1
|
Liu J, Fu Y, Wu Y, Ruan H. Propulsion mechanism of artificial flagellated micro-swimmers actuated by acoustic waves-theory and experimental verification. BIOINSPIRATION & BIOMIMETICS 2024; 19:056008. [PMID: 38991522 DOI: 10.1088/1748-3190/ad622d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/16/2024] [Accepted: 07/11/2024] [Indexed: 07/13/2024]
Abstract
This work examines the acoustically actuated motions of artificial flagellated micro-swimmers (AFMSs) and compares the motility of these micro-swimmers with the predictions based on the corrected resistive force theory (RFT) and the bar-joint model proposed in our previous work. The key ingredient in the theory is the introduction of a correction factorKin drag coefficients to correct the conventional RFT so that the dynamics of an acoustically actuated AFMS with rectangular cross-sections can be accurately modeled. Experimentally, such AFMSs can be easily manufactured based on digital light processing of ultra-violet (UV)-curable resins. We first determined the viscoelastic properties of a UV-cured resin through dynamic mechanical analysis. In particular, the high-frequency storage moduli and loss factors were obtained based on the assumption of time-temperature superposition (TTS), which were then applied in theoretical calculations. Though the extrapolation based on the TTS implied the uncertainty of high-frequency material response and there is limited accuracy in determining head oscillation amplitude, the differences between the measured terminal velocities of the AFMSs and the predicted ones are less than 50%, which, to us, is well acceptable. These results indicate that the motions of acoustic AFMS can be predicted, and thus, designed, which pave the way for their long-awaited applications in targeted therapy.
Collapse
Affiliation(s)
- Jinan Liu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Yiqiang Fu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Yifei Wu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Haihui Ruan
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| |
Collapse
|
2
|
Chen X, Tian C, Zhang H, Xie H. Magnetic-actuated hydrogel microrobots with multimodal motion and collective behavior. J Mater Chem B 2024. [PMID: 38973596 DOI: 10.1039/d4tb00520a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/09/2024]
Abstract
Magnetic-actuated miniature robots have sparked growing interest owing to their promising potential in biomedical applications, such as noninvasive diagnosis, cargo delivery, and microsurgery. Innovations are required to combine biodegradable materials with flexible mobility to promote the translation of magnetic robots towards in vivo application. This study proposes a biodegradable magnetic hydrogel robot (MHR) with multimodal locomotion and collective behavior through magnetic-assisted fabrication. The MHRs with aligned magnetic chains inside their structures have more significant maximum motion speeds under rotating magnetic fields than the robots without magnetic alignment. By reconfiguring the external magnetic fields, three types of stable motion modes (tumbling, spinning, and wobbling modes) of the individual MHRs can be triggered, while flexible conversion can be achieved between each motion mode. The motion mechanism of each motion mode under diverse rotating magnetic fields has been analyzed. The collective behavior of the MHRs, which is triggered by the magnetic dipole force, can enhance the motion performance and pass through sophisticated terrains. Furthermore, the experimental results demonstrate that the assembled MHRs can execute complicated tasks such as targeted cargo delivery. The proposed MHRs with multimodal locomotion and assembled behavior show effective motion efficiency, flexible maneuverability, and remarkable targeting ability, providing a new choice for magnetic robots in biomedical applications.
Collapse
Affiliation(s)
- Xi Chen
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Chenyao Tian
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Hao Zhang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| |
Collapse
|
3
|
Shukla AK, Bhandari S, Mitra S, Kim B, Dey KK. Buoyancy-Driven Micro/-Nanomotors: From Fundamentals to Applications. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2308580. [PMID: 38225699 DOI: 10.1002/smll.202308580] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/26/2023] [Revised: 12/30/2023] [Indexed: 01/17/2024]
Abstract
The progression of self-powered micro/-nanomotors (MNMs) has rapidly evolved over the past few decades, showing applications in various fields such as nanotechnology, biomedical engineering, microfluidics, environmental science, and energy harvesting. Miniaturized MNMs transduce chemical/biochemical energies into mechanical motion for navigating through complex fluidic environments with directional control via external forces fields such as magnetic, photonic, and electric stimuli. Among various propulsion mechanisms, buoyancy-driven MNMs have received noteworthy recognition due to their simplicity, efficiency, and versatility. Buoyancy force-driven motors harness the principles of density variation-mediated force to overcome fluidic resistance to navigate through complex environments. Restricting the propulsion in one direction helps to control directional movement, making it more efficient in isotropic solutions. The changes in pH, ionic strength, chemical concentration, solute gradients, or the presence of specific molecules can influence the motion of buoyancy-driven MNMs as evidenced by earlier reports. This review aims to provide a fundamental and detailed analysis of the current state-of-the-art in buoyancy-driven MNMs, aiming to inspire further research and innovation in this promising field.
Collapse
Affiliation(s)
- Ashish Kumar Shukla
- Laboratory of Soft and Living Materials, Department of Physics, Indian Institute of Technology, Palaj, Gandhinagar, Gujarat, 382055, India
- School of Mechatronics Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
| | - Satyapriya Bhandari
- Department of Chemistry, Kandi Raj College, University of Kalyani, Murshidabad, Kandi, West Bengal, 742137, India
| | - Shirsendu Mitra
- Department of Chemical Engineering, Pandit Deendayal Energy University, Gandhinagar, Gujarat, 382007, India
| | - Byungki Kim
- School of Mechatronics Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
- Future Convergence Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
| | - Krishna Kanti Dey
- Laboratory of Soft and Living Materials, Department of Physics, Indian Institute of Technology, Palaj, Gandhinagar, Gujarat, 382055, India
| |
Collapse
|
4
|
Li T, Nie M, Morimoto Y, Takeuchi S. Pillar electrodes embedded in the skeletal muscle tissue for selective stimulation of biohybrid actuators with increased contractile distance. Biofabrication 2024; 16:035022. [PMID: 38744312 DOI: 10.1088/1758-5090/ad4ba1] [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: 12/12/2023] [Accepted: 05/14/2024] [Indexed: 05/16/2024]
Abstract
Electrodes are crucial for controlling the movements of biohybrid robots, but their external placement outside muscle tissue often leads to inefficient and non-selective stimulation of nearby biohybrid actuators. To address this, we propose embedding pillar electrodes within the skeletal muscle tissue, resulting in enhanced contraction of the target muscle without affecting the neighbor tissue with a 4 mm distance. We use finite element method simulations to establish a selectivity model, correlating the VIE(volume integration of electric field intensity within muscle tissue) with actual contractile distances under different amplitudes of electrical pulses. The simulated selective index closely aligns with experimental results, showing the potential of pillar electrodes for effective and selective biohybrid actuator stimulation. In experiments, we validated that the contractile distance and selectivity achieved with these pillar electrodes exceed conventional Au rod electrodes. This innovation has promising implications for building biohybrid robots with densely arranged muscle tissue, ultimately achieving more human-like movements. Additionally, our selectivity model offers valuable predictive tools for assessing electrical stimulation effects with different electrode designs.
Collapse
Affiliation(s)
- Tingyu Li
- Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan
| | - Minghao Nie
- Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan
| | - Yuya Morimoto
- Department of Electronic and Physical Systems,School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan
| | - Shoji Takeuchi
- Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan
| |
Collapse
|
5
|
Li W, Yin Y, Zhou H, Fan Y, Yang Y, Gao Q, Li P, Gao G, Li J. Recent Advances in Electrospinning Techniques for Precise Medicine. CYBORG AND BIONIC SYSTEMS 2024; 5:0101. [PMID: 38778878 PMCID: PMC11109596 DOI: 10.34133/cbsystems.0101] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/30/2023] [Accepted: 02/03/2024] [Indexed: 05/25/2024] Open
Abstract
In the realm of precise medicine, the advancement of manufacturing technologies is vital for enhancing the capabilities of medical devices such as nano/microrobots, wearable/implantable biosensors, and organ-on-chip systems, which serve to accurately acquire and analyze patients' physiopathological information and to perform patient-specific therapy. Electrospinning holds great promise in engineering materials and components for advanced medical devices, due to the demonstrated ability to advance the development of nanomaterial science. Nevertheless, challenges such as limited composition variety, uncontrollable fiber orientation, difficulties in incorporating fragile molecules and cells, and low production effectiveness hindered its further application. To overcome these challenges, advanced electrospinning techniques have been explored to manufacture functional composites, orchestrated structures, living constructs, and scale-up fabrication. This review delves into the recent advances of electrospinning techniques and underscores their potential in revolutionizing the field of precise medicine, upon introducing the fundamental information of conventional electrospinning techniques, as well as discussing the current challenges and future perspectives.
Collapse
Affiliation(s)
- Wei Li
- School of Medical Technology,
Beijing Institute of Technology, Beijing 100081, China
| | - Yue Yin
- School of Medical Technology,
Beijing Institute of Technology, Beijing 100081, China
- Zhengzhou Academy of Intelligent Technology,
Beijing Institute of Technology, Zhengzhou 450040, China
| | - Huaijuan Zhou
- Zhengzhou Academy of Intelligent Technology,
Beijing Institute of Technology, Zhengzhou 450040, China
- Advanced Research Institute of Multidisciplinary Sciences,
Beijing Institute of Technology, Beijing 100081, China
| | - Yingwei Fan
- School of Medical Technology,
Beijing Institute of Technology, Beijing 100081, China
| | - Yingting Yang
- Advanced Research Institute of Multidisciplinary Sciences,
Beijing Institute of Technology, Beijing 100081, China
| | - Qiqi Gao
- School of Medical Technology,
Beijing Institute of Technology, Beijing 100081, China
| | - Pei Li
- Center for Advanced Biotechnology and Medicine,
Rutgers University, Piscataway, NJ, USA
| | - Ge Gao
- School of Medical Technology,
Beijing Institute of Technology, Beijing 100081, China
- Zhengzhou Academy of Intelligent Technology,
Beijing Institute of Technology, Zhengzhou 450040, China
| | - Jinhua Li
- School of Medical Technology,
Beijing Institute of Technology, Beijing 100081, China
- Zhengzhou Academy of Intelligent Technology,
Beijing Institute of Technology, Zhengzhou 450040, China
| |
Collapse
|
6
|
Landers FC, Gantenbein V, Hertle L, Veciana A, Llacer-Wintle J, Chen XZ, Ye H, Franco C, Puigmartí-Luis J, Kim M, Nelson BJ, Pané S. On-Command Disassembly of Microrobotic Superstructures for Transport and Delivery of Magnetic Micromachines. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2310084. [PMID: 38101447 DOI: 10.1002/adma.202310084] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/28/2023] [Revised: 11/23/2023] [Indexed: 12/17/2023]
Abstract
Magnetic microrobots have been developed for navigating microscale environments by means of remote magnetic fields. However, limited propulsion speeds at small scales remain an issue in the maneuverability of these devices as magnetic force and torque are proportional to their magnetic volume. Here, a microrobotic superstructure is proposed, which, as analogous to a supramolecular system, consists of two or more microrobotic units that are interconnected and organized through a physical (transient) component (a polymeric frame or a thread). The superstructures consist of microfabricated magnetic helical micromachines interlocked by a magnetic gelatin nanocomposite containing iron oxide nanoparticles (IONPs). While the microhelices enable the motion of the superstructure, the IONPs serve as heating transducers for dissolving the gelatin chassis via magnetic hyperthermia. In a practical demonstration, the superstructure's motion with a gradient magnetic field in a large channel, the disassembly of the superstructure and release of the helical micromachines by a high-frequency alternating magnetic field, and the corkscrew locomotion of the released helices through a small channel via a rotating magnetic field, is showcased. This adaptable microrobotic superstructure reacts to different magnetic inputs, which can be used to perform complex delivery procedures within intricate regions of the human body.
