthermia and RMFs. The results showed that enhanced intracellular uptake reduced magnetic hyperthermia time and strength as well as particle concentration. The proposed method will be useful in the development of techniques to determine the optimized physical conditions for the enhanced intracellular uptake of SPIONs in antitumor therapy.
Collapse
Affiliation(s)
- Junhee Choi
- Department of Robotics and Mechatronics Engineering, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
| | - Dong-In Kim
- Department of Robotics and Mechatronics Engineering, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
| | - Jin-Young Kim
- Department of Robotics and Mechatronics Engineering, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- Robotics Research Center, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- Division of Biotechnology, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- IMsystem Co., Ltd., Daegu 42988, Republic of Korea
| | - Salvador Pané
- DGIST-ETH Microrobotics Research Center, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich CH-8092, Switzerland
| | - Bradley J Nelson
- DGIST-ETH Microrobotics Research Center, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich CH-8092, Switzerland
| | - Young-Tae Chang
- Center for Self-assembly and Complexity, Institute for Basic Science (IBS), Pohang, Gyeongbuk 37673, Republic of Korea
- Department of Chemistry, Pohang University of Science and Technology (POSTECH), Pohang, Gyeongbuk 37673, Republic of Korea
| | - Hongsoo Choi
- Department of Robotics and Mechatronics Engineering, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
- Robotics Research Center, Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu 42988, Republic of Korea
| |
Collapse
|
18
|
Chen S, Tan Z, Liao P, Li Y, Qu Y, Zhang Q, Yang M, Chan KWY, Zhang L, Man K, Chen Z, Sun D. Biodegradable Microrobots for DNA Vaccine Delivery. Adv Healthc Mater 2023; 12:e2202921. [PMID: 37156574 DOI: 10.1002/adhm.202202921] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/11/2022] [Revised: 04/03/2023] [Indexed: 05/10/2023]
Abstract
The delivery of nucleic acid vaccine to stimulate host immune responses against Coronavirus disease 2019 shows promise. However, nucleic acid vaccines have drawbacks, including rapid clearance and poor cellular uptake, that limit their therapeutic potential. Microrobots can be engineered to sustain vaccine release and further control the interactions with immune cells that are vital for robust vaccination. Here, the 3D fabrication of biocompatible and biodegradable microrobots via the two-photon polymerization of gelatin methacryloyl (GelMA) and their proof-of-concept application for DNA vaccine delivery is reported. Programmed degradation and drug release by varying the local exposure dose in 3D laser lithography and further functionalized the GelMA microspheres with polyethyleneimine for DNA vaccine delivery to dendritic cell and primary cells is demonstrated. In mice, the DNA vaccine delivered by functionalized microspheres elicited fast, enhanced, and durable antigen expression, which may lead to prolonged protection. Furthermore, we demonstrate the maneuverability of microrobots by fabricating GelMA microspheres on magnetic skeletons. In conclusion, GelMA microrobots may provide an efficient vaccination strategy by controlling the expression duration of DNA vaccines.
Collapse
Affiliation(s)
- Shuxun Chen
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Zhiwu Tan
- AIDS Institute and Department of Microbiology, Li Ka Shing Faculty of Medicine, The University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Pan Liao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Yanfang Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Yun Qu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Qi Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Mingxuan Yang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Kannie Wai Yan Chan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Kwan Man
- Department of Surgery, Li Ka Shing Faculty of Medicine, The University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Zhiwei Chen
- AIDS Institute and Department of Microbiology, Li Ka Shing Faculty of Medicine, The University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
- State Key Laboratory for Emerging Infectious Diseases, The University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Dong Sun
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| |
Collapse
|
19
|
Gago L, Quiñonero F, Perazzoli G, Melguizo C, Prados J, Ortiz R, Cabeza L. Nanomedicine and Hyperthermia for the Treatment of Gastrointestinal Cancer: A Systematic Review. Pharmaceutics 2023; 15:1958. [PMID: 37514144 PMCID: PMC10386177 DOI: 10.3390/pharmaceutics15071958] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/09/2023] [Revised: 07/08/2023] [Accepted: 07/14/2023] [Indexed: 07/30/2023] Open
Abstract
The incidence of gastrointestinal cancers has increased in recent years. Current treatments present numerous challenges, including drug resistance, non-specificity, and severe side effects, needing the exploration of new therapeutic strategies. One promising avenue is the use of magnetic nanoparticles, which have gained considerable interest due to their ability to generate heat in tumor regions upon the application of an external alternating magnetic field, a process known as hyperthermia. This review conducted a systematic search of in vitro and in vivo studies published in the last decade that employ hyperthermia therapy mediated by magnetic nanoparticles for treating gastrointestinal cancers. After applying various inclusion and exclusion criteria (studies in the last 10 years where hyperthermia using alternative magnetic field is applied), a total of 40 articles were analyzed. The results revealed that iron oxide is the preferred material for magnetism generation in the nanoparticles, and colorectal cancer is the most studied gastrointestinal cancer. Interestingly, novel therapies employing nanoparticles loaded with chemotherapeutic drugs in combination with magnetic hyperthermia demonstrated an excellent antitumor effect. In conclusion, hyperthermia treatments mediated by magnetic nanoparticles appear to be an effective approach for the treatment of gastrointestinal cancers, offering advantages over traditional therapies.
Collapse
Affiliation(s)
- Lidia Gago
- Institute of Biopathology and Regenerative Medicine (IBIMER), Center of Biomedical Research (CIBM), University of Granada, 18100 Granada, Spain
- Department of Anatomy and Embryology, Faculty of Medicine, University of Granada, 18071 Granada, Spain
- Biosanitary Institute of Granada (ibs.GRANADA), SAS-University of Granada, 18014 Granada, Spain
| | - Francisco Quiñonero
- Institute of Biopathology and Regenerative Medicine (IBIMER), Center of Biomedical Research (CIBM), University of Granada, 18100 Granada, Spain
- Biosanitary Institute of Granada (ibs.GRANADA), SAS-University of Granada, 18014 Granada, Spain
| | - Gloria Perazzoli
- Institute of Biopathology and Regenerative Medicine (IBIMER), Center of Biomedical Research (CIBM), University of Granada, 18100 Granada, Spain
- Department of Anatomy and Embryology, Faculty of Medicine, University of Granada, 18071 Granada, Spain
- Biosanitary Institute of Granada (ibs.GRANADA), SAS-University of Granada, 18014 Granada, Spain
| | - Consolación Melguizo
- Institute of Biopathology and Regenerative Medicine (IBIMER), Center of Biomedical Research (CIBM), University of Granada, 18100 Granada, Spain
- Department of Anatomy and Embryology, Faculty of Medicine, University of Granada, 18071 Granada, Spain
- Biosanitary Institute of Granada (ibs.GRANADA), SAS-University of Granada, 18014 Granada, Spain
| | - Jose Prados
- Institute of Biopathology and Regenerative Medicine (IBIMER), Center of Biomedical Research (CIBM), University of Granada, 18100 Granada, Spain
- Department of Anatomy and Embryology, Faculty of Medicine, University of Granada, 18071 Granada, Spain
- Biosanitary Institute of Granada (ibs.GRANADA), SAS-University of Granada, 18014 Granada, Spain
| | - Raul Ortiz
- Institute of Biopathology and Regenerative Medicine (IBIMER), Center of Biomedical Research (CIBM), University of Granada, 18100 Granada, Spain
- Department of Anatomy and Embryology, Faculty of Medicine, University of Granada, 18071 Granada, Spain
- Biosanitary Institute of Granada (ibs.GRANADA), SAS-University of Granada, 18014 Granada, Spain
| | - Laura Cabeza
- Institute of Biopathology and Regenerative Medicine (IBIMER), Center of Biomedical Research (CIBM), University of Granada, 18100 Granada, Spain
- Department of Anatomy and Embryology, Faculty of Medicine, University of Granada, 18071 Granada, Spain
- Biosanitary Institute of Granada (ibs.GRANADA), SAS-University of Granada, 18014 Granada, Spain
| |
Collapse
|
20
|
Liao Z, Zoumhani O, Boutry CM. Recent Advances in Magnetic Polymer Composites for BioMEMS: A Review. MATERIALS (BASEL, SWITZERLAND) 2023; 16:3802. [PMID: 37241429 PMCID: PMC10223786 DOI: 10.3390/ma16103802] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/20/2023] [Revised: 05/03/2023] [Accepted: 05/10/2023] [Indexed: 05/28/2023]
Abstract
The objective of this review is to investigate the potential of functionalized magnetic polymer composites for use in electromagnetic micro-electro-mechanical systems (MEMS) for biomedical applications. The properties that make magnetic polymer composites particularly interesting for application in the biomedical field are their biocompatibility, their adjustable mechanical, chemical, and magnetic properties, as well as their manufacturing versatility, e.g., by 3D printing or by integration in cleanroom microfabrication processes, which makes them accessible for large-scale production to reach the general public. The review first examines recent advancements in magnetic polymer composites that possess unique features such as self-healing capabilities, shape-memory, and biodegradability. This analysis includes an exploration of the materials and fabrication processes involved in the production of these composites, as well as their potential applications. Subsequently, the review focuses on electromagnetic MEMS for biomedical applications (bioMEMS), including microactuators, micropumps, miniaturized drug delivery systems, microvalves, micromixers, and sensors. The analysis encompasses an examination of the materials and manufacturing processes involved and the specific fields of application for each of these biomedical MEMS devices. Finally, the review discusses missed opportunities and possible synergies in the development of next-generation composite materials and bioMEMS sensors and actuators based on magnetic polymer composites.
Collapse
Affiliation(s)
| | | | - Clementine M. Boutry
- Department of Microelectronics, Delft University of Technology, 2628 CD Delft, The Netherlands
| |
Collapse
|
21
|
Li J, Yu J. Biodegradable Microrobots and Their Biomedical Applications: A Review. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:nano13101590. [PMID: 37242005 DOI: 10.3390/nano13101590] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/11/2023] [Revised: 05/04/2023] [Accepted: 05/04/2023] [Indexed: 05/28/2023]
Abstract
During recent years, microrobots have drawn extensive attention owing to their good controllability and great potential in biomedicine. Powered by external physical fields or chemical reactions, these untethered microdevices are promising candidates for in vivo complex tasks, such as targeted delivery, imaging and sensing, tissue engineering, hyperthermia, and assisted fertilization, among others. However, in clinical use, the biodegradability of microrobots is significant for avoiding toxic residue in the human body. The selection of biodegradable materials and the corresponding in vivo environment needed for degradation are increasingly receiving attention in this regard. This review aims at analyzing different types of biodegradable microrobots by critically discussing their advantages and limitations. The chemical degradation mechanisms behind biodegradable microrobots and their typical applications are also thoroughly investigated. Furthermore, we examine their feasibility and deal with the in vivo suitability of different biodegradable microrobots in terms of their degradation mechanisms; pathological environments; and corresponding biomedical applications, especially targeted delivery. Ultimately, we highlight the prevailing obstacles and perspective solutions, ranging from their manufacturing methods, control of movement, and degradation rate to insufficient and limited in vivo tests, that could be of benefit to forthcoming clinical applications.
Collapse
Affiliation(s)
- Jinxin Li
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, 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, Shenzhen 518172, China
| |
Collapse
|
22
|
Lv Y, Pu R, Tao Y, Yang X, Mu H, Wang H, Sun W. Applications and Future Prospects of Micro/Nanorobots Utilizing Diverse Biological Carriers. MICROMACHINES 2023; 14:mi14050983. [PMID: 37241607 DOI: 10.3390/mi14050983] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/28/2023] [Revised: 04/21/2023] [Accepted: 04/26/2023] [Indexed: 05/28/2023]
Abstract
Targeted drug delivery using micro-nano robots (MNRs) is a rapidly advancing and promising field in biomedical research. MNRs enable precise delivery of drugs, addressing a wide range of healthcare needs. However, the application of MNRs in vivo is limited by power issues and specificity in different scenarios. Additionally, the controllability and biological safety of MNRs must be considered. To overcome these challenges, researchers have developed bio-hybrid micro-nano motors that offer improved accuracy, effectiveness, and safety for targeted therapies. These bio-hybrid micro-nano motors/robots (BMNRs) use a variety of biological carriers, blending the benefits of artificial materials with the unique features of different biological carriers to create tailored functions for specific needs. This review aims to give an overview of the current progress and application of MNRs with various biocarriers, while exploring the characteristics, advantages, and potential hurdles for future development of these bio-carrier MNRs.
Collapse
Affiliation(s)
- Yu Lv
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Ruochen Pu
- College of Health Science and Technology, Shanghai Jiao Tong University School of Medicine, Shanghai 200025, China
| | - Yining Tao
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Xiyu Yang
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Haoran Mu
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Hongsheng Wang
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Wei Sun
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| |
Collapse
|
23
|
Hou Y, Wang H, Fu R, Wang X, Yu J, Zhang S, Huang Q, Sun Y, Fukuda T. A review on microrobots driven by optical and magnetic fields. LAB ON A CHIP 2023; 23:848-868. [PMID: 36629004 DOI: 10.1039/d2lc00573e] [Citation(s) in RCA: 22] [Impact Index Per Article: 22.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Due to their small sizes, microrobots are advantageous for accessing hard-to-reach spaces for delivery and measurement. However, their small sizes also bring challenges in on-board powering, thus usually requiring actuation by external energy. Microrobots actuated by external energy have been applied to the fields of physics, biology, medical science, and engineering. Among these actuation sources, light and magnetic fields show advantages in high precision and high biocompatibility. This paper reviews the recent advances in the design, actuation, and applications of microrobots driven by light and magnetic fields. For light-driven microrobots, we summarized the uses of optical tweezers, optoelectronic tweezers, and heat-mediated optical manipulation techniques. For magnetically driven microrobots, we summarized the uses of torque-driven microrobots, force-driven microrobots, and shape-deformable microrobots. Then, we compared the two types of field-driven microrobots and reviewed their advantages and disadvantages. The paper concludes with an outlook for the joint use of optical and magnetic field actuation in microrobots.
Collapse
Affiliation(s)
- Yaozhen Hou
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
| | - Huaping Wang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Rongxin Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Xian Wang
- Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto, ONT, M5G 1X8, Canada
| | - 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
| | - Shuailong Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Qiang Huang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto, ON, M5S 3G9, Canada
| | - Toshio Fukuda
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
| |
Collapse
|
24
|
Cao D, Chen L, Zhang Z, Luo Y, Zhao L, Yuan C, Lu J, Liu X, Li J. Biodegradable nanomaterials for diagnosis and therapy of tumors. J Mater Chem B 2023; 11:1829-1848. [PMID: 36786439 DOI: 10.1039/d2tb02591d] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/08/2023]
Abstract
Although degradable nanomaterials have been widely designed and applied for cancer bioimaging and various cancer treatments, few reviews of biodegradable nanomaterials have been reported. Herein, we have summarized the representative research advances of biodegradable nanomaterials with respect to the mechanism of degradation and their application in tumor imaging and therapy. First, four kinds of tumor microenvironment (TME) responsive degradation are presented, including pH, glutathione (GSH), hypoxia and matrix metalloproteinase (MMP) responsive degradation. Second, external stimulation degradation is summarized briefly. Next, we have outlined the applications of nanomaterials in bioimaging. Finally, we have focused on some typical examples of biodegradable nanomaterials in radiotherapy (RT), photothermal therapy (PTT), starvation therapy, photodynamic therapy (PDT), chemotherapy, chemodynamic therapy (CDT), sonodynamic therapy (SDT), gene therapy, immunotherapy and combination therapy.
Collapse
Affiliation(s)
- Dongmiao Cao
- School of Chemistry and Chemical Engineering, Shanghai Engineering Technology Research Center for Pharmaceutical Intelligent Equipment, Shanghai Frontiers Science Research Center for Druggability of Cardiovascular noncoding RNA, Institute for Frontier Medical Technology, Shanghai University of Engineering Science, Shanghai 201620, China.
| | - Liang Chen
- Materdicine Lab, School of Life Sciences, Shanghai University, Shanghai, 200444, P. R. China
| | - Ziwen Zhang
- School of Chemistry and Chemical Engineering, Shanghai Engineering Technology Research Center for Pharmaceutical Intelligent Equipment, Shanghai Frontiers Science Research Center for Druggability of Cardiovascular noncoding RNA, Institute for Frontier Medical Technology, Shanghai University of Engineering Science, Shanghai 201620, China.
| | - Yu Luo
- School of Chemistry and Chemical Engineering, Shanghai Engineering Technology Research Center for Pharmaceutical Intelligent Equipment, Shanghai Frontiers Science Research Center for Druggability of Cardiovascular noncoding RNA, Institute for Frontier Medical Technology, Shanghai University of Engineering Science, Shanghai 201620, China.
| | - Linjing Zhao
- School of Chemistry and Chemical Engineering, Shanghai Engineering Technology Research Center for Pharmaceutical Intelligent Equipment, Shanghai Frontiers Science Research Center for Druggability of Cardiovascular noncoding RNA, Institute for Frontier Medical Technology, Shanghai University of Engineering Science, Shanghai 201620, China.