Collapse
Affiliation(s)
- Fabian C Landers
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Valentin Gantenbein
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Lukas Hertle
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Andrea Veciana
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Joaquin Llacer-Wintle
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Xiang-Zhong Chen
- Institute of Optoelectronics, Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, 200438, P. R. China
- Yiwu Research Institute of Fudan University, Yiwu, Zhejiang, 322000, P. R. China
| | - Hao Ye
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Carlos Franco
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona, Martí i Franquès 1, Barcelona, 08028, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Minsoo Kim
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| |
Collapse
|
7
|
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
|
8
|
Jiang F, Zheng Q, Zhao Q, Qi Z, Wu D, Li W, Wu X, Han C. Magnetic propelled hydrogel microrobots for actively enhancing the efficiency of lycorine hydrochloride to suppress colorectal cancer. Front Bioeng Biotechnol 2024; 12:1361617. [PMID: 38449675 PMCID: PMC10915283 DOI: 10.3389/fbioe.2024.1361617] [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: 12/26/2023] [Accepted: 01/23/2024] [Indexed: 03/08/2024] Open
Abstract
Research and development in the field of micro/nano-robots have made significant progress in the past, especially in the field of clinical medicine, where further research may lead to many revolutionary achievements. Through the research and experiment of microrobots, a controllable drug delivery system will be realized, which will solve many problems in drug treatment. In this work, we design and study the ability of magnetic-driven hydrogel microrobots to carry Lycorine hydrochloride (LH) to inhibit colorectal cancer (CRC) cells. We have successfully designed a magnetic field driven, biocompatible drug carrying hydrogel microsphere robot with Fe3O4 particles inside, which can achieve magnetic field response, and confirmed that it can transport drug through fluorescence microscope. We have successfully demonstrated the motion mode of hydrogel microrobots driven by a rotating external magnetic field. This driving method allows the microrobots to move in a precise and controllable manner, providing tremendous potential for their use in various applications. Finally, we selected drug LH and loaded it into the hydrogel microrobot for a series of experiments. LH significantly inhibited CRC cells proliferation in a dose- and time-dependent manner. LH inhibited the proliferation, mobility of CRC cells and induced apoptosis. This delivery system can significantly improve the therapeutic effect of drugs on tumors.
Collapse
Affiliation(s)
- Fengqi Jiang
- Department of Urology, Xuzhou Clinical School of Xuzhou Medical University, Xuzhou Central Hospital, Xuzhou, Jiangsu, China
- Department of General Surgery, Heilongjiang Provincial Hospital, Harbin, China
- School of Life Sciences, Jiangsu Normal University, Xuzhou, Jiangsu, China
| | - Qiuyan Zheng
- Department of Pharmacy, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Qingsong Zhao
- Postdoctoral Programme of Meteria Medica Institute of Harbin University of Commerce, Harbin, China
| | - Zijuan Qi
- Department of Pathology, Heilongjiang Provincial Hospital, Harbin, China
| | - Di Wu
- Department of General Surgery, Heilongjiang Provincial Hospital, Harbin, China
| | - Wenzhong Li
- Department of General Surgery, Heilongjiang Provincial Hospital, Harbin, China
| | - Xiaoke Wu
- Department of Urology, Xuzhou Clinical School of Xuzhou Medical University, Xuzhou Central Hospital, Xuzhou, Jiangsu, China
- Department of Obstetrics and Gynecology, First Affiliated Hospital, Heilongjiang University of Chinese Medicine, Harbin, China
| | - Conghui Han
- Department of Urology, Xuzhou Clinical School of Xuzhou Medical University, Xuzhou Central Hospital, Xuzhou, Jiangsu, China
- School of Life Sciences, Jiangsu Normal University, Xuzhou, Jiangsu, China
| |
Collapse
|
9
|
Jeong SY, Seo HB, Seo MH, Cho JW, Kwon S, Son G, Lee SY. Repeatable Acoustic Vaporization of Coated Perfluorocarbon Bubbles for Micro-Actuation Inspired by Polypodium aureum. Biomimetics (Basel) 2024; 9:106. [PMID: 38392152 PMCID: PMC10887373 DOI: 10.3390/biomimetics9020106] [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: 01/07/2024] [Revised: 02/01/2024] [Accepted: 02/09/2024] [Indexed: 02/24/2024] Open
Abstract
Polypodium aureum, a fern, possesses a specialized spore-releasing mechanism like a catapult induced by the quick expansion of vaporized bubbles. This study introduces lipid-coated perfluorocarbon droplets to enable repeatable vaporization-condensation cycles, inspired by the repeatable vaporization of Polypodium aureum. Lipid-perfluorocarbon droplets have been considered not to exhibit repeatable oscillations due to bubble collapse of the low surface tension of lipid layers. However, a single lipid-dodecafluoropentane droplet with a diameter of 9.17 µm shows expansion-contraction oscillations over 4000 cycles by changing lipid composition and applying a low-power 1.7 MHz ultrasound to induce the partial vaporization of the droplets. The optimal combinations of shell composition, droplet fabrication, and acoustic conditions can minimize the damage on shell structure and promote a quick recovery of damaged shell layers. The highly expanding oscillatory microbubbles provide a new direction for fuel-free micro- or nanobots, as well as biomedical applications of contrast agents and drug delivery.
Collapse
Affiliation(s)
- Se-Yun Jeong
- Department of Mechanical Engineering, Sogang University, Baekbeom-ro 35, Mapo-gu, Seoul 04107, Republic of Korea
| | - Han-Bok Seo
- Department of Mechanical Engineering, Sogang University, Baekbeom-ro 35, Mapo-gu, Seoul 04107, Republic of Korea
| | - Myung-Hyun Seo
- Department of Mechanical Engineering, Sogang University, Baekbeom-ro 35, Mapo-gu, Seoul 04107, Republic of Korea
| | - Jin-Woo Cho
- Department of Mechanical Engineering, Sogang University, Baekbeom-ro 35, Mapo-gu, Seoul 04107, Republic of Korea
| | - Seho Kwon
- Department of Mechanical Engineering, Sogang University, Baekbeom-ro 35, Mapo-gu, Seoul 04107, Republic of Korea
| | - Gihun Son
- Department of Mechanical Engineering, Sogang University, Baekbeom-ro 35, Mapo-gu, Seoul 04107, Republic of Korea
| | - Seung-Yop Lee
- Department of Mechanical Engineering, Sogang University, Baekbeom-ro 35, Mapo-gu, Seoul 04107, Republic of Korea
| |
Collapse
|
10
|
Sun T, Chen J, Zhang J, Zhao Z, Zhao Y, Sun J, Chang H. Application of micro/nanorobot in medicine. Front Bioeng Biotechnol 2024; 12:1347312. [PMID: 38333078 PMCID: PMC10850249 DOI: 10.3389/fbioe.2024.1347312] [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: 12/08/2023] [Accepted: 01/02/2024] [Indexed: 02/10/2024] Open
Abstract
The development of micro/nanorobots and their application in medical treatment holds the promise of revolutionizing disease diagnosis and treatment. In comparison to conventional diagnostic and treatment methods, micro/nanorobots exhibit immense potential due to their small size and the ability to penetrate deep tissues. However, the transition of this technology from the laboratory to clinical applications presents significant challenges. This paper provides a comprehensive review of the research progress in micro/nanorobotics, encompassing biosensors, diagnostics, targeted drug delivery, and minimally invasive surgery. It also addresses the key issues and challenges facing this technology. The fusion of micro/nanorobots with medical treatments is poised to have a profound impact on the future of medicine.
Collapse
Affiliation(s)
- Tianhao Sun
- Department of Thoracic Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| | - Jingyu Chen
- Department of Oncology, The Fourth Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| | - Jiayang Zhang
- Key Laboratory of Carcinogenesis and Translational Research (Ministry of Education/Beijing), Department of Breast Oncology, Peking University Cancer Hospital and Institute, Beijing, China
| | - Zhihong Zhao
- Department of Thoracic Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| | - Yiming Zhao
- Department of Thoracic Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| | - Jingxue Sun
- Department of Endocrinology and Metabolism, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Hao Chang
- Department of Thoracic Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| |
Collapse
|
11
|
Wang Y, Yu H, Chen Y, Wang X, He J, Ye Z, Liu Y, Zhang Y, Wang B. A swarm of helical photocatalysts with controlled catalytic inhibition and acceleration by magneto-optical stimuli. J Colloid Interface Sci 2023; 652:1693-1702. [PMID: 37669591 DOI: 10.1016/j.jcis.2023.08.183] [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: 07/03/2023] [Revised: 08/13/2023] [Accepted: 08/28/2023] [Indexed: 09/07/2023]
Abstract
Highly persistent and toxic organic pollutants increasingly accumulate in freshwater resources, exacerbating the human water scarcity crisis. Developing novel microrobots with high catalytic performance, high mobility, and recycling capability integrated to harness energy from the surrounding environment to degrade pollutants effectively remains a challenge. Here, we report a kind of Spirulina (SP)-based magnetic photocatalytic microrobots with a substantially decreased band gap than that of pure photocatalysts, facilitating the generation of stable holes and electrons. Under sunlight irradiation, the degradation rate of rhodamine B (RhB) by the microrobots could be increased by 7.85 times compared with that of pure BiOCl, indicating its excellent photocatalytic performance. In addition, the microrobots can swarm in a highly controllable manner to the targeted regions and perform selective catalytic degradation of organic pollutants in specific areas by coupling effect of light and magnetic field. Importantly, the catalytic capability of the swarming microrobots can be activated by light stimulus whereas inhibited by magneto-optical stimuli, with a rate constant 2.15 times lower than that of pure light stimulation. The biohybrid and magneto-optical responsive microrobots offer a potential platform for selective pollutants catalysis at assigned regions in wastewater treatment plants.