| | - Chunping Yuan
- School of Chemistry and Chemical Engineering, Shanghai Engineering Technology Research Center for Pharmaceutical Intelligent Equipment, Shanghai Frontiers Science Research Center for Druggability of Cardiovascular noncoding RNA, Institute for Frontier Medical Technology, Shanghai University of Engineering Science, Shanghai 201620, China.
| | - Jie Lu
- School of Chemistry and Chemical Engineering, Shanghai Engineering Technology Research Center for Pharmaceutical Intelligent Equipment, Shanghai Frontiers Science Research Center for Druggability of Cardiovascular noncoding RNA, Institute for Frontier Medical Technology, Shanghai University of Engineering Science, Shanghai 201620, China.
| | - Xijian Liu
- School of Chemistry and Chemical Engineering, Shanghai Engineering Technology Research Center for Pharmaceutical Intelligent Equipment, Shanghai Frontiers Science Research Center for Druggability of Cardiovascular noncoding RNA, Institute for Frontier Medical Technology, Shanghai University of Engineering Science, Shanghai 201620, China.
| | - Jingchao Li
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Biological Science and Medical Engineering, Donghua University, Shanghai, 201620, China.
| |
Collapse
|
25
|
Singh AK, Awasthi R, Malviya R. Bioinspired microrobots: Opportunities and challenges in targeted cancer therapy. J Control Release 2023; 354:439-452. [PMID: 36669531 DOI: 10.1016/j.jconrel.2023.01.042] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/08/2022] [Revised: 01/15/2023] [Accepted: 01/15/2023] [Indexed: 01/21/2023]
Abstract
Chemotherapy is still the most effective technique to treat many forms of cancer. However, it also carries a high risk of side effects. Numerous nanomedicines have been developed to avoid unintended consequences and significant negative effects of conventional therapies. Achieving targeted drug delivery also has several challenges. In this context, the development of microrobots is receiving considerable attention of formulation scientists and clinicians to overcome such challenges. Due to their mobility, microrobots can infiltrate tissues and reach tumor sites more quickly. Different types of microrobots, like custom-made moving bacteria, microengines powered by small bubbles, and hybrid spermbots, can be designed with complex features that are best for precise targeting of a wide range of cancers. In this review, we mainly focus on the idea of how microrobots can quickly target cancer cells and discuss specific advantages of microrobots. A brief summary of the microrobots' drug loading and release behavior is provided in this manuscript. This manuscript will assist clinicians and other medical professionals in diagnosing and treating cancer without surgery.
Collapse
Affiliation(s)
- Arun Kumar Singh
- Department of Pharmacy, School of Medical and Allied Sciences, Galgotias University, Greater Noida, Uttar Pradesh, India
| | - Rajendra Awasthi
- Department of Pharmaceutical Sciences, School of Health Sciences & Technology, University of Petroleum and Energy Studies (UPES), Energy Acres, P.O. Bidholi, Via-Prem Nagar, Dehradun 248 007, Uttarakhand, India
| | - Rishabha Malviya
- Department of Pharmacy, School of Medical and Allied Sciences, Galgotias University, Greater Noida, Uttar Pradesh, India.
| |
Collapse
|
26
|
Chattha GM, Arshad S, Kamal Y, Chattha MA, Asim MH, Raza SA, Mahmood A, Manzoor M, Dar UI, Arshad A. Nanorobots: An innovative approach for DNA-based cancer treatment. J Drug Deliv Sci Technol 2023. [DOI: 10.1016/j.jddst.2023.104173] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/15/2023]
|
27
|
Xiong J, Zhang J, Zhong Y, Song X, Wang H, Cheang UK. Magnetically-actuated hydrogel-based achiral planar microswimmers for SERS detection: In situ coprecipitation for continuous loading of iron oxide nanoparticles. Front Bioeng Biotechnol 2023; 11:1086106. [PMID: 36959904 PMCID: PMC10028090 DOI: 10.3389/fbioe.2023.1086106] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/01/2022] [Accepted: 02/13/2023] [Indexed: 03/09/2023] Open
Abstract
Ultraviolet lithography is a very promising technology used for the batch fabrication of biomedical microswimmers. However, creating microswimmers that can swim at low Reynolds number using biocompatible materials while retaining strong magnetic properties and excellent biomedical functionality is a great challenge. Most of the previously reported biomedical microswimmers possess either strong magnetic properties by using non-biocompatible nickel coating or good biocompatibility by using iron oxide particle-embedded hydrogel with weak magnetism, but not both. Alternatively, iron oxide nanoparticles can be coated on the surface of microswimmers to improve magnetic properties; however, this method limited the usability of the microswimmers' surfaces. To address these shortcomings, this work utilized an in situ synthesis technique to generate high magnetic content inside hydrogel-based achiral planar microswimmers while leaving their surfaces free to be functionalized for SERS detection. The hydrogel matrices of the magnetically actuated hydrogel-based microswimmers were first prepared by ultraviolet lithography. Then, the high concentration of iron oxide was achieved through multiple continuous in situ coprecipitation cycles. Finally, the SERS detection capability of magnetically actuated hydrogel-based microswimmers was enabled by uniformly growing silver nanoparticles on the surface of the microswimmers. In the motion control tests, the microswimmers showed a high swimming efficiency, high step-out frequency, and consistent synchronized motion. Furthermore, the magnetically actuated hydrogel-based microswimmers were able to improve the detection efficiency of analytes under magnetic guidance.
Collapse
Affiliation(s)
- Junfeng Xiong
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Junkai Zhang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Yukun Zhong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Xiaoxia Song
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Haoying Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China
- *Correspondence: U Kei Cheang,
| |
Collapse
|
28
|
Bitonto V, Garello F, Scherberich A, Filippi M. Prussian Blue Staining to Visualize Iron Oxide Nanoparticles. Methods Mol Biol 2023; 2566:321-332. [PMID: 36152263 DOI: 10.1007/978-1-0716-2675-7_26] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Iron deposits in cells and tissues can be detected by ex vivo histological examination through the Prussian blue (PB) staining. This practical, inexpensive, and highly sensitive technique involves the treatment of fixed tissue sections and cells with acid solutions of ferrocyanides that combine with ferric ion forming a bright blue pigment (i.e., ferric ferrocyanide). The staining can be applied to visualize iron oxide nanoparticles (IONPs), versatile magnetic nanosystems that are used in various biomedical applications and whose localization is usually required at a higher resolution than that enabled by in vivo tracking techniques.
Collapse
Affiliation(s)
- Valeria Bitonto
- Department of Molecular Biotechnology and Health Sciences, University of Turin, Torino, Italy
| | - Francesca Garello
- Department of Molecular Biotechnology and Health Sciences, University of Turin, Torino, Italy
| | - Arnaud Scherberich
- Department of Biomedicine, University and University Hospital of Basel, Basel, Switzerland.
- Department of Biomedical Engineering, University of Basel, Allschwil, Switzerland.
| | - Miriam Filippi
- Soft Robotics Laboratory, ETH Zurich, Zurich, Switzerland.
| |
Collapse
|
29
|
Wu Q, Ma C, Chen L, Sun Y, Wei X, Ma C, Zhao H, Yang X, Ma X, Zhang C, Duan G. A Tissue Paper/Hydrogel Composite Light-Responsive Biomimetic Actuator Fabricated by In Situ Polymerization. Polymers (Basel) 2022; 14:polym14245454. [PMID: 36559822 PMCID: PMC9785941 DOI: 10.3390/polym14245454] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/27/2022] [Revised: 11/21/2022] [Accepted: 11/23/2022] [Indexed: 12/15/2022] Open
Abstract
Stimulus-responsive hydrogels are an important member of smart materials owing to their reversibility, soft/wet properties, and biocompatibility, which have a wide range of applications in the field of intelligent actuations. However, poor mechanical property and complicated fabrication process limit their further applications. Herein, we report a light-responsive tissue paper/hydrogel composite actuator which was developed by combining inkjet-printed tissue paper with poly(N-isopropylacrylamide) (PNIPAM) hydrogel through simple in situ polymerization. Due to the high strength of natural tissue paper and the strong interaction within the interface of the bilayer structure, the mechanical property of the composite actuator was highly enhanced, reaching 1.2 MPa of tensile strength. Furthermore, the light-responsive actuation of remote manipulation can be achieved because of the stamping graphite with high efficiency of photothermal conversion. Most importantly, we also made a few remotely controlled biomimetic actuating devices based on the near-infrared (NIR) light response of this composite actuator. This work provides a simple strategy for the construction of biomimetic anisotropic actuators and will inspire the exploration of new intelligent materials.
Collapse
Affiliation(s)
- Qijun Wu
- Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources, International Innovation Center for Forest Chemicals and Materials, College of Materials Science and Engineering, Nanjing Forestry University, Nanjing 210037, China
| | - Chao Ma
- State Key Laboratory of Marine Resource Utilization in South China Sea, Hainan University, Haikou 570228, China
| | - Lian Chen
- Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources, International Innovation Center for Forest Chemicals and Materials, College of Materials Science and Engineering, Nanjing Forestry University, Nanjing 210037, China
| | - Ye Sun
- State Key Laboratory of Marine Resource Utilization in South China Sea, Hainan University, Haikou 570228, China
| | - Xianshuo Wei
- Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources, International Innovation Center for Forest Chemicals and Materials, College of Materials Science and Engineering, Nanjing Forestry University, Nanjing 210037, China
| | - Chunxin Ma
- State Key Laboratory of Marine Resource Utilization in South China Sea, Hainan University, Haikou 570228, China
- Key Laboratory of Quality Safe Evaluation and Research of Degradable Material for State Market Regulation, Products Quality Supervision and Testing Institute of Hainan Province, Haikou 570203, China
- Correspondence: (C.M.); (C.Z.); (G.D.)
| | - Hongliang Zhao
- Key Laboratory of Quality Safe Evaluation and Research of Degradable Material for State Market Regulation, Products Quality Supervision and Testing Institute of Hainan Province, Haikou 570203, China
| | - Xiuling Yang
- Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources, International Innovation Center for Forest Chemicals and Materials, College of Materials Science and Engineering, Nanjing Forestry University, Nanjing 210037, China
| | - Xiaofan Ma
- Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources, International Innovation Center for Forest Chemicals and Materials, College of Materials Science and Engineering, Nanjing Forestry University, Nanjing 210037, China
| | - Chunmei Zhang
- Institute of Materials Science and Devices, School of Materials Science and Engineering, Suzhou University of Science and Technology, Suzhou 215009, China
- Correspondence: (C.M.); (C.Z.); (G.D.)
| | - Gaigai Duan
- Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources, International Innovation Center for Forest Chemicals and Materials, College of Materials Science and Engineering, Nanjing Forestry University, Nanjing 210037, China
- Correspondence: (C.M.); (C.Z.); (G.D.)
| |
Collapse
|
30
|
Wychowaniec JK, Brougham DF. Emerging Magnetic Fabrication Technologies Provide Controllable Hierarchically-Structured Biomaterials and Stimulus Response for Biomedical Applications. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2202278. [PMID: 36228106 PMCID: PMC9731717 DOI: 10.1002/advs.202202278] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/31/2022] [Revised: 09/12/2022] [Indexed: 06/16/2023]
Abstract
Multifunctional nanocomposites which exhibit well-defined physical properties and encode spatiotemporally-controlled responses are emerging as components for advanced responsive systems. For biomedical applications magnetic nanocomposite materials have attracted significant attention due to their ability to respond to spatially and temporally varying magnetic fields. The current state-of-the-art in development and fabrication of magnetic hydrogels toward biomedical applications is described. There is accelerating progress in the field due to advances in manufacturing capabilities. Three categories can be identified: i) Magnetic hydrogelation, DC magnetic fields are used during solidification/gelation for aligning particles; ii) additive manufacturing of magnetic materials, 3D printing technologies are used to develop spatially-encoded magnetic properties, and more recently; iii) magnetic additive manufacturing, magnetic responses are applied during the printing process to develop increasingly complex structural arrangement that may recapitulate anisotropic tissue structure and function. The magnetic responsiveness of conventionally and additively manufactured magnetic hydrogels are described along with recent advances in soft magnetic robotics, and the categorization is related to final architecture and emergent properties. Future challenges and opportunities, including the anticipated role of combinatorial approaches in developing 4D-responsive functional materials for tackling long-standing problems in biomedicine including production of 3D-specified responsive cell scaffolds are discussed.
Collapse
Affiliation(s)
- Jacek K. Wychowaniec
- School of ChemistryUniversity College DublinBelfieldDublin 4Ireland
- AO Research Institute DavosClavadelerstrasse 8Davos7270Switzerland
| | | |
Collapse
|
31
|
Calin BS, Paun IA. A Review on Stimuli-Actuated 3D Micro/Nanostructures for Tissue Engineering and the Potential of Laser-Direct Writing via Two-Photon Polymerization for Structure Fabrication. Int J Mol Sci 2022; 23:14270. [PMID: 36430752 PMCID: PMC9699325 DOI: 10.3390/ijms232214270] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/22/2022] [Revised: 10/28/2022] [Accepted: 11/14/2022] [Indexed: 11/19/2022] Open
Abstract
In this review, we present the most recent and relevant research that has been done regarding the fabrication of 3D micro/nanostructures for tissue engineering applications. First, we make an overview of 3D micro/nanostructures that act as backbone constructs where the seeded cells can attach, proliferate and differentiate towards the formation of new tissue. Then, we describe the fabrication of 3D micro/nanostructures that are able to control the cellular processes leading to faster tissue regeneration, by actuation using topographical, mechanical, chemical, electric or magnetic stimuli. An in-depth analysis of the actuation of the 3D micro/nanostructures using each of the above-mentioned stimuli for controlling the behavior of the seeded cells is provided. For each type of stimulus, a particular recent application is presented and discussed, such as controlling the cell proliferation and avoiding the formation of a necrotic core (topographic stimulation), controlling the cell adhesion (nanostructuring), supporting the cell differentiation via nuclei deformation (mechanical stimulation), improving the osteogenesis (chemical and magnetic stimulation), controlled drug-delivery systems (electric stimulation) and fastening tissue formation (magnetic stimulation). The existing techniques used for the fabrication of such stimuli-actuated 3D micro/nanostructures, are briefly summarized. Special attention is dedicated to structures' fabrication using laser-assisted technologies. The performances of stimuli-actuated 3D micro/nanostructures fabricated by laser-direct writing via two-photon polymerization are particularly emphasized.
Collapse
Affiliation(s)
- Bogdan Stefanita Calin
- Center for Advanced Laser Technologies, National Institute for Laser, Plasma and Radiation Physics, 077125 Magurele, Romania
- Faculty of Applied Sciences, University Politehnica of Bucharest, 060042 Bucharest, Romania
| | - Irina Alexandra Paun
- Center for Advanced Laser Technologies, National Institute for Laser, Plasma and Radiation Physics, 077125 Magurele, Romania
- Faculty of Applied Sciences, University Politehnica of Bucharest, 060042 Bucharest, Romania
| |
Collapse
|
32
|
Chesnitskiy AV, Gayduk AE, Seleznev VA, Prinz VY. Bio-Inspired Micro- and Nanorobotics Driven by Magnetic Field. MATERIALS (BASEL, SWITZERLAND) 2022; 15:7781. [PMID: 36363368 PMCID: PMC9653604 DOI: 10.3390/ma15217781] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/24/2022] [Revised: 10/19/2022] [Accepted: 11/01/2022] [Indexed: 06/16/2023]
Abstract
In recent years, there has been explosive growth in the number of investigations devoted to the development and study of biomimetic micro- and nanorobots. The present review is dedicated to novel bioinspired magnetic micro- and nanodevices that can be remotely controlled by an external magnetic field. This approach to actuate micro- and nanorobots is non-invasive and absolutely harmless for living organisms in vivo and cell microsurgery, and is very promising for medicine in the near future. Particular attention has been paid to the latest advances in the rapidly developing field of designing polymer-based flexible and rigid magnetic composites and fabricating structures inspired by living micro-objects and organisms. The physical principles underlying the functioning of hybrid bio-inspired magnetic miniature robots, sensors, and actuators are considered in this review, and key practical applications and challenges are analyzed as well.
Collapse
Affiliation(s)
- Anton V. Chesnitskiy
- Rzhanov Institute of Semiconductor Physics, Russian Academy of Sciences, Siberian Branch, 630090 Novosibirsk, Russia
| | | | | | | |
Collapse
|
33
|
Kim J, Park H, Yoon C. Advances in Biodegradable Soft Robots. Polymers (Basel) 2022; 14:polym14214574. [PMID: 36365570 PMCID: PMC9658808 DOI: 10.3390/polym14214574] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/07/2022] [Revised: 10/20/2022] [Accepted: 10/25/2022] [Indexed: 11/23/2022] Open
Abstract
Biodegradable soft robots have been proposed for a variety of intelligent applications in soft robotics, flexible electronics, and bionics. Biodegradability offers an extraordinary functional advantage to soft robots for operations accompanying smart shape transformation in response to external stimuli such as heat, pH, and light. This review primarily surveyed the current advanced scientific and engineering strategies for integrating biodegradable materials within stimuli-responsive soft robots. It also focused on the fabrication methodologies of multiscale biodegradable soft robots, and highlighted the role of biodegradable soft robots in enhancing the multifunctional properties of drug delivery capsules, biopsy tools, smart actuators, and sensors. Lastly, the current challenges and perspectives on the future development of intelligent soft robots for operation in real environments were discussed.