Collapse
Affiliation(s)
- Yun Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Haidong Yu
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Yunrui Chen
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Xiangyu Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China; Guangxi Key Laboratory of Processing for Non-Ferrous Metals and Featured Materials, School of Resource, Environments and Materials, Guangxi University, Nanning 530004, China
| | - Jiajun He
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Zhicheng Ye
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Yu Liu
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Yabin Zhang
- Guangxi Key Laboratory of Processing for Non-Ferrous Metals and Featured Materials, School of Resource, Environments and Materials, Guangxi University, Nanning 530004, China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China.
| |
Collapse
|
12
|
Mahkam N, Aghakhani A, Sheehan D, Gardi G, Katzschmann R, Sitti M. Acoustic Streaming-Induced Multimodal Locomotion of Bubble-Based Microrobots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2304233. [PMID: 37884484 PMCID: PMC10724404 DOI: 10.1002/advs.202304233] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2023] [Revised: 09/12/2023] [Indexed: 10/28/2023]
Abstract
Acoustically-driven bubbles at the micron scale can generate strong microstreaming flows in its surrounding fluidic medium. The tunable acoustic streaming strength of oscillating microbubbles and the diversity of the generated flow patterns enable the design of fast-moving microrobots with multimodal locomotion suitable for biomedical applications. The acoustic microrobots holding two coupled microbubbles inside a rigid body are presented; trapped bubbles inside the L-shaped structure with different orifices generate various streaming flows, thus allowing multiple degrees of freedom in locomotion. The streaming pattern and mean streaming speed depend on the intensity and frequency of the acoustic wave, which can trigger four dominant locomotion modes in the microrobot, denoted as translational and rotational, spinning, rotational, and translational modes. Next, the effect of various geometrical and actuation parameters on the control and navigation of the microrobot is investigated. Furthermore, the surface-slipping multimodal locomotion, flow mixing, particle manipulation capabilities, the effective interaction of high flow rates with cells, and subsequent cancerous cell lysing abilities of the proposed microrobot are demonstrated. Overall, these results introduce a design toolbox for the next generation of acoustic microrobots with higher degrees of freedom with multimodal locomotion in biomedical applications.
Collapse
Affiliation(s)
- Nima Mahkam
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
| | - Amirreza Aghakhani
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute of Biomaterials and Biomolecular SystemsUniversity of Stuttgart70569StuttgartGermany
| | - Devin Sheehan
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Gaurav Gardi
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Robert Katzschmann
- Department of Mechanical and Process EngineeringETH ZurichZurich8092Switzerland
| | - Metin Sitti
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
- School of MedicineKoç UniversityIstanbul34450Turkey
- College of EngineeringKoç UniversityIstanbul34450Turkey
| |
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
|
Yoon J, Moon JH, Chung J, Kim YJ, Kim K, Kang HS, Jeon YS, Oh E, Lee SH, Han K, Lee D, Lee CH, Kim YK, Lee D. Exploring the Magnetic Properties of Individual Barcode Nanowires using Wide-Field Diamond Microscopy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2304129. [PMID: 37264689 DOI: 10.1002/smll.202304129] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/17/2023] [Revised: 05/22/2023] [Indexed: 06/03/2023]
Abstract
A barcode magnetic nanowire typically comprises a multilayer magnetic structure in a single body with more than one segment type. Interestingly, due to selective functionalization and novel interactions between the layers, it has attracted significant attention, particularly in bioengineering. However, analyzing the magnetic properties at the individual nanowire level remains challenging. Herein, the characterization of a single magnetic nanowire is investigated at room temperature under ambient conditions based on magnetic images obtained via wide-field quantum microscopy with nitrogen-vacancy centers in diamond. Consequently, critical magnetic properties of a single nanowire can be extracted, such as saturation magnetization and coercivity, by comparing the experimental result with that of micromagnetic simulation. This study opens up the possibility for a versatile in situ characterization method suited to individual magnetic nanowires.
Collapse
Affiliation(s)
- Jungbae Yoon
- Department of Physics, Korea University, Seoul, 02841, Republic of Korea
| | - Jun Hwan Moon
- Department of Materials Science and Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Jugyeong Chung
- Department of Physics, Korea University, Seoul, 02841, Republic of Korea
| | - Yu Jin Kim
- Institute for High Technology Materials and Devices, Korea University, Seoul, 02841, Republic of Korea
| | - Kihwan Kim
- Department of Physics, Korea University, Seoul, 02841, Republic of Korea
| | - Hee Seong Kang
- KU-KIST Graduate School of Converging Science and Technology, Korea University, Seoul, 02841, Republic of Korea
| | - Yoo Sang Jeon
- Center for Hydrogen∙Fuel Cell Research, Korea Institute of Science and Technology, Seoul, 02792, Republic of Korea
| | - Eunsoo Oh
- Department of Materials Science and Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Sun Hwa Lee
- Center for Multidimensional Carbon Materials (CMCM), Institute for Basic Science (IBS), Ulsan, 44919, Republic of Korea
| | - Kihoon Han
- BK21 Graduate Program, Department of Biomedical Sciences, Korea University College of Medicine, Seoul, 02841, Republic of Korea
- Department of Neuroscience, Korea University College of Medicine, Seoul, 02841, Republic of Korea
| | - Dongmin Lee
- BK21 Graduate Program, Department of Biomedical Sciences, Korea University College of Medicine, Seoul, 02841, Republic of Korea
- Department of Anatomy, Korea University College of Medicine, Seoul, 02841, Republic of Korea
| | - Chul-Ho Lee
- Department of Electrical and Computer Engineering, Seoul National University, Seoul, 08826, Republic of Korea
| | - Young Keun Kim
- Department of Materials Science and Engineering, Korea University, Seoul, 02841, Republic of Korea
- Institute for High Technology Materials and Devices, Korea University, Seoul, 02841, Republic of Korea
| | - Donghun Lee
- Department of Physics, Korea University, Seoul, 02841, Republic of Korea
| |
Collapse
|
15
|
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
|
16
|
Voß J, Wittkowski R. Dependence of the acoustic propulsion of nano- and microcones on their orientation and aspect ratio. Sci Rep 2023; 13:12858. [PMID: 37553408 PMCID: PMC10409789 DOI: 10.1038/s41598-023-39231-1] [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: 02/25/2022] [Accepted: 07/21/2023] [Indexed: 08/10/2023] Open
Abstract
Recent research revealed the orientation-dependent propulsion of a cone-shaped colloidal particle that is exposed to a planar traveling ultrasound wave. Here, we extend the previous research by considering nano- and microcones with different aspect ratios and studying how the propulsion of a particle depends on its orientation and aspect ratio. We also study how the orientation-averaged propulsion of a cone-shaped particle, which corresponds to an isotropic ultrasound field, depends on its aspect ratio and identify an aspect ratio of 1/2 where the orientation-averaged propulsion is particularly strong. To make our simulation results easier reusable for follow-up research, we provide a corresponding simple analytic representation.
Collapse
Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149, Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149, Münster, Germany.
| |
Collapse
|
17
|
Kong X, Gao P, Wang J, Fang Y, Hwang KC. Advances of medical nanorobots for future cancer treatments. J Hematol Oncol 2023; 16:74. [PMID: 37452423 PMCID: PMC10347767 DOI: 10.1186/s13045-023-01463-z] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/27/2023] [Accepted: 05/31/2023] [Indexed: 07/18/2023] Open
Abstract
Early detection and diagnosis of many cancers is very challenging. Late stage detection of a cancer always leads to high mortality rates. It is imperative to develop novel and more sensitive and effective diagnosis and therapeutic methods for cancer treatments. The development of new cancer treatments has become a crucial aspect of medical advancements. Nanobots, as one of the most promising applications of nanomedicines, are at the forefront of multidisciplinary research. With the progress of nanotechnology, nanobots enable the assembly and deployment of functional molecular/nanosized machines and are increasingly being utilized in cancer diagnosis and therapeutic treatment. In recent years, various practical applications of nanobots for cancer treatments have transitioned from theory to practice, from in vitro experiments to in vivo applications. In this paper, we review and analyze the recent advancements of nanobots in cancer treatments, with a particular emphasis on their key fundamental features and their applications in drug delivery, tumor sensing and diagnosis, targeted therapy, minimally invasive surgery, and other comprehensive treatments. At the same time, we discuss the challenges and the potential research opportunities for nanobots in revolutionizing cancer treatments. In the future, medical nanobots are expected to become more sophisticated and capable of performing multiple medical functions and tasks, ultimately becoming true nanosubmarines in the bloodstream.
Collapse
Affiliation(s)
- Xiangyi Kong
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, 100021, China
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital and Shenzhen Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Shenzhen, 518116, China
| | - Peng Gao
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, 100021, China
- Division of Breast Surgery, Department of General Surgery, West China Hospital, Sichuan University, Chengdu, 610041, China
- Breast Center, West China Hospital, Sichuan University, Chengdu, 610041, China
| | - Jing Wang
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, 100021, China.
| | - Yi Fang
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, 100021, China.
| | - Kuo Chu Hwang
- Department of Chemistry, National Tsing Hua University, Hsinchu, 30013, Taiwan ROC.
| |
Collapse
|
18
|
Liu J, Fu Y, Liu X, Ruan H. A bar-joint model based on the corrected resistive force theory for artificial flagellated micro-swimmers propelled by acoustic waves. BIOINSPIRATION & BIOMIMETICS 2023; 18:035003. [PMID: 36821864 DOI: 10.1088/1748-3190/acbe86] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/09/2022] [Accepted: 02/23/2023] [Indexed: 06/18/2023]
Abstract
In this work, we proposed a bar-joint model based on the corrected resistive force theory (CRFT) for studying artificial flagellated micro-swimmers (AFMSs) propelled by acoustic waves in a two-dimensional (2D) flow field or with a rectangular cross-section. Note that the classical resistive-force theory for 3D cylindrical flagellum leads to over 90% deviation in terminal velocity from those of 2D fluid-structure interaction (FSI) simulations, while the proposed CRFT bar-joint model can reduce the deviation to below 5%; hence, it enables a reliable prediction of the 2D locomotion of an acoustically actuated AFMS with a rectangular cross-section, which is the case in some experiments. Introduced in the CRFT is a single correction factorKdetermined by comparing the linear terminal velocities under acoustic actuation obtained from the CRFT with those from simulations. After the determination ofK, detailed comparisons of trajectories between the CRFT-based bar-joint AFMS model and the FSI simulation were presented, exhibiting an excellent consistency. Finally, a numerical demonstration of the purely acoustic or magneto-acoustic steering of an AFMS based on the CRFT was presented, which can be one of the choices for future AFMS-based precision therapy.