Collapse
Affiliation(s)
- Jiwon Kim
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Harim Park
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - ChangKyu Yoon
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Institute of Advanced Materials and Systems, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence:
| |
Collapse
|
34
|
Abstract
Microrobots have attracted the attention of scientists owing to their unique features to accomplish tasks in hard-to-reach sites in the human body. Microrobots can be precisely actuated and maneuvered individually or in a swarm for cargo delivery, sampling, surgery, and imaging applications. In addition, microrobots have found applications in the environmental sector (e.g., water treatment). Besides, recent advancements of three-dimensional (3D) printers have enabled the high-resolution fabrication of microrobots with a faster design-production turnaround time for users with limited micromanufacturing skills. Here, the latest end applications of 3D printed microrobots are reviewed (ranging from environmental to biomedical applications) along with a brief discussion over the feasible actuation methods (e.g., on- and off-board), and practical 3D printing technologies for microrobot fabrication. In addition, as a future perspective, we discussed the potential advantages of integration of microrobots with smart materials, and conceivable benefits of implementation of artificial intelligence (AI), as well as physical intelligence (PI). Moreover, in order to facilitate bench-to-bedside translation of microrobots, current challenges impeding clinical translation of microrobots are elaborated, including entry obstacles (e.g., immune system attacks) and cumbersome standard test procedures to ensure biocompatibility. Microbots have attracted attention due to an ability to reach places and perform tasks which are not possible with conventional techniques in a wide range of applications. Here, the authors review the recent work in the field on the fabrication, application and actuation of 3D printed microbots offering a view of the direction of future microbot research.
Collapse
|
35
|
Behrens MR, Ruder WC. Smart Magnetic Microrobots Learn to Swim with Deep Reinforcement Learning. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 4:2200023. [PMID: 38463142 PMCID: PMC10923539 DOI: 10.1002/aisy.202200023] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/24/2022] [Indexed: 03/12/2024]
Abstract
Swimming microrobots are increasingly developed with complex materials and dynamic shapes and are expected to operate in complex environments in which the system dynamics are difficult to model and positional control of the microrobot is not straightforward to achieve. Deep reinforcement learning is a promising method of autonomously developing robust controllers for creating smart microrobots, which can adapt their behavior to operate in uncharacterized environments without the need to model the system dynamics. This article reports the development of a smart helical magnetic hydrogel microrobot that uses the soft actor critic reinforcement learning algorithm to autonomously derive a control policy which allows the microrobot to swim through an uncharacterized biomimetic fluidic environment under control of a time varying magnetic field generated from a three-axis array of electromagnets. The reinforcement learning agent learned successful control policies from both state vector input and raw images, and the control policies learned by the agent recapitulated the behavior of rationally designed controllers based on physical models of helical swimming microrobots. Deep reinforcement learning applied to microrobot control is likely to significantly expand the capabilities of the next generation of microrobots.
Collapse
Affiliation(s)
- Michael R. Behrens
- Department of Bioengineering, University of Pittsburgh; 300 Technology Drive, Pittsburgh, PA 15213, USA
| | - Warren C. Ruder
- Department of Bioengineering, University of Pittsburgh; 300 Technology Drive, Pittsburgh, PA 15213, USA
- Department of Mechanical Engineering, Carnegie Mellon University; 5000 Forbes Ave. Pittsburgh, PA 15213, USA
| |
Collapse
|
36
|
Song X, Sun R, Wang R, Zhou K, Xie R, Lin J, Georgiev D, Paraschiv AA, Zhao R, Stevens MM. Puffball-Inspired Microrobotic Systems with Robust Payload, Strong Protection, and Targeted Locomotion for On-Demand Drug Delivery. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2204791. [PMID: 36066311 DOI: 10.1002/adma.202204791] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/27/2022] [Revised: 08/30/2022] [Indexed: 06/15/2023]
Abstract
Microrobots are recognized as transformative solutions for drug delivery systems (DDSs) because they can navigate through the body to specific locations and enable targeted drug release. However, their realization is substantially limited by insufficient payload capacity, unavoidable drug leakage/deactivation, and strict modification/stability criteria for drugs. Natural puffballs possess fascinating features that are highly desirable for DDSs, including a large fruitbody for storing spores, a flexible protective cap, and environmentally triggered release mechanisms. This report presents a puffball-inspired microrobotic system which incorporates an internal chamber for loading large drug quantities and spatial drug separation, and a near-infrared-responsive top-sealing layer offering strong drug protection and on-demand release. These puffball-inspired microrobots (PIMs) display tunable loading capacities up to high concentrations and enhanced drug protection with minimal drug leakage. Upon near-infrared laser irradiation, on-demand drug delivery with rapid release efficiency is achieved. The PIMs also demonstrate translational motion velocities, switchable motion modes, and precise locomotion under a rotating magnetic field. This work provides strong proof-of-concept for a DDS that combines the superior locomotion capability of microrobots with the unique characteristics of puffballs, thereby illustrating a versatile avenue for development of a new generation of microrobots for targeted drug delivery.
Collapse
Affiliation(s)
- Xin Song
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Rujie Sun
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Richard Wang
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Kun Zhou
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Ruoxiao Xie
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Junliang Lin
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Dimitar Georgiev
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
- Department of Computing, UKRI Centre for Doctoral Training in AI for Healthcare, Imperial College London, London, SW7 2AZ, UK
| | - Andrei-Alexandru Paraschiv
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
- Department of Chemistry, Imperial College London, London, SW7 2AZ, UK
| | - Ruibo Zhao
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
- Institute of Smart Biomaterials, School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, Zhejiang, 310018, China
| | - Molly M Stevens
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| |
Collapse
|
37
|
Wu R, Zhu Y, Cai X, Wu S, Xu L, Yu T. Recent Process in Microrobots: From Propulsion to Swarming for Biomedical Applications. MICROMACHINES 2022; 13:1473. [PMID: 36144096 PMCID: PMC9503943 DOI: 10.3390/mi13091473] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/31/2022] [Revised: 08/26/2022] [Accepted: 08/30/2022] [Indexed: 06/16/2023]
Abstract
Recently, robots have assisted and contributed to the biomedical field. Scaling down the size of robots to micro/nanoscale can increase the accuracy of targeted medications and decrease the danger of invasive operations in human surgery. Inspired by the motion pattern and collective behaviors of the tiny biological motors in nature, various kinds of sophisticated and programmable microrobots are fabricated with the ability for cargo delivery, bio-imaging, precise operation, etc. In this review, four types of propulsion-magnetically, acoustically, chemically/optically and hybrid driven-and their corresponding features have been outlined and categorized. In particular, the locomotion of these micro/nanorobots, as well as the requirement of biocompatibility, transportation efficiency, and controllable motion for applications in the complex human body environment should be considered. We discuss applications of different propulsion mechanisms in the biomedical field, list their individual benefits, and suggest their potential growth paths.
Collapse
|
38
|
Hou C, Chang YF, Yao X. Supramolecular Adhesive Materials with Antimicrobial Activity for Emerging Biomedical Applications. Pharmaceutics 2022; 14:1616. [PMID: 36015240 PMCID: PMC9414438 DOI: 10.3390/pharmaceutics14081616] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2022] [Revised: 07/31/2022] [Accepted: 08/01/2022] [Indexed: 12/10/2022] Open
Abstract
Traditional adhesives or glues such as cyanoacrylates, fibrin glue, polyethylene glycol, and their derivatives have been widely used in biomedical fields. However, they still suffer from numerous limitations, including the mechanical mismatch with biological tissues, weak adhesion on wet surfaces, biological incompatibility, and incapability of integrating desired multifunction. In addition to adaptive mechanical and adhesion properties, adhesive biomaterials should be able to integrate multiple functions such as stimuli-responsiveness, control-releasing of small or macromolecular therapeutic molecules, hosting of various cells, and programmable degradation to fulfill the requirements in the specific biological systems. Therefore, rational molecular engineering and structural designs are required to facilitate the development of functional adhesive materials. This review summarizes and analyzes the current supramolecular design strategies of representative adhesive materials, serving as a general guide for researchers seeking to develop novel adhesive materials for biomedical applications.
Collapse
Affiliation(s)
- Changshun Hou
- Department of Biomedical Sciences, City University of Hong Kong, Hong Kong SAR 999077, China;
| | - Yung-Fu Chang
- Department of Population Medicine and Diagnostic Sciences, College of Veterinary Medicine, Cornell University, Ithaca, NY 14850, USA
| | - Xi Yao
- Department of Biomedical Sciences, City University of Hong Kong, Hong Kong SAR 999077, China;
| |
Collapse
|
39
|
Noh S, Jeon S, Kim E, Oh U, Park D, Park SH, Kim SW, Pané S, Nelson BJ, Kim JY, Choi H. A Biodegradable Magnetic Microrobot Based on Gelatin Methacrylate for Precise Delivery of Stem Cells with Mass Production Capability. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2107888. [PMID: 35607749 DOI: 10.1002/smll.202107888] [Citation(s) in RCA: 16] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/24/2022] [Revised: 04/25/2022] [Indexed: 06/15/2023]
Abstract
A great deal of research has focused on small-scale robots for biomedical applications and minimally invasive delivery of therapeutics (e.g., cells, drugs, and genes) to a target area. Conventional fabrication methods, such as two-photon polymerization, can be used to build sophisticated micro- and nanorobots, but the long fabrication cycle for a single microrobot has limited its practical use. This study proposes a biodegradable spherical gelatin methacrylate (GelMA) microrobot for mass production in a microfluidic channel. The proposed microrobot is fabricated in a flow-focusing droplet generator by shearing a mixture of GelMA, photoinitiator, and superparamagnetic iron oxide nanoparticles (SPIONs) with a mixture of oil and surfactant. Human nasal turbinate stem cells (hNTSCs) are loaded on the GelMA microrobot, and the hNTSC-loaded microrobot shows precise rolling motion in response to an external rotating magnetic field. The microrobot is enzymatically degraded by collagenase, and released hNTSCs are proliferated and differentiated into neuronal cells. In addition, the feasibility of the GelMA microrobot as a cell therapeutic delivery system is investigated by measuring electrophysiological activity on a multielectrode array. Such a versatile and fully biodegradable microrobot has the potential for targeted stem cell delivery, proliferation, and differentiation for stem cell-based therapy.
Collapse
Affiliation(s)
- Seungmin Noh
- Department of Robotics Engineering, DGIST-ETH Microrobotics Research Center Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea
| | | | - Eunhee Kim
- IMsystem Co., Ltd., Daegu, 42988, Republic of Korea
| | - Untaek Oh
- Department of Robotics Engineering, DGIST-ETH Microrobotics Research Center Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea
| | - Danbi Park
- Postech-Catholic Biomedical Engineering Institute, College of Medicine, The Catholic University of Korea, Seoul, 06591, Republic of Korea
| | - Sun Hwa Park
- Postech-Catholic Biomedical Engineering Institute, College of Medicine, The Catholic University of Korea, Seoul, 06591, Republic of Korea
| | - Sung Won Kim
- Department of Otolaryngology-Head and Neck Surgery, Seoul St. Mary's Hospital, The Catholic University, Seoul, 06591, Republic of Korea
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH-8092, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH-8092, Switzerland
| | - Jin-Young Kim
- Department of Robotics Engineering, DGIST-ETH Microrobotics Research Center Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea
- Division of Biotechnology, DGIST, Daegu, 42988, Republic of Korea
| | - Hongsoo Choi
- Department of Robotics Engineering, DGIST-ETH Microrobotics Research Center Daegu Gyeong-buk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea
- Robotics Research Center, DGIST, Daegu, 42988, Republic of Korea
| |
Collapse
|
40
|
Stop-Flow Lithography for the Continuous Production of Degradable Hydrogel Achiral Crescent Microswimmers. MICROMACHINES 2022; 13:mi13050798. [PMID: 35630266 PMCID: PMC9144168 DOI: 10.3390/mi13050798] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/25/2022] [Revised: 05/16/2022] [Accepted: 05/17/2022] [Indexed: 11/16/2022]
Abstract
The small size of robotic microswimmers makes them suitable for performing biomedical tasks in tiny, enclosed spaces. Considering the effects of potentially long-term retention of microswimmers in biological tissues and the environment, the degradability of microswimmers has become one of the pressing issues in this field. While degradable hydrogel was successfully used to prepare microswimmers in previous reports, most hydrogel microswimmers could only be fabricated using two-photon polymerization (TPP) due to their 3D structures, resulting in costly robotic microswimmers solution. This limits the potential of hydrogel microswimmers to be used in applications where a large number of microswimmers are needed. Here, we proposed a new type of preparation method for degradable hydrogel achiral crescent microswimmers using a custom-built stop-flow lithography (SFL) setup. The degradability of the hydrogel crescent microswimmers was quantitatively analyzed, and the degradation rate in sodium hydroxide solution (NaOH) of different concentrations was investigated. Cytotoxicity assays showed the hydrogel crescent microswimmers had good biocompatibility. The hydrogel crescent microswimmers were magnetically actuated using a 3D Helmholtz coil system and were able to obtain a swimming efficiency on par with previously reported microswimmers. The results herein demonstrated the potential for the degradable hydrogel achiral microswimmers to become a candidate for microscale applications.
Collapse
|
41
|
Wrede P, Degtyaruk O, Kalva SK, Deán-Ben XL, Bozuyuk U, Aghakhani A, Akolpoglu B, Sitti M, Razansky D. Real-time 3D optoacoustic tracking of cell-sized magnetic microrobots circulating in the mouse brain vasculature. SCIENCE ADVANCES 2022; 8:eabm9132. [PMID: 35544570 PMCID: PMC9094653 DOI: 10.1126/sciadv.abm9132] [Citation(s) in RCA: 39] [Impact Index Per Article: 19.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/20/2021] [Accepted: 03/25/2022] [Indexed: 05/16/2023]
Abstract
Mobile microrobots hold remarkable potential to revolutionize health care by enabling unprecedented active medical interventions and theranostics, such as active cargo delivery and microsurgical manipulations in hard-to-reach body sites. High-resolution imaging and control of cell-sized microrobots in the in vivo vascular system remains an unsolved challenge toward their clinical use. To overcome this limitation, we propose noninvasive real-time detection and tracking of circulating microrobots using optoacoustic imaging. We devised cell-sized nickel-based spherical Janus magnetic microrobots whose near-infrared optoacoustic signature is enhanced via gold conjugation. The 5-, 10-, and 20-μm-diameter microrobots are detected volumetrically both in bloodless ex vivo tissues and under real-life conditions with a strongly light-absorbing blood background. We further demonstrate real-time three-dimensional tracking and magnetic manipulation of the microrobots circulating in murine cerebral vasculature, thus paving the way toward effective and safe operation of cell-sized microrobots in challenging and clinically relevant intravascular environments.
Collapse
Affiliation(s)
- Paul Wrede
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Oleksiy Degtyaruk
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
| | - Sandeep Kumar Kalva
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
| | - Xosé Luis Deán-Ben
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Birgul Akolpoglu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
| | - Daniel Razansky
- Institute of Pharmacology and Toxicology and Institute for Biomedical Engineering, Faculty of Medicine, University of Zurich, 8057 Zurich, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zurich, 8093 Zurich, Switzerland
| |
Collapse
|
42
|
Zhang Y, Zhang Y, Han Y, Gong X. Micro/Nanorobots for Medical Diagnosis and Disease Treatment. MICROMACHINES 2022; 13:mi13050648. [PMID: 35630115 PMCID: PMC9146405 DOI: 10.3390/mi13050648] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/03/2022] [Revised: 01/21/2022] [Accepted: 01/22/2022] [Indexed: 02/01/2023]
Abstract
Micro/nanorobots are functional devices in microns, at nanoscale, which enable efficient propulsion through chemical reactions or external physical field, including ultrasonic, optical, magnetic, and other external fields, as well as microorganisms. Compared with traditional robots, micro/nanorobots can perform various tasks on the micro/nanoscale, which has the advantages of high precision, strong flexibility, and wide adaptability. In addition, such robots can also perform tasks in a cluster manner. The design and development of micro/nanorobots and the integration of surface functionalization, remote drive system, and imaging tracking technology will become a key step for their medical applications in organisms. Thus, micro/nanorobots are expected to achieve more efficient and accurate local diagnosis and treatment, and they have broad application prospects in the biomedical field. This paper aims to introduce relevant driving methods of micro/nanorobots preparation in detail, summarizes the progress of research in medical applications, and discusses the challenges it faces in clinical applications and the future direction of development.