Collapse
Affiliation(s)
- Jinan Liu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
| | - Yiqiang Fu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
| | - Xiongjun Liu
- State Key Laboratory for Advanced Metals and Materials, University of Science and Technology Beijing, Beijing 100083, People's Republic of China
| | - Haihui Ruan
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
| |
Collapse
|
19
|
Deng X, Su Y, Xu M, Gong D, Cai J, Akhter M, Chen K, Li S, Pan J, Gao C, Li D, Zhang W, Xu W. Magnetic Micro/nanorobots for biological detection and targeted delivery. Biosens Bioelectron 2023; 222:114960. [PMID: 36463650 DOI: 10.1016/j.bios.2022.114960] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/23/2022] [Revised: 10/12/2022] [Accepted: 11/25/2022] [Indexed: 11/29/2022]
Affiliation(s)
- Xue Deng
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Yuan Su
- Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health Institute of Nutrition and Health, China Agricultural University, Beijing, 100083, China
| | - Minghao Xu
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - De Gong
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Jun Cai
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Muhammad Akhter
- College of Information and Electrical Engineering, China Agricultural University, Beijing, 100083, China
| | - Kehan Chen
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Shuting Li
- Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health Institute of Nutrition and Health, China Agricultural University, Beijing, 100083, China
| | - Jingwen Pan
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Chao Gao
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Daoliang Li
- College of Information and Electrical Engineering, China Agricultural University, Beijing, 100083, China
| | - Wenqiang Zhang
- College of Engineering, China Agricultural University, Beijing, 100083, China.
| | - Wentao Xu
- Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health Institute of Nutrition and Health, China Agricultural University, Beijing, 100083, China; Key Laboratory of Safety Assessment of Genetically Modified Organism Food Safety MOA, College of Food Science and Nutritional Engineering, China Agricultural University, Beijing, 100083, China.
| |
Collapse
|
20
|
Wang Z, Mu X, Tan L, Zhong Y, Cheang UK. A rolled-up-based fabrication method of 3D helical microrobots. Front Robot AI 2022; 9:1063987. [PMID: 36523446 PMCID: PMC9744796 DOI: 10.3389/frobt.2022.1063987] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/07/2022] [Accepted: 11/15/2022] [Indexed: 01/19/2024] Open
Abstract
While the potential of using helical microrobots for biomedical applications, such as cargo transport, drug delivery, and micromanipulation, had been demonstrated, the viability to use them for practical applications is hindered by the cost, speed, and repeatability of current fabrication techniques. Hence, this paper introduces a simple, low-cost, high-throughput manufacturing process for single nickel layer helical microrobots with consistent dimensions. Photolithography and electron-beam (e-beam) evaporation were used to fabricate 2D parallelogram patterns that were sequentially rolled up into helical microstructures through the swelling effect of a photoresist sacrificial layer. Helical parameters were controlled by adjusting the geometric parameters of parallelogram patterns. To validate the fabrication process and characterize the microrobots' mobility, we characterized the structures and surface morphology of the microrobots using a scanning electron microscope and tested their steerability using feedback control, respectively. Finally, we conducted a benchmark comparison to demonstrate that the fabrication method can produce helical microrobots with swimming properties comparable to previously reported microrobots.
Collapse
Affiliation(s)
- Zihan Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
- Department of Biomedical Engineering, University of Groningen and University Medical Center Groningen, Groningen, Netherlands
| | - Xueliang Mu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
- Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, AB, Canada
| | - Liyuan Tan
- 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
| | - 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
| |
Collapse
|
21
|
Wang Y, Guan Q, Lei D, Esmaeely Neisiany R, Guo Y, Gu S, You Z. Meniscus-Climbing System Inspired 3D Printed Fully Soft Robotics with Highly Flexible Three-Dimensional Locomotion at the Liquid-Air Interface. ACS NANO 2022; 16:19393-19402. [PMID: 36367434 DOI: 10.1021/acsnano.2c09066] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Soft robotics locomotion at the liquid-air interface has become more and more important for an intelligent society. However, existing locomotion of soft robotics is limited to two dimensions. It remains a formidable challenge to realize three-dimensional locomotion (X, Y, and Z axes) at the liquid-air two-phase interface due to the unbalanced mechanical environment. Inspired by meniscus-climbing beetle larva Pyrrhalta, the mechanism of a three-phase (liquid-solid-air) contact line is here proposed to address the aforementioned challenge. A corresponding 3D printed fully soft robotics (named larvobot) based on photoresponsive liquid crystal elastomer/carbon nanotubes composites endowed repeatable programmable deformation and high degree-of-freedom locomotion. Three-dimensional locomotion at the liquid-air interface including twisting and rolling-up has been developed. The equation of motion is established by analyzing the mechanics along the solid-water surface of the larvobot. Meanwhile, ANSYS is used to calculate the stress distribution, which coincides with the speculation. Moreover, soft robotics is remotely driven by light in a precise spatiotemporal control, which provides a great advantage for applications. As an example, we demonstrate the controllable locomotion of the soft robotics inside closed tubes, which could be used for drug delivery and intelligent transportation.
Collapse
Affiliation(s)
- Yang Wang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Institute of Functional Materials, Donghua University, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, 2999 North Renmin Road, Shanghai201620, P. R. China
| | - Qingbao Guan
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Institute of Functional Materials, Donghua University, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, 2999 North Renmin Road, Shanghai201620, P. R. China
| | - Dong Lei
- Department of Cardiology, Shanghai 9th People's Hospital, Shanghai Key Laboratory of Tissue Engineering, School of Medicine, Shanghai Jiao Tong University, Shanghai200011, P. R. China
| | - Rasoul Esmaeely Neisiany
- Department of Materials and Polymer Engineering, Faculty of Engineering, Hakim Sabzevari University, Sabzevar9617976487, Iran
| | - Yue Guo
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Institute of Functional Materials, Donghua University, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, 2999 North Renmin Road, Shanghai201620, P. R. China
| | - Shijia Gu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Institute of Functional Materials, Donghua University, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, 2999 North Renmin Road, Shanghai201620, P. R. China
| | - Zhengwei You
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Institute of Functional Materials, Donghua University, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, 2999 North Renmin Road, Shanghai201620, P. R. China
| |
Collapse
|
22
|
Tan L, Wang Z, Chen Z, Shi X, Cheang UK. Improving Swimming Performance of Photolithography-Based Microswimmers Using Curvature Structures. MICROMACHINES 2022; 13:1965. [PMID: 36422394 PMCID: PMC9694957 DOI: 10.3390/mi13111965] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/13/2022] [Revised: 11/04/2022] [Accepted: 11/07/2022] [Indexed: 06/16/2023]
Abstract
The emergence of robotic microswimmers and their huge potential in biomedical applications such as drug delivery, non-invasive surgery, and bio-sensing facilitates studies to improve their effectiveness. Recently, achiral microswimmers that have neither flexible nor helical structures have garnered attention because of their simple structures and fabrication process while preserving adequate swimming velocity and controllability. In this paper, the crescent shape was utilized to create photolithography-fabricated crescent-shaped achiral microswimmers. The microswimmers were actuated using rotating magnetic fields at low Reynolds numbers. Compared with the previously reported achiral microswimmers, the crescent-shaped microswimmers showed significant improvement in forward swimming speed. The effects of different curvatures, arm angles, and procession angles on the velocities of microswimmers were investigated. Moreover, the optimal swimming motion was defined by adjusting the field strength of the magnetic field. Finally, the effect of the thickness of the microswimmers on their swimming velocity was investigated.
Collapse
Affiliation(s)
- Liyuan Tan
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Zihan Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Zhi Chen
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Xiangcheng Shi
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen 518055, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China
| |
Collapse
|
23
|
Pinchin NP, Lin CH, Kinane CA, Yamada N, Pena-Francesch A, Shahsavan H. Plasticized liquid crystal networks and chemical motors for the active control of power transmission in mechanical devices. SOFT MATTER 2022; 18:8063-8070. [PMID: 35969176 DOI: 10.1039/d2sm00826b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
The miniaturization of mechanical devices poses new challenges in powering, actuation, and control since traditional approaches cannot be used due to inherent size limitations. This is particularly challenging in untethered small-scale machines where independent actuation of multicomponent and multifunctional complex systems is required. This work showcases the integration of self-powered chemical motors and liquid crystal networks into a powertrain transmission device to achieve orthogonal untethered actuation for power and control. Driving gears with a protein-based chemical motor were used to power the transmission system with Marangoni propulsive forces, while photothermal liquid crystal networks were used as a photoresponsive clutch to engage/disengage the gear system. Liquid crystal networks were plasticized for optimized photothermal bending actuation to break the surface tension of water and achieve reversible immersion/resurfacing at the air-water interface. This concept is demonstrated in a milliscale transmission gear system and offers potential solutions for aquatic soft robots whose powering and control mechanisms must be necessarily decoupled.
Collapse
Affiliation(s)
- Natalie P Pinchin
- Department of Chemical Engineering, Waterloo Institute for Nanotechnology, University of Waterloo, Waterloo, ON, N2L 3G1, Canada.
| | - Chia-Heng Lin
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, 48109, USA.
| | - Cecelia A Kinane
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, 48109, USA.
| | - Naoki Yamada
- Department of System Innovation, Osaka University, Osaka, 560-0043, Japan
| | - Abdon Pena-Francesch
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, 48109, USA.
| | - Hamed Shahsavan
- Department of Chemical Engineering, Waterloo Institute for Nanotechnology, University of Waterloo, Waterloo, ON, N2L 3G1, Canada.
| |
Collapse
|
24
|
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
|
25
|
Honecker D, Bender P, Falke Y, Dresen D, Kundt M, Schmidt AM, Tschöpe A, Sztucki M, Burghammer M, Disch S. Controlling the rotation modes of hematite nanospindles using dynamic magnetic fields. NANOSCALE ADVANCES 2022; 4:4535-4541. [PMID: 36341302 PMCID: PMC9595103 DOI: 10.1039/d2na00522k] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/05/2022] [Accepted: 09/12/2022] [Indexed: 06/16/2023]
Abstract
The magnetic field-induced actuation of colloidal nanoparticles has enabled tremendous recent progress towards microrobots, suitable for a variety of applications including targeted drug delivery, environmental remediation, or minimally invasive surgery. Further size reduction to the nanoscale requires enhanced control of orientation and locomotion to overcome dominating viscous properties. Here, control of the coherent precession of hematite spindles via a dynamic magnetic field is demonstrated using nanoscale particles. Time-resolved small-angle scattering and optical transmission measurements reveal a clear frequency-dependent variation of orientation and rotation of an entire ensemble of non-interacting hematite nanospindles. The different motion mechanisms by nanoscale spindles in bulk dispersion resemble modes that have been observed for much larger, micron-sized elongated particles near surfaces. The dynamic rotation modes promise hematite nanospindles as a suitable model system for field-induced locomotion in nanoscale magnetic robots.
Collapse
Affiliation(s)
- Dirk Honecker
- ISIS Neutron and Muon Facility, Rutherford Appleton Laboratory Didcot OX11 0QX UK
| | - Philipp Bender
- Heinz Maier-Leibnitz Zentrum (MLZ), Technische Universität München Lichtenbergstraße 1 85748 Garching Germany
| | - Yannic Falke
- Department für Chemie, Universität zu Köln Greinstr. 4-6 50939 Köln Germany
| | - Dominique Dresen
- Department für Chemie, Universität zu Köln Greinstr. 4-6 50939 Köln Germany
| | - Matthias Kundt
- Department für Chemie, Universität zu Köln Greinstr. 4-6 50939 Köln Germany
| | - Annette M Schmidt
- Department für Chemie, Universität zu Köln Greinstr. 4-6 50939 Köln Germany
| | - Andreas Tschöpe
- Experimentalphysik, Universität des Saarlandes Saarbrücken Germany
| | - Michael Sztucki
- European Synchrotron Radiation Facility (ESRF) 38043 Grenoble France
| | | | - Sabrina Disch
- Department für Chemie, Universität zu Köln Greinstr. 4-6 50939 Köln Germany
| |
Collapse
|
26
|
Xia N, Zhu G, Wang X, Dong Y, Zhang L. Multicomponent and multifunctional integrated miniature soft robots. SOFT MATTER 2022; 18:7464-7485. [PMID: 36189642 DOI: 10.1039/d2sm00891b] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.