Collapse
Affiliation(s)
- Yinglei Zhang
- College of Light Industry, Harbin University of Commerce, Harbin 150028, China;
- Correspondence:
| | - Yuepeng Zhang
- Clinical Medical College, Harbin Medical University, Harbin 150081, China;
| | - Yaqian Han
- School of Instumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China;
| | - Xue Gong
- College of Light Industry, Harbin University of Commerce, Harbin 150028, China;
| |
Collapse
|
43
|
Ramos‐Sebastian A, Gwak S, Kim SH. Multimodal Locomotion and Active Targeted Thermal Control of Magnetic Agents for Biomedical Applications. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2103863. [PMID: 35060366 PMCID: PMC8895130 DOI: 10.1002/advs.202103863] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/02/2021] [Revised: 12/07/2021] [Indexed: 05/27/2023]
Abstract
Magnetic microrobots can be miniaturized to a nanometric scale owing to their wireless actuation, thereby rendering them ideal for numerous biomedical applications. As a result, nowadays, there exist several mechano-electromagnetic systems for their actuation. However, magnetic actuation is not sufficient for implementation in biomedical applications, and further functionalities such as imaging and heating are required. This study proposes a multimodal electromagnetic system comprised of three pairs of Helmholtz coils, a pair of Maxwell coils, and a high-frequency solenoid to realize multimodal locomotion and heating control of magnetic microrobots. The system produces different configurations of magnetic fields that can generate magnetic forces and torques for the multimodal locomotion of magnetic microrobots, as well as generate magnetic traps that can control the locomotion of magnetic swarms. Furthermore, these magnetic fields are employed to control the magnetization of magnetic nanoparticles, affecting their magnetic relaxation mechanisms and diminishing their thermal properties. Thus, the system enables the control of the temperature increase of soft-magnetic materials and selective heating of magnetic microrobots at different positions, while suppressing the heating properties of magnetic nanoparticles located at undesired areas.
Collapse
Affiliation(s)
- Armando Ramos‐Sebastian
- Department of Electronics Convergence EngineeringWonkwang UniversityIksan54538Republic of Korea
- Present address:
Department of Convergence Technology EngineeringJeonbuk National UniversityJeonju54896Republic of Korea
| | - So‐Jung Gwak
- Department of Chemical EngineeringWonkwang UniversityIksan54538Republic of Korea
| | - Sung Hoon Kim
- Department of Electronics Convergence EngineeringWonkwang UniversityIksan54538Republic of Korea
- Wonkwang Institute of Materials Science and TechnologyWonkwang UniversityIksan54538Republic of Korea
| |
Collapse
|
44
|
Zhang J, Lin Y, Lin Z, Wei Q, Qian J, Ruan R, Jiang X, Hou L, Song J, Ding J, Yang H. Stimuli-Responsive Nanoparticles for Controlled Drug Delivery in Synergistic Cancer Immunotherapy. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2103444. [PMID: 34927373 PMCID: PMC8844476 DOI: 10.1002/advs.202103444] [Citation(s) in RCA: 79] [Impact Index Per Article: 39.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/17/2021] [Revised: 10/28/2021] [Indexed: 05/10/2023]
Abstract
Cancer immunotherapy has achieved promising clinical progress over the recent years for its potential to treat metastatic tumors and inhibit their recurrences effectively. However, low patient response rates and dose-limiting toxicity remain as major dilemmas for immunotherapy. Stimuli-responsive nanoparticles (srNPs) combined with immunotherapy offer the possibility to amplify anti-tumor immune responses, where the weak acidity, high concentration of glutathione, overexpressions of enzymes, and reactive oxygen species, and external stimuli in tumors act as triggers for controlled drug release. This review highlights the design of srNPs based on tumor microenvironment and/or external stimuli to combine with different anti-tumor drugs, especially the immunoregulatory agents, which eventually realize synergistic immunotherapy of malignant primary or metastatic tumors and acquire a long-term immune memory to prevent tumor recurrence. The authors hope that this review can provide theoretical guidance for the construction and clinical transformation of smart srNPs for controlled drug delivery in synergistic cancer immunotherapy.
Collapse
Affiliation(s)
- Jin Zhang
- Qingyuan Innovation LaboratoryCollege of Chemical EngineeringFuzhou University2 Xueyuan RoadFuzhou350108P. R. China
| | - Yandai Lin
- Qingyuan Innovation LaboratoryCollege of Chemical EngineeringFuzhou University2 Xueyuan RoadFuzhou350108P. R. China
| | - Zhe Lin
- Ruisi (Fujian) Biomedical Engineering Research Center Co LtdFuzhou350100P. R. China
| | - Qi Wei
- Key Laboratory of Polymer EcomaterialsChangchun Institute of Applied ChemistryChinese Academy of Sciences5625 Renmin StreetChangchun130022P. R. China
- State Key Laboratory of Molecular Engineering of PolymersFudan University220 Handan RoadShanghai200433P. R. China
| | - Jiaqi Qian
- Qingyuan Innovation LaboratoryCollege of Chemical EngineeringFuzhou University2 Xueyuan RoadFuzhou350108P. R. China
| | - Renjie Ruan
- Qingyuan Innovation LaboratoryCollege of Chemical EngineeringFuzhou University2 Xueyuan RoadFuzhou350108P. R. China
| | - Xiancai Jiang
- Qingyuan Innovation LaboratoryCollege of Chemical EngineeringFuzhou University2 Xueyuan RoadFuzhou350108P. R. China
| | - Linxi Hou
- Qingyuan Innovation LaboratoryCollege of Chemical EngineeringFuzhou University2 Xueyuan RoadFuzhou350108P. R. China
| | - Jibin Song
- MOE Key Laboratory for Analytical Science of Food Safety and BiologyState Key Laboratory of Photocatalysis on Energy and EnvironmentCollege of ChemistryFuzhou University2 Xueyuan RoadFuzhou350108P. R. China
| | - Jianxun Ding
- Key Laboratory of Polymer EcomaterialsChangchun Institute of Applied ChemistryChinese Academy of Sciences5625 Renmin StreetChangchun130022P. R. China
- State Key Laboratory of Molecular Engineering of PolymersFudan University220 Handan RoadShanghai200433P. R. China
| | - Huanghao Yang
- MOE Key Laboratory for Analytical Science of Food Safety and BiologyState Key Laboratory of Photocatalysis on Energy and EnvironmentCollege of ChemistryFuzhou University2 Xueyuan RoadFuzhou350108P. R. China
| |
Collapse
|
45
|
Wang Z, Xu Z, Zhu B, Zhang Y, Lin J, Wu Y, Wu D. Design, fabrication and application of magnetically actuated micro/nanorobots: a review. NANOTECHNOLOGY 2022; 33:152001. [PMID: 34915458 DOI: 10.1088/1361-6528/ac43e6] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/15/2021] [Accepted: 12/16/2021] [Indexed: 06/14/2023]
Abstract
Magnetically actuated micro/nanorobots are typical micro- and nanoscale artificial devices with favorable attributes of quick response, remote and contactless control, harmless human-machine interaction and high economic efficiency. Under external magnetic actuation strategies, they are capable of achieving elaborate manipulation and navigation in extreme biomedical environments. This review focuses on state-of-the-art progresses in design strategies, fabrication techniques and applications of magnetically actuated micro/nanorobots. Firstly, recent advances of various robot designs, including helical robots, surface walkers, ciliary robots, scaffold robots and biohybrid robots, are discussed separately. Secondly, the main progresses of common fabrication techniques are respectively introduced, and application achievements on these robots in targeted drug delivery, minimally invasive surgery and cell manipulation are also presented. Finally, a short summary is made, and the current challenges and future work for magnetically actuated micro/nanorobots are discussed.
Collapse
Affiliation(s)
- Zhongbao Wang
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Zhenjin Xu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Bin Zhu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Yang Zhang
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Jiawei Lin
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Yigen Wu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Dezhi Wu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| |
Collapse
|
46
|
Jiao W, Zhang T, Peng M, Yi J, He Y, Fan H. Design of Magnetic Nanoplatforms for Cancer Theranostics. BIOSENSORS 2022; 12:38. [PMID: 35049666 PMCID: PMC8774163 DOI: 10.3390/bios12010038] [Citation(s) in RCA: 16] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/14/2021] [Revised: 01/07/2022] [Accepted: 01/09/2022] [Indexed: 05/04/2023]
Abstract
Cancer is the top cause of death globally. Developing smart nanomedicines that are capable of diagnosis and therapy (theranostics) in one-nanoparticle systems are highly desirable for improving cancer treatment outcomes. The magnetic nanoplatforms are the ideal system for cancer theranostics, because of their diverse physiochemical properties and biological effects. In particular, a biocompatible iron oxide nanoparticle based magnetic nanoplatform can exhibit multiple magnetic-responsive behaviors under an external magnetic field and realize the integration of diagnosis (magnetic resonance imaging, ultrasonic imaging, photoacoustic imaging, etc.) and therapy (magnetic hyperthermia, photothermal therapy, controlled drug delivery and release, etc.) in vivo. Furthermore, due to considerable variation among tumors and individual patients, it is a requirement to design iron oxide nanoplatforms by the coordination of diverse functionalities for efficient and individualized theranostics. In this article, we will present an up-to-date overview on iron oxide nanoplatforms, including both iron oxide nanomaterials and those that can respond to an externally applied magnetic field, with an emphasis on their applications in cancer theranostics.