Collapse
Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Guangda Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Yue Dong
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
| |
Collapse
|
27
|
Cao HX, Nguyen VD, Jung D, Choi E, Kim CS, Park JO, Kang B. Acoustically Driven Cell-Based Microrobots for Targeted Tumor Therapy. Pharmaceutics 2022; 14:pharmaceutics14102143. [PMID: 36297578 PMCID: PMC9609374 DOI: 10.3390/pharmaceutics14102143] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/09/2022] [Revised: 10/06/2022] [Accepted: 10/06/2022] [Indexed: 11/06/2022] Open
Abstract
Targeted drug delivery using microrobots manipulated by an external actuator has significant potential to be a practical approach for wireless delivery of therapeutic agents to the targeted tumor. This work aimed to develop a novel acoustic manipulation system and macrophage-based microrobots (Macbots) for a study in targeted tumor therapy. The Macbots containing superparamagnetic iron oxide nanoparticles (SPIONs) can serve as drug carriers. Under an acoustic field, a microrobot cluster of the Macbots is manipulated by following a predefined trajectory and can reach the target with a different contact angle. As a fundamental validation, we investigated an in vitro experiment for targeted tumor therapy. The microrobot cluster could be manipulated to any point in the 4 × 4 × 4 mm region of interest with a position error of less than 300 μm. Furthermore, the microrobot could rotate in the O-XY plane with an angle step of 45 degrees without limitation of total angle. Finally, we verified that the Macbots could penetrate a 3D tumor spheroid that mimics an in vivo solid tumor. The outcome of this study suggests that the Macbots manipulated by acoustic actuators have potential applications for targeted tumor therapy.
Collapse
Affiliation(s)
- Hiep Xuan Cao
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Van Du Nguyen
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Daewon Jung
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Eunpyo Choi
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Chang-Sei Kim
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
| | - Byungjeon Kang
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
- College of AI Convergence, Chonnam National University, Gwangju 61186, Korea
- Graduate School of Data Science, Chonnam National University, Gwangju 61186, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
| |
Collapse
|
28
|
Zhou H, Dong G, Gao G, Du R, Tang X, Ma Y, Li J. Hydrogel-Based Stimuli-Responsive Micromotors for Biomedicine. CYBORG AND BIONIC SYSTEMS (WASHINGTON, D.C.) 2022; 2022:9852853. [PMID: 36285306 PMCID: PMC9579945 DOI: 10.34133/2022/9852853] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/04/2022] [Accepted: 09/23/2022] [Indexed: 11/07/2022]
Abstract
The rapid development of medical micromotors draws a beautiful blueprint for the noninvasive or minimally invasive diagnosis and therapy. By combining stimuli-sensitive hydrogel materials, micromotors are bestowed with new characteristics such as stimuli-responsive shape transformation/morphing, excellent biocompatibility and biodegradability, and drug loading ability. Actuated by chemical fuels or external fields (e.g., magnetic field, ultrasound, light, and electric field), hydrogel-based stimuli-responsive (HBSR) micromotors can be utilized to load therapeutic agents into the hydrogel networks or directly grip the target cargos (e.g., drug-loaded particles, cells, and thrombus), transport them to sites of interest (e.g., tumor area and diseased tissues), and unload the cargos or execute a specific task (e.g., cell capture, targeted sampling, and removal of blood clots) in response to a stimulus (e.g., change of temperature, pH, ion strength, and chemicals) in the physiological environment. The high flexibility, adaptive capacity, and shape morphing property enable the HBSR micromotors to complete specific medical tasks in complex physiological scenarios, especially in confined, hard-to-reach tissues, and vessels of the body. Herein, this review summarizes the current progress in hydrogel-based medical micromotors with stimuli responsiveness. The thermo-responsive, photothermal-responsive, magnetocaloric-responsive, pH-responsive, ionic-strength-responsive, and chemoresponsive micromotors are discussed in detail. Finally, current challenges and future perspectives for the development of HBSR micromotors in the biomedical field are discussed.
Collapse
Affiliation(s)
- Huaijuan Zhou
- Advanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing 100081, China
| | - Guozhao Dong
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Ge Gao
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Ran Du
- School of Materials Science & Engineering, Key Laboratory of High Energy Density Materials of the Ministry of Education, Beijing Institute of Technology, Beijing 100081, China
| | - Xiaoying Tang
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China
| | - Yining Ma
- Department of Forensic Science, Jiangsu Police Institute, Nanjing 210031, China
| | - Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| |
Collapse
|
29
|
Abstract
Micro-/nanorobots (MNRs) can be autonomously propelled on demand in complex biological environments and thus may bring revolutionary changes to biomedicines. Fluorescence has been widely used in real-time imaging, chemo-/biosensing, and photo-(chemo-) therapy. The integration of MNRs with fluorescence generates fluorescent MNRs with unique advantages of optical trackability, on-the-fly environmental sensitivity, and targeting chemo-/photon-induced cytotoxicity. This review provides an up-to-date overview of fluorescent MNRs. After the highlighted elucidation about MNRs of various propulsion mechanisms and the introductory information on fluorescence with emphasis on the fluorescent mechanisms and materials, we systematically illustrate the design and preparation strategies to integrate MNRs with fluorescent substances and their biomedical applications in imaging-guided drug delivery, intelligent on-the-fly sensing and photo-(chemo-) therapy. In the end, we summarize the main challenges and provide an outlook on the future directions of fluorescent MNRs. This work is expected to attract and inspire researchers from different communities to advance the creation and practical application of fluorescent MNRs on a broad horizon.
Collapse
Affiliation(s)
- Manyi Yang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Xia Guo
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Fangzhi Mou
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Jianguo Guan
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| |
Collapse
|
30
|
Lin CH, Kinane C, Zhang Z, Pena-Francesch A. Functional Chemical Motor Coatings for Modular Powering of Self-Propelled Particles. ACS APPLIED MATERIALS & INTERFACES 2022; 14:39332-39342. [PMID: 35972784 DOI: 10.1021/acsami.2c08061] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Inspired by the locomotion of semiaquatic insects, a variety of surface swimming microrobots propelled by surface tension Marangoni forces have been developed over the years. However, most Marangoni micromotor systems present limitations in their applications due to poor performance, short lifetime, low efficiency, and toxicity. We have developed a functional chemical motor coating consisting of protein microfilms with entrapped fuel to functionalize inactive substrates or particles. This motor material system generates large Marangoni propulsive forces with extremely small amounts of fuel due to a self-regulated fuel release mechanism based on dynamic nanostructural changes in the protein matrix, enhancing the lifetime and efficiency performance over other material systems and motors. These motor functional coatings offer great versatility as they can be coated on a wide array of substrates and materials across length scales, with opportunities as modular power sources for microrobots and small-scale devices. The synergy between the protein motor matrix and the chemical fuel enables the wider design of self-powered surface microrobots without previous limitations in their fabrication and performance, including the new design of hybrid microrobots with protein functional coatings as a modular power source.
Collapse
Affiliation(s)
- Chia-Heng Lin
- Department of Materials Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
| | - Cecelia Kinane
- Macromolecular Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
| | - Zenghao Zhang
- Department of Materials Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
| | - Abdon Pena-Francesch
- Department of Materials Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
- Macromolecular Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
- Robotics Institute, University of Michigan, Ann Arbor, Michigan 48109, United States
| |
Collapse
|
31
|
Mu H, Liu C, Zhang Q, Meng H, Yu S, Zeng K, Han J, Jin X, Shi S, Yu P, Li T, Xu J, Hua Y. Magnetic-Driven Hydrogel Microrobots Selectively Enhance Synthetic Lethality in MTAP-Deleted Osteosarcoma. Front Bioeng Biotechnol 2022; 10:911455. [PMID: 35875497 PMCID: PMC9299081 DOI: 10.3389/fbioe.2022.911455] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/02/2022] [Accepted: 05/20/2022] [Indexed: 11/30/2022] Open
Abstract
Background: Drugs based on synthetic lethality have advantages such as inhibiting tumor growth and affecting normal tissue in vivo. However, specific targets for osteosarcoma have not been acknowledged yet. In this study, a non-targeted but controllable drug delivery system has been applied to selectively enhance synthetic lethality in osteosarcoma in vitro, using the magnetic-driven hydrogel microrobots. Methods: In this study, EPZ015666, a PRMT5 inhibitor, was selected as the synthetic lethality drug. Then, the drug was carried by hydrogel microrobots containing Fe3O4. Morphological characteristics of the microrobots were detected using electron microscopy. In vitro drug effect was detected by the CCK-8 assay kit, Western blotting, etc. Swimming of microrobots was observed by a timing microscope. Selective inhibition was verified by cultured tumors in an increasing magnetic field. Results: Genomic mutation of MTAP deletion occurred commonly in pan-cancer in the TCGA database (nearly 10.00%) and in osteosarcoma in the TARGET database (23.86%). HOS and its derivatives, 143B and HOS/MNNG, were detected by MTAP deletion according to the CCLE database and RT-PCR. EPZ015666, the PRMT5 inhibitor, could reduce the SDMA modification and inhibition of tumor growth of 143B and HOS/MNNG. The hydrogel microrobot drug delivery system was synthesized, and the drug was stained by rhodamine. The microrobots were powered actively by a magnetic field. A simulation of the selected inhibition of microrobots was performed and lower cell viability of tumor cells was detected by adding a high dose of microrobots. Conclusion: Our magnetic-driven drug delivery system could carry synthetic lethality drugs. Meanwhile, the selective inhibition of this system could be easily controlled by programming the strength of the magnetic field.
Collapse
Affiliation(s)
- Haoran Mu
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China.,Shanghai Bone Tumor Institution, Shanghai, China
| | - Chenlu Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Qi Zhang
- Department of Biochemistry and Molecular Cell Biology, Shanghai Key Laboratory for Tumor Microenvironment and Inflammation, Shanghai Jiao Tong University School of Medicine, Shanghai, China
| | - Huanliang Meng
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China.,Shanghai Bone Tumor Institution, Shanghai, China
| | - Shimin Yu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Ke Zeng
- Shanghai Bone Tumor Institution, Shanghai, China
| | - Jing Han
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China.,Shanghai Bone Tumor Institution, Shanghai, China
| | - Xinmeng Jin
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China.,Shanghai Bone Tumor Institution, Shanghai, China
| | - Shi Shi
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
| | - Peiyao Yu
- School of Basic Medical Sciences, Harbin Medical University, Harbin, China
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Jing Xu
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China.,Shanghai Bone Tumor Institution, Shanghai, China
| | - Yingqi Hua
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China.,Shanghai Bone Tumor Institution, Shanghai, China
| |
Collapse
|
32
|
Liu X, Chen W, Zhao D, Liu X, Wang Y, Chen Y, Ma X. Enzyme-Powered Hollow Nanorobots for Active Microsampling Enabled by Thermoresponsive Polymer Gating. ACS NANO 2022; 16:10354-10363. [PMID: 35816232 DOI: 10.1021/acsnano.2c00401] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Achieving molecular sample capture at micro/nanoscales while integrating functions of controllable loading and real-time monitoring of cargo molecules is of great significance in the development of intelligent micro/nanorobots. Herein, we prepare a temperature-responsive microsampling nanorobot by encapsulating metal (Au) nanodots inside hollow mesoporous silica nanoparticles and grafting a temperature-responsive polymer, poly(N-isopropylacrylamide), on their external surface. The molecular gate of nanochannels accessing the internal hollow reservoir can be switched between "open" and "closed" states by regulating the temperature, allowing on-demand loading and releasing of small molecules. The internally embedded surface-enhanced Raman scattering hotspots of gold nanodots can serve as sensing probes for real-time detection of the molecular cargo load inside the hollow nanorobots. Furthermore, we demonstrate temperature-dependent self-propulsion behavior of the nanorobots driven by enzymatic reactions. The active motion behavior can favorably regulate the loading efficiency of molecular cargos. In addition, by further introducing the magnetic component Ni, the nanorobots can accomplish effective transportation of cargo molecules by magnetic guidance under real-time Raman monitoring. The current strategy is expected to provide a manipulable nanorobot platform for precise biomedical sampling, which holds promising potential for disease diagnosis or controlled drug delivery in precision medicine.
Collapse
Affiliation(s)
- Xiaojia Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, Shenzhen 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen 518055, China
| | - Wenjun Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, Shenzhen 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen 518055, China
| | - Dongfang Zhao
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, Shenzhen 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen 518055, China
| | - Xiaoxia Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, Shenzhen 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen 518055, China
| | - Yong Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, Shenzhen 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen 518055, China
| | - Yuduo Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, Shenzhen 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen 518055, China
| | - Xing Ma
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, Shenzhen 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen 518055, China
| |
Collapse
|
33
|
Cong Z, Tang S, Xie L, Yang M, Li Y, Lu D, Li J, Yang Q, Chen Q, Zhang Z, Zhang X, Wu S. Magnetic-Powered Janus Cell Robots Loaded with Oncolytic Adenovirus for Active and Targeted Virotherapy of Bladder Cancer. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2201042. [PMID: 35452560 DOI: 10.1002/adma.202201042] [Citation(s) in RCA: 21] [Impact Index Per Article: 10.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2022] [Revised: 04/09/2022] [Indexed: 02/05/2023]
Abstract
A unique robotic medical platform is designed by utilizing cell robots as the active "Trojan horse" of oncolytic adenovirus (OA), capable of tumor-selective binding and killing. The OA-loaded cell robots are fabricated by entirely modifying OA-infected 293T cells with cyclic arginine-glycine-aspartic acid tripeptide (cRGD) to specifically bind with bladder cancer cells, followed by asymmetric immobilization of Fe3 O4 nanoparticles (NPs) on the cell surface. OA can replicate in host cells and induce cytolysis to release the virus progeny to the surrounding tumor sites for sustainable infection and oncolysis. The asymmetric coating of magnetic NPs bestows the cell robots with effective movement in various media and wireless manipulation with directional migration in a microfluidic device and bladder mold under magnetic control, further enabling steerable movement and prolonged retention of cell robots in the mouse bladder. The biorecognition of cRGD and robust, controllable propulsion of cell robots work synergistically to greatly enhance their tissue penetration and anticancer efficacy in the 3D cancer spheroid and orthotopic mouse bladder tumor model. Overall, this study integrates cell-based microrobots with virotherapy to generate an attractive robotic system with tumor specificity, expanding the operation scope of cell robots in biomedical community.
Collapse
Affiliation(s)
- Zhaoqing Cong
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Songsong Tang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Leiming Xie
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Ming Yang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Yangyang Li
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Dongdong Lu
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Jiahong Li
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Qingxin Yang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Qiwei Chen
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Zhiqiang Zhang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Xueji Zhang
- School of Biomedical Engineering, Health Science Centre, Shenzhen University, Shenzhen, 518060, P. R. China
| | - Song Wu
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
- South China Hospital, Shenzhen University, Shenzhen, 518116, P. R. China
- Teaching Center of Shenzhen Luohu Hospital, Shantou University Medical College, Shantou, 515000, P. R. China
| |
Collapse
|
34
|
Shao J, Cao S, Che H, De Martino MT, Wu H, Abdelmohsen LKEA, van Hest JCM. Twin-Engine Janus Supramolecular Nanomotors with Counterbalanced Motion. J Am Chem Soc 2022; 144:11246-11252. [PMID: 35700477 PMCID: PMC9247982 DOI: 10.1021/jacs.2c02682] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/29/2022]
Abstract
Supramolecular nanomotors were created with two types of propelling forces that were able to counterbalance each other. The particles were based on bowl-shaped polymer vesicles, or stomatocytes, assembled from the amphiphilic block copolymer poly(ethylene glycol)-block-polystyrene. The first method of propulsion was installed by loading the nanocavity of the stomatocytes with the enzyme catalase, which enabled the decomposition of hydrogen peroxide into water and oxygen, leading to a chemically induced motion. The second method of propulsion was attained by applying a hemispherical gold coating on the stomatocytes, on the opposite side of the opening, making the particles susceptible to near-infrared laser light. By exposing these Janus-type twin engine nanomotors to both hydrogen peroxide (H2O2) and near-infrared light, two competing driving forces were synchronously generated, resulting in a counterbalanced, "seesaw effect" motion. By precisely manipulating the incident laser power and concentration of H2O2, the supramolecular nanomotors could be halted in a standby mode. Furthermore, the fact that these Janus stomatocytes were equipped with opposing motile forces also provided a proof of the direction of motion of the enzyme-activated stomatocytes. Finally, the modulation of the "seesaw effect", by tuning the net outcome of the two coexisting driving forces, was used to attain switchable control of the motile behavior of the twin-engine nanomotors. Supramolecular nanomotors that can be steered by two orthogonal propulsion mechanisms hold considerable potential for being used in complex tasks, including active transportation and environmental remediation.
Collapse
Affiliation(s)
- Jingxin Shao
- Bio-Organic Chemistry, Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513 (STO 3.41), 5600 MB Eindhoven, The Netherlands
| | - Shoupeng Cao
- Bio-Organic Chemistry, Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513 (STO 3.41), 5600 MB Eindhoven, The Netherlands
| | - Hailong Che
- Bio-Organic Chemistry, Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513 (STO 3.41), 5600 MB Eindhoven, The Netherlands
| | - Maria Teresa De Martino
- Bio-Organic Chemistry, Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513 (STO 3.41), 5600 MB Eindhoven, The Netherlands
| | - Hanglong Wu
- Bio-Organic Chemistry, Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513 (STO 3.41), 5600 MB Eindhoven, The Netherlands
| | - Loai K E A Abdelmohsen
- Bio-Organic Chemistry, Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513 (STO 3.41), 5600 MB Eindhoven, The Netherlands
| | - Jan C M van Hest
- Bio-Organic Chemistry, Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513 (STO 3.41), 5600 MB Eindhoven, The Netherlands
| |
Collapse
|
35
|
Sikorski J, Heunis CM, Obeid R, Venkiteswaran VK, Misra S. A Flexible Catheter System for Ultrasound-Guided Magnetic Projectile Delivery. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3123865] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Jakub Sikorski
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, The Netherlands
| | - Christoff Marthinus Heunis
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, The Netherlands
| | - Rafic Obeid
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, The Netherlands
| | | | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, The Netherlands
| |
Collapse
|
36
|
Erin O, Liu X, Ge J, Opfermann J, Barnoy Y, Mair LO, Kang JU, Gensheimer W, Weinberg IN, Diaz-Mercado Y, Krieger A. Overcoming the Force Limitations of Magnetic Robotic Surgery: Magnetic Pulse Actuated Collisions for Tissue-Penetrating-Needle for Tetherless Interventions. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 4:2200072. [PMID: 35967598 PMCID: PMC9364690 DOI: 10.1002/aisy.202200072] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/03/2023]
Abstract
The field of magnetic robotics aims to obviate physical connections between the actuators and end-effectors. Such tetherless control may enable new ultra-minimally invasive surgical manipulations in clinical settings. While wireless actuation offers advantages in medical applications, the challenge of providing sufficient force to magnetic needles for tissue penetration remains a barrier to practical application. Applying sufficient force for tissue penetration is required for tasks such as biopsy, suturing, cutting, drug delivery, and accessing deep seated regions of complex structures in organs such as the eye. To expand the force landscape for such magnetic surgical tools, an impact-force based suture needle capable of penetrating in vitro and ex vivo samples with 3-DOF planar motion is proposed. Using custom-built 14G and 25G needles, we demonstrate generation of 410 mN penetration force, a 22.7-fold force increase with more than 20 times smaller volume compared to similar magnetically guided needles. With the MPACT-Needle, in vitro suturing of a gauze mesh onto an agar gel is demonstrated. In addition, we have reduced the tip size to 25G, which is a typical needle size for interventions in the eye, to demonstrate ex vivo penetration in a rabbit eye, mimicking procedures such as corneal injections and transscleral drug delivery.
Collapse
Affiliation(s)
- Onder Erin
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Xiaolong Liu
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Jiawei Ge
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Justin Opfermann
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Yotam Barnoy
- Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Lamar O Mair
- Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USA
| | - Jin U Kang
- Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - William Gensheimer
- Department of Opthalmology, Dartmouth-Hitchcock Medical Center, Lebanon, NH 03756, USA
| | | | - Yancy Diaz-Mercado
- Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA
| | - Axel Krieger
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| |
Collapse
|
37
|
Huska D, Mayorga-Martinez CC, Zelinka R, Pumera M. Magnetic Biohybrid Robots as Efficient Drug Carrier to Generate Plant Cell Clones. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2200208. [PMID: 35535470 DOI: 10.1002/smll.202200208] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/11/2022] [Revised: 03/29/2022] [Indexed: 06/14/2023]
Abstract
Micro/nanorobots represent a new generation of micromachines that can accomplish various tasks, such as loading and transporting specific targets or pharmaceuticals for a given application. Biohybrid robots consisting of biological cells (bacteria, sperm, and microalgae) combined with inorganic particles to control or propel their movement are of particular interest. The skeleton of these biohybrid robots can be used to load biomolecules. In this work, the authors create biohybrid robots based on tomato plants by coculturing ferromagnetic nanoparticles (Fe3 O4 ) with tomato callus cells. The tomato-based biohybrid robots (Tomato-Biobots) containing Fe3 O4 nanoparticles are driven by a transversely rotating magnetic field. In addition, biohybrid robots are used to load vitamin C, to generate clones of tomato cells. It is shown that the presence of Fe3 O4 does not affect the growth of tomato callus. This study opens a wide range of possibilities for the use of biohybrid robots@Fe3 O4 to deliver conventional agrochemicals, including fertilizers, pesticides, and herbicides, and allows for a gradual and sustained release of nutrients and agrochemicals, leading to precise dosing that reduces the amount of agrochemicals used. This conceptually new type of micromachine with application to plants and agronomy shall find broad use in this field.