Collapse
Affiliation(s)
- Wangbo Jiao
- Key Laboratory of Synthetic and Natural Functional Molecule Chemistry of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi’an 710069, China; (W.J.); (T.Z.); (M.P.)
| | - Tingbin Zhang
- Key Laboratory of Synthetic and Natural Functional Molecule Chemistry of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi’an 710069, China; (W.J.); (T.Z.); (M.P.)
| | - Mingli Peng
- Key Laboratory of Synthetic and Natural Functional Molecule Chemistry of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi’an 710069, China; (W.J.); (T.Z.); (M.P.)
| | - Jiabao Yi
- Global Innovative Centre for Advanced Nanomaterials, School of Engineering, The University of Newcastle, Newcastle, NSW 2308, Australia;
| | - Yuan He
- Key Laboratory of Synthetic and Natural Functional Molecule Chemistry of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi’an 710069, China; (W.J.); (T.Z.); (M.P.)
| | - Haiming Fan
- Key Laboratory of Synthetic and Natural Functional Molecule Chemistry of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi’an 710069, China; (W.J.); (T.Z.); (M.P.)
| |
Collapse
|
47
|
Ahmed A, Kim E, Jeon S, Kim J, Choi H. Closed‐Loop Temperature‐Controlled Magnetic Hyperthermia Therapy with Magnetic Guidance of Superparamagnetic Iron‐Oxide Nanoparticles. ADVANCED THERAPEUTICS 2022. [DOI: 10.1002/adtp.202100237] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Awais Ahmed
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Eunhee Kim
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Sungwoong Jeon
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Jin‐Young Kim
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Hongsoo Choi
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- Robotics Research Center DGIST Daegu 42988 Republic of Korea
| |
Collapse
|
48
|
Son D, Ugurlu MC, Sitti M. Permanent magnet array-driven navigation of wireless millirobots inside soft tissues. SCIENCE ADVANCES 2021; 7:eabi8932. [PMID: 34669466 PMCID: PMC8528412 DOI: 10.1126/sciadv.abi8932] [Citation(s) in RCA: 19] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/07/2021] [Accepted: 08/26/2021] [Indexed: 06/01/2023]
Abstract
Creating wireless milliscale robots that navigate inside soft tissues of the human body for medical applications has been a challenge because of the limited onboard propulsion and powering capacity at small scale. Here, we propose around 100 permanent magnet array–based remotely propelled millirobot system that enables a cylindrical magnetic millirobot to navigate in soft tissues via continuous penetration. By creating a strong magnetic force trap with magnetic gradients on the order of 7 T/m inside a soft tissue, the robot is attracted to the center of the array even without active control. By combining the array with a motion stage and a fluoroscopic x-ray imaging system, the magnetic robot followed complex paths in an ex vivo porcine brain with extreme curvatures in sub-millimeter precision. This system enables future wireless medical millirobots that can deliver drugs; perform biopsy, hyperthermia, and cauterization; and stimulate neurons with small incisions in body tissues.
Collapse
Affiliation(s)
- Donghoon Son
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Mechanical Engineering, Pusan National University, 46241 Busan, South Korea
| | - Musab Cagri Ugurlu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
| |
Collapse
|
49
|
Bernasconi R, Pizzetti F, Rossetti A, Butler B, Levi M, Pané S, Rossi F, Magagnin L. Layer-by-Layer Fabrication of Hydrogel Microsystems for Controlled Drug Delivery From Untethered Microrobots. Front Bioeng Biotechnol 2021; 9:692648. [PMID: 34722474 PMCID: PMC8548779 DOI: 10.3389/fbioe.2021.692648] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/08/2021] [Accepted: 08/27/2021] [Indexed: 11/23/2022] Open
Abstract
Targeted drug delivery from untethered microrobots is a topic of major interest in current biomedical research. The possibility to load smart materials able to administer active principles on remotely in vivo guidable microdevices constitutes one of the most attractive opportunities to overcome the drawbacks of classical untargeted delivery methodologies. Hydrogels, in particular, are ideal candidates as drug-carrying materials due to their biocompatibility, low cost, and ease of manufacturing. On the other hand, these polymers suffer from poor control over release rate and overall released amount. Starting from these premises, the present article demonstrates the possibility to tune the release of hydrogels applied on magnetically steerable microrobots by fabricating microsystems via layer-by-layer self-assembly. By doing this, the diffusion of chemicals from the hydrogel layers to the external environment can be optimized and the phenomenon of burst release can be strongly limited. The microrobotic platforms employed to transport the hydrogel active material are fabricated by employing 3D printing in combination with wet metallization and present a gold layer on their surface to enhance biocompatibility. The maneuverability of microdevices coated with both thin and thick multilayers is investigated, individuating optimized parameters for efficient actuation.
Collapse
Affiliation(s)
- Roberto Bernasconi
- Department of Chemistry, Materials and Chemical Engineering“Giulio Natta”, Politecnico di Milano, Milano, Italy
| | - Fabio Pizzetti
- Department of Chemistry, Materials and Chemical Engineering“Giulio Natta”, Politecnico di Milano, Milano, Italy
| | - Arianna Rossetti
- Department of Chemistry, Materials and Chemical Engineering“Giulio Natta”, Politecnico di Milano, Milano, Italy
| | - Brendan Butler
- Department of Chemistry, Materials and Chemical Engineering“Giulio Natta”, Politecnico di Milano, Milano, Italy
| | - Marinella Levi
- Department of Chemistry, Materials and Chemical Engineering“Giulio Natta”, Politecnico di Milano, Milano, Italy
| | - Salvador Pané
- Multi-Scale Robotics Laboratory, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
| | - Filippo Rossi
- Department of Chemistry, Materials and Chemical Engineering“Giulio Natta”, Politecnico di Milano, Milano, Italy
| | - Luca Magagnin
- Department of Chemistry, Materials and Chemical Engineering“Giulio Natta”, Politecnico di Milano, Milano, Italy
| |
Collapse
|
50
|
Llacer-Wintle J, Rivas-Dapena A, Chen XZ, Pellicer E, Nelson BJ, Puigmartí-Luis J, Pané S. Biodegradable Small-Scale Swimmers for Biomedical Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2102049. [PMID: 34480388 DOI: 10.1002/adma.202102049] [Citation(s) in RCA: 27] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/15/2021] [Revised: 06/14/2021] [Indexed: 06/13/2023]
Abstract
Most forms of biomatter are ephemeral, which means they transform or deteriorate after a certain time. From this perspective, implantable healthcare devices designed for temporary treatments should exhibit the ability to degrade and either blend in with healthy tissues, or be cleared from the body with minimal disruption after accomplishing their designated tasks. This topic is currently being investigated in the field of biomedical micro- and nanoswimmers. These tiny devices have the ability to move through fluids by converting physical or chemical energy into motion. Several architectures of these devices have been designed to mimic the motion strategies of nature's motile microorganisms and cells. Due to their motion abilities, these devices have been proposed as minimally invasive tools for precision healthcare applications. Hence, a natural progression in this field is to produce motile structures that can adopt, or even surpass, similar transient features as biological systems. The fate of small-scale swimmers after accomplishing their therapeutic mission is critical for the successful translation of small-scale swimmers' technologies into clinical applications. In this review, recent research efforts are summarized on the topic of biodegradable micro- and nanoswimmers for biomedical applications, with a focus on targeted therapeutic delivery.
Collapse
Affiliation(s)
- Joaquin Llacer-Wintle
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Antón Rivas-Dapena
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Xiang-Zhong Chen
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Eva Pellicer
- Departament de Física, Universitat Autònoma de Barcelona, Bellaterra (Cerdanyola del Vallès), Barcelona, 08193, Spain
| | - Bradley J Nelson
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica I Computacional, Barcelona, 08028, Spain
- ICREA, Pg. Lluís Companys 23, Barcelona, 0 8010, Spain
| | - Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| |
Collapse
|