Collapse
Affiliation(s)
- Dalibor Huska
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology Prague, Technická 5, Prague, 166 28, Czech Republic
- Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, Brno, 61300, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology Prague, Technická 5, Prague, 166 28, Czech Republic
| | - Radim Zelinka
- Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, Brno, 61300, Czech Republic
| | - Martin Pumera
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology Prague, Technická 5, Prague, 166 28, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul, 03722, Korea
- Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung, 40447, Taiwan
| |
Collapse
|
38
|
Voß J, Wittkowski R. Orientation-Dependent Propulsion of Triangular Nano- and Microparticles by a Traveling Ultrasound Wave. ACS NANO 2022; 16:3604-3612. [PMID: 35263102 DOI: 10.1021/acsnano.1c02302] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Previous studies on ultrasound-propelled nano- and microparticles have considered only systems in which the particle orientation is perpendicular to the direction of propagation of the ultrasound. However, in future applications of these particles, they will typically be able to attain other orientations. Therefore, using direct acoustofluidic simulations, here we study how the propulsion of triangular nano- and microparticles, which are known to have a particularly efficient acoustic propulsion and are therefore promising candidates for future applications, depends on their orientation relative to the propagation direction of a traveling ultrasound wave. Our results reveal that the propulsion of the particles depends strongly on their orientation relative to the direction of wave propagation and that the particles tend to orient perpendicularly to the wave direction. We also address the orientation-averaged translational and angular velocities of the particles, which correspond to the particles' effective propulsion for an isotropic exposure to ultrasound. Our results allow assessment of how free ultrasound-propelled colloidal particles move in three spatial dimensions and thus constitute an important step toward the realization of envisaged future applications of such particles.
Collapse
Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, D-48149 Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, D-48149 Münster, Germany
| |
Collapse
|
39
|
Aghakhani A, Pena-Francesch A, Bozuyuk U, Cetin H, Wrede P, Sitti M. High shear rate propulsion of acoustic microrobots in complex biological fluids. SCIENCE ADVANCES 2022; 8:eabm5126. [PMID: 35275716 PMCID: PMC8916727 DOI: 10.1126/sciadv.abm5126] [Citation(s) in RCA: 42] [Impact Index Per Article: 21.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/22/2021] [Accepted: 01/20/2022] [Indexed: 05/28/2023]
Abstract
Untethered microrobots offer a great promise for localized targeted therapy in hard-to-access spaces in our body. Despite recent advancements, most microrobot propulsion capabilities have been limited to homogenous Newtonian fluids. However, the biological fluids present in our body are heterogeneous and have shear rate-dependent rheological properties, which limit the propulsion of microrobots using conventional designs and actuation methods. We propose an acoustically powered microrobotic system, consisting of a three-dimensionally printed 30-micrometer-diameter hollow body with an oscillatory microbubble, to generate high shear rate fluidic flow for propulsion in complex biofluids. The acoustically induced microstreaming flow leads to distinct surface-slipping and puller-type propulsion modes in Newtonian and non-Newtonian fluids, respectively. We demonstrate efficient propulsion of the microrobots in diverse biological fluids, including in vitro navigation through mucus layers on biologically relevant three-dimensional surfaces. The microrobot design and high shear rate propulsion mechanism discussed herein could open new possibilities to deploy microrobots in complex biofluids toward minimally invasive targeted therapy.
Collapse
Affiliation(s)
- Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI 48109, USA
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich,, 8092 Zürich, Switzerland
| | - Hakan Cetin
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Electrical and Electronics Engineering Department, Özyegin University, 34794 Istanbul, Turkey
| | - Paul Wrede
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich,, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
| |
Collapse
|
40
|
Disharoon D, Trewyn BG, Herson PS, Marr DW, Neeves KB. Breaking the fibrinolytic speed limit with microwheel co-delivery of tissue plasminogen activator and plasminogen. J Thromb Haemost 2022; 20:486-497. [PMID: 34882946 PMCID: PMC8792280 DOI: 10.1111/jth.15617] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/26/2021] [Revised: 11/17/2021] [Accepted: 12/02/2021] [Indexed: 02/03/2023]
Abstract
BACKGROUND To reestablish blood flow in vessels occluded by clots, tissue plasminogen activator (tPA) can be used; however, its efficacy is limited by transport to and into a clot and by the depletion of its substrate, plasminogen. OBJECTIVES To overcome these rate limitations, a platform was designed to co-deliver tPA and plasminogen based on microwheels (µwheels), wheel-like assemblies of superparamagnetic colloidal beads that roll along surfaces at high speeds. METHODS The biochemical speed limit was determined by measuring fibrinolysis of plasma clots at varying concentrations of tPA (10-800 nM) and plasminogen (1-6 µM). Biotinylated magnetic mesoporous silica nanoparticles were synthesized and bound to streptavidin-coated superparamagnetic beads to make studded beads. Studded beads were loaded with plasminogen and tPA was immobilized on their surface. Plasminogen release and tPA activity were measured on the studded beads. Studded beads were assembled into µwheels with rotating magnetic fields and fibrinolysis of plasma clots was measured in a microfluidic device. RESULTS The biochemical speed limit for plasma clots was ~15 µm/min. Plasminogen-loaded, tPA-immobilized µwheels lyse plasma clots at rates comparableto the biochemical speed limit. With the addition of a corkscrew motion, µwheels penetrate clots, thereby exceeding the biochemical speed limit (~20 µm/min) and achieving lysis rates 40-fold higher than 50 nM tPA. CONCLUSIONS Co-delivery of an immobilized enzyme and its substrate via a microbot capable of mechanical work has the potential to target and rapidly lyse clots that are inaccessible by mechanical thrombectomy devices or recalcitrant to systemic tPA delivery.
Collapse
Affiliation(s)
- Dante Disharoon
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO 80401, United States
| | - Brian G. Trewyn
- Department of Chemistry, Colorado School of Mines, Golden, CO 80401, United States
| | - Paco S. Herson
- Department of Anesthesiology, University of Colorado Denver ∣ Anschutz Medical Campus, Aurora, CO, 80045, United States
| | - David W.M. Marr
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO 80401, United States
| | - Keith B. Neeves
- Departments of Bioengineering and Pediatrics, Hemophilia and Thrombosis Center, University of Colorado Denver ∣ Anschutz Medical Campus, Aurora, CO 80045, United States
| |
Collapse
|
41
|
Wang Q, Du X, Jin D, Zhang L. Real-Time Ultrasound Doppler Tracking and Autonomous Navigation of a Miniature Helical Robot for Accelerating Thrombolysis in Dynamic Blood Flow. ACS NANO 2022; 16:604-616. [PMID: 34985859 DOI: 10.1021/acsnano.1c07830] [Citation(s) in RCA: 28] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Untethered small-scale robots offer great promise for medical applications in complex biological environments. However, challenges remain in the control and medical imaging of a robot for targeted delivery inside a living body, especially in flowing conditions (e.g., blood vessels). In this work, we report a strategy to autonomously navigate a miniature helical robot in dynamic blood flow under ultrasound Doppler imaging guidance. A magnetic torque and force-hybrid control approach is implemented, enabling the actuation of a millimeter-scale helical robot against blood flow under a rotating magnetic field with a controllable field gradient. Experimental results demonstrate that the robot (length 7.30 mm; diameter 2.15 mm) exhibits controlled navigation in vascular environments, including upstream and downstream navigation in flowing and pulsatile flowing blood with flow rates up to 24 mL/min (mean flow velocity: 14.15 mm/s). During navigation, the rotating robot-induced Doppler signals enable real-time localization and tracking in flowing and pulsatile flowing blood environments. Moreover, the robot can be selectively navigated along different paths by actively controlling the robot's orientation. We apply this autonomous strategy for localizing thrombus and accelerating thrombolysis rate. Compared with conventional tissue plasminogen activator (tPA) thrombolysis, the robot-enhanced shear stress and tPA convection near the clot-blood interface increase the unblocking and thrombolysis efficiency up to 4.8- and 3.5-fold, respectively. Such a medical imaging-guided navigation strategy provides simultaneous robot navigation and localization in complex dynamic biological environments, providing an intelligent approach toward real-time targeted delivery and diagnostic applications in vivo.
Collapse
Affiliation(s)
- Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Xingzhou Du
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong 999077, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong 999077, China
- T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong 999077, China
| |
Collapse
|
42
|
Pané S, Wendel-Garcia P, Belce Y, Chen XZ, Puigmartí-Luis J. Powering and Fabrication of Small-Scale Robotics Systems. CURRENT ROBOTICS REPORTS 2022; 2:427-440. [PMID: 35036926 PMCID: PMC8721937 DOI: 10.1007/s43154-021-00066-1] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Accepted: 08/30/2021] [Indexed: 02/07/2023]
Abstract
Purpose of Review The increasing number of contributions in the field of small-scale robotics is significantly associated with the progress in material science and process engineering during the last half century. With the objective of integrating the most optimal materials for the propulsion of these motile micro- and nanosystems, several manufacturing strategies have been adopted or specifically developed. This brief review covers some recent advances in materials and fabrication of small-scale robots with a focus on the materials serving as components for their motion and actuation. Recent Findings Integration of a wealth of materials is now possible in several micro- and nanorobotic designs owing to the advances in micro- and nanofabrication and chemical synthesis. Regarding light-driven swimmers, novel photocatalytic materials and deformable liquid crystal elastomers have been recently reported. Acoustic swimmers are also gaining attention, with several prominent examples of acoustic bubble-based 3D swimmers being recently reported. Magnetic micro- and nanorobots are increasingly investigated for their prospective use in biomedical applications. The adoption of different materials and novel fabrication strategies based on 3D printing, template-assisted electrodeposition, or electrospinning is briefly discussed. Summary A brief review on fabrication and powering of small-scale robotics is presented. First, a concise introduction to the world of small-scale robotics and their propulsion by means of magnetic fields, ultrasound, and light is provided. Recent examples of materials and fabrication methodologies for the realization of these devices follow thereafter.
Collapse
Affiliation(s)
- Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, CH-8092 Zurich, Switzerland
| | - Pedro Wendel-Garcia
- Institute of Intensive Care Medicine, University Hospital of Zürich, Zürich, Switzerland
| | - Yonca Belce
- Departament de Ciència Dels Materials I Química Física, Institut de Química Teòrica I Computacional, 08028 Barcelona, Spain
| | - Xiang-Zhong Chen
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, CH-8092 Zurich, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència Dels Materials I Química Física, Institut de Química Teòrica I Computacional, 08028 Barcelona, Spain
| |
Collapse
|
43
|
Pane S, Faoro G, Sinibaldi E, Iacovacci V, Menciassi A. Ultrasound Acoustic Phase Analysis Enables Robotic Visual-Servoing of Magnetic Microrobots. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2022.3143072] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
44
|
Voß J, Wittkowski R. Acoustically propelled nano- and microcones: fast forward and backward motion. NANOSCALE ADVANCES 2021; 4:281-293. [PMID: 36132955 PMCID: PMC9417971 DOI: 10.1039/d1na00655j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/01/2021] [Accepted: 10/21/2021] [Indexed: 05/07/2023]
Abstract
We focus on cone-shaped nano- and microparticles, which have recently been found to show particularly strong propulsion when they are exposed to a traveling ultrasound wave, and study based on direct acoustofluidic computer simulations how their propulsion depends on the cones' aspect ratio. The simulations reveal that the propulsion velocity and even its sign are very sensitive to the aspect ratio, where short particles move forward whereas elongated particles move backward. Furthermore, we identify a cone shape that allows for a particularly large propulsion speed. Our results contribute to the understanding of the propulsion of ultrasound-propelled colloidal particles, suggest a method for separation and sorting of nano- and microcones concerning their aspect ratio, and provide useful guidance for future experiments and applications.
Collapse
Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster D-48149 Münster Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster D-48149 Münster Germany
| |
Collapse
|
45
|
Dynamic tracking of a magnetic micro-roller using ultrasound phase analysis. Sci Rep 2021; 11:23239. [PMID: 34853369 PMCID: PMC8636564 DOI: 10.1038/s41598-021-02553-z] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/26/2021] [Accepted: 11/18/2021] [Indexed: 12/30/2022] Open
Abstract
Microrobots (MRs) have attracted significant interest for their potentialities in diagnosis and non-invasive intervention in hard-to-reach body areas. Fine control of biomedical MRs requires real-time feedback on their position and configuration. Ultrasound (US) imaging stands as a mature and advantageous technology for MRs tracking, but it suffers from disturbances due to low contrast resolution. To overcome these limitations and make US imaging suitable for monitoring and tracking MRs, we propose a US contrast enhancement mechanism for MR visualization in echogenic backgrounds (e.g., tissue). Our technique exploits the specific acoustic phase modulation produced by the MR characteristic motions. By applying this principle, we performed real-time visualization and position tracking of a magnetic MR rolling on a lumen boundary, both in static flow and opposing flow conditions, with an average error of 0.25 body-lengths. Overall, the reported results unveil countless possibilities to exploit the proposed approach as a robust feedback strategy for monitoring and tracking biomedical MRs in-vivo.
Collapse
|
46
|
Torlakcik H, Sarica C, Bayer P, Yamamoto K, Iorio-Morin C, Hodaie M, Kalia SK, Neimat JS, Hernesniemi J, Bhatia A, Nelson BJ, Pané S, Lozano AM, Zemmar A. Magnetically Guided Catheters, Micro- and Nanorobots for Spinal Cord Stimulation. Front Neurorobot 2021; 15:749024. [PMID: 34744678 PMCID: PMC8565609 DOI: 10.3389/fnbot.2021.749024] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2021] [Accepted: 09/10/2021] [Indexed: 11/21/2022] Open
Abstract
Spinal cord stimulation (SCS) is an established treatment for refractory pain syndromes and has recently been applied to improve locomotion. Several technical challenges are faced by surgeons during SCS lead implantation, particularly in the confined dorsal epidural spaces in patients with spinal degenerative disease, scarring and while targeting challenging structures such as the dorsal root ganglion. Magnetic navigation systems (MNS) represent a novel technology that uses externally placed magnets to precisely steer tethered and untethered devices. This innovation offers several benefits for SCS electrode placement, including enhanced navigation control during tip placement, and the ability to position and reposition the lead in an outpatient setting. Here, we describe the challenges of SCS implant surgery and how MNS can be used to overcome these hurdles. In addition to tethered electrode steering, we discuss the navigation of untethered micro- and nanorobots for wireless and remote neuromodulation. The use of these small-scale devices can potentially change the current standard of practice by omitting the need for electrode and pulse generator implantation or replacement. Open questions include whether small-scale robots can generate an electrical field sufficient to activate neuronal tissue, as well as testing precise navigation, placement, anchoring, and biodegradation of micro- and nanorobots in the in vivo environment.
Collapse
Affiliation(s)
- Harun Torlakcik
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China.,Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Can Sarica
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Patrick Bayer
- Faculty of Medicine, Ludwig Maximilians University Munich, Munich, Germany
| | - Kazuaki Yamamoto
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | | | - Mojgan Hodaie
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Suneil K Kalia
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Joseph S Neimat
- Department of Neurosurgery, School of Medicine, University of Louisville, Louisville, KY, United States
| | - Juha Hernesniemi
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China
| | - Anuj Bhatia
- Department of Anesthesia and Pain Medicine, University Health Network, University of Toronto, Toronto, ON, Canada
| | - Bradley J Nelson
- Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Salvador Pané
- Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Andres M Lozano
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Ajmal Zemmar
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China.,Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada.,Department of Neurosurgery, School of Medicine, University of Louisville, Louisville, KY, United States
| |
Collapse
|
47
|
Lu X, Wei Y, Ou H, Zhao C, Shi L, Liu W. Universal Control for Micromotor Swarms with a Hybrid Sonoelectrode. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2021; 17:e2104516. [PMID: 34608753 DOI: 10.1002/smll.202104516] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/29/2021] [Revised: 09/10/2021] [Indexed: 06/13/2023]
Abstract
Enabled by active motion of microrobots, conventional biological detection and chemical analyses limited by passive diffusion can be significantly enhanced with fast testing speed and unique sensitiveness. However, controlled release and precise enrichment of microrobot swarms are still difficult to accomplish and thus prohibit them away from practical applications. Here, an efficient and versatile strategy utilizing a needle-shaped hybrid sonoelectrode to disperse and aggregate distinct micromotors is presented, remarkably accelerating mass transfer and enhancing the signal intensity. Hydrogen bubbles generated at the tip of charged electrode can oscillate as actuated by the acoustic field, creating intensified vortexes to disperse micromotors spontaneously. Via removing the attached bubble, the sonoelectrode serving as solid needle isolator is capable of collecting micromotors in a large scale with acoustic streaming in the working reservoir at higher ultrasound frequency. Numerical calculation reveals the streaming profiles with/without microbubbles, and manipulations on classic spherical and tubular micromotor models confirm that the acoustic-powered prototype device is effective for controlling different swarming behaviors in microfluidic channels. Overall, the proposed hybrid sonoelectrode offers a universal and rapid strategy to tailor micromotor swarm behaviors, advancing intelligent microrobots to be featured with active enrichment and compatible for next-generation sensitive portable detection microsystems.
Collapse
Affiliation(s)
- Xiaolong Lu
- State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, 210016, China
| | - Ying Wei
- State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, 210016, China
| | - Huan Ou
- State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, 210016, China
| | - Cong Zhao
- State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, 210016, China
| | - Lukai Shi
- State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, 210016, China
| | - Wenjuan Liu
- College of Materials Science and Engineering, Nanjing Tech University, Nanjing, Jiangsu, 211816, China
| |
Collapse
|
48
|
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
|
49
|
He X, Jiang H, Li J, Ma Y, Fu B, Hu C. Dipole-Moment Induced Phototaxis and Fuel-Free Propulsion of ZnO/Pt Janus Micromotors. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2021; 17:e2101388. [PMID: 34173337 DOI: 10.1002/smll.202101388] [Citation(s) in RCA: 17] [Impact Index Per Article: 5.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/11/2021] [Revised: 04/15/2021] [Indexed: 06/13/2023]
Abstract
Light-driven micromotors have stimulated considerate interests due to their potentials in biomedicine, environmental remediation, or serving as the model system for non-equilibrium physics of active matter. Simultaneous control over the motion direction and speed of micro/nanomotors is crucial for their functionality but still difficult since Brownian motion always randomizes the orientations. Here, a highly efficient light-driven ZnO/Pt Janus micromotor capable of aligning itself to illumination direction and exhibiting negative phototaxis at high speeds (up to 32 µm s-1 ) without the addition of any chemical fuels is developed. A light-triggered self-built electric field parallel to the light illumination exists due to asymmetrical surface chemical reactions induced by the limited penetration depth of light along the illumination. The phototactic motion of the motor is achieved through electrophoretic rotation induced by the asymmetrical distribution of zeta potential on the two hemispheres of the Janus micromotor, into alignment with the electric field. Notably, similar phototactic propulsion is also achieved on TiO2 /Pt and CdS/Pt micromotors, which presents explicit proof of extending the mechanism of dipole-moment induced phototactic propulsion in other light-driven Janus micromotors. Finally, active transportation of yeast cells are achieved by the motor, proving its capability in performing complex tasks.
Collapse
Affiliation(s)
- Xiaoli He
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Huaide Jiang
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Jianjie Li
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Yanmei Ma
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Bi Fu
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Chengzhi Hu
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, 518055, China
| |
Collapse
|
50
|
Cafarelli A, Marino A, Vannozzi L, Puigmartí-Luis J, Pané S, Ciofani G, Ricotti L. Piezoelectric Nanomaterials Activated by Ultrasound: The Pathway from Discovery to Future Clinical Adoption. ACS NANO 2021; 15:11066-11086. [PMID: 34251189 PMCID: PMC8397402 DOI: 10.1021/acsnano.1c03087] [Citation(s) in RCA: 53] [Impact Index Per Article: 17.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/12/2021] [Accepted: 07/06/2021] [Indexed: 05/19/2023]
Abstract
Electrical stimulation has shown great promise in biomedical applications, such as regenerative medicine, neuromodulation, and cancer treatment. Yet, the use of electrical end effectors such as electrodes requires connectors and batteries, which dramatically hamper the translation of electrical stimulation technologies in several scenarios. Piezoelectric nanomaterials can overcome the limitations of current electrical stimulation procedures as they can be wirelessly activated by external energy sources such as ultrasound. Wireless electrical stimulation mediated by piezoelectric nanoarchitectures constitutes an innovative paradigm enabling the induction of electrical cues within the body in a localized, wireless, and minimally invasive fashion. In this review, we highlight the fundamental mechanisms of acoustically mediated piezoelectric stimulation and its applications in the biomedical area. Yet, the adoption of this technology in a clinical practice is in its infancy, as several open issues, such as piezoelectric properties measurement, control of the ultrasound dose in vitro, modeling and measurement of the piezo effects, knowledge on the triggered bioeffects, therapy targeting, biocompatibility studies, and control of the ultrasound dose delivered in vivo, must be addressed. This article explores the current open challenges in piezoelectric stimulation and proposes strategies that may guide future research efforts in this field toward the translation of this technology to the clinical scene.
Collapse
Affiliation(s)
- Andrea Cafarelli
- The
BioRobotics Institute, Scuola Superiore
Sant’Anna, 56127 Pisa, Italy
- Department
of Excellence in Robotics & AI, Scuola
Superiore Sant’Anna, 56127 Pisa, Italy
| | - Attilio Marino
- Smart
Bio-Interfaces, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy
| | - Lorenzo Vannozzi
- The
BioRobotics Institute, Scuola Superiore
Sant’Anna, 56127 Pisa, Italy
- Department
of Excellence in Robotics & AI, Scuola
Superiore Sant’Anna, 56127 Pisa, Italy
| | - Josep Puigmartí-Luis
- Departament
de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, 08028 Barcelona, Spain
- Institució
Catalana de Recerca i Estudis Avançats (ICREA), 08010 Barcelona, Spain
| | - Salvador Pané
- Multi-Scale
Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems
(IRIS), ETH Zurich, 8092 Zurich, Switzerland
| | - Gianni Ciofani
- Smart
Bio-Interfaces, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy
| | - Leonardo Ricotti
- The
BioRobotics Institute, Scuola Superiore
Sant’Anna, 56127 Pisa, Italy
- Department
of Excellence in Robotics & AI, Scuola
Superiore Sant’Anna, 56127 Pisa, Italy
- Tel: +39 050 883074. Mobile: +39 366 6868242.
| |
Collapse
|