1
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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.
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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.
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2
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Song W, Li L, Liu X, Zhu Y, Yu S, Wang H, Wang L. Hydrogel microrobots for biomedical applications. Front Chem 2024; 12:1416314. [PMID: 38841335 PMCID: PMC11150770 DOI: 10.3389/fchem.2024.1416314] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/12/2024] [Accepted: 04/30/2024] [Indexed: 06/07/2024] Open
Abstract
Recent years have witnessed a surge in the application of microrobots within the medical sector, with hydrogel microrobots standing out due to their distinctive advantages. These microrobots, characterized by their exceptional biocompatibility, adjustable physico-mechanical attributes, and acute sensitivity to biological environments, have emerged as pivotal tools in advancing medical applications such as targeted drug delivery, wound healing enhancement, bio-imaging, and precise surgical interventions. The capability of hydrogel microrobots to navigate and perform tasks within complex biological systems significantly enhances the precision, efficiency, and safety of therapeutic procedures. Firstly, this paper delves into the material classification and properties of hydrogel microrobots and compares the advantages of different hydrogel materials. Furthermore, it offers a comprehensive review of the principal categories and recent innovations in the synthesis, actuation mechanisms, and biomedical application of hydrogel-based microrobots. Finally, the manuscript identifies prevailing obstacles and future directions in hydrogel microrobot research, aiming to furnish insights that could propel advancements in this field.
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Affiliation(s)
- Wenping Song
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
- Chongqing Research Institute of HIT, Chongqing, China
| | - Leike Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Xuejia Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
- Department of Medical Imaging, The Fourth Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Yanhe Zhu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Shimin Yu
- College of Engineering, Ocean University of China, Qingdao, China
| | - Haocheng Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Lin Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
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3
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Zhang Z, Deng X, Zhang W, Chen K, Su Y, Gao C, Gong D, Zhu L, Cai J. Manipulation of magnetic beads for actively capturing Vibrio parahaemolyticus and nucleic acid based on microfluidic system. BIOMICROFLUIDICS 2024; 18:034104. [PMID: 38737753 PMCID: PMC11088461 DOI: 10.1063/5.0193442] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/22/2023] [Accepted: 04/27/2024] [Indexed: 05/14/2024]
Abstract
Rapid biological detection of pathogen micro-organisms has attracted much attention for practical biomedical applications. Despite the development in this field, it is still challenging to achieve simple and rapid biological detection using the microfluidic method. Herein, we propose a novel strategy of biological detection that combines precise detection control of the capillary microfluidic chip and versatile manipulation of magnetic beads. The microfluidic chip was fabricated via laser cutting, which utilized capillary pressure to realize rapid passive injection of liquid samples. Under an external magnetic field, the aptamer-modified magnetic beads were actuated to mix with Vibrio parahaemolyticus (V. parahaemolyticus) and its nucleic acid in the capillary microfluidic chip for rapid selective capture and detection, which could be achieved within 40 min. The experimental results demonstrated that V. parahaemolyticus could be captured using on-chip immunomagnetic beads with a high efficiency and significantly enhanced detection value. Due to these superior performances, the capillary microfluidic system, based on the manipulation of magnetic beads, demonstrated great potential for automatic biological detection.
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Affiliation(s)
- Zhaoxuan Zhang
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Xue Deng
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Wenqiang Zhang
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Kehan Chen
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Yuan Su
- Key Laboratory of Precision Nutrition and Quality Control of Food, Ministry of Education, Department of Nutrition and Health (Institute of Nutrition and Health), China Agricultural University, Beijing 100083, China
| | - Chao Gao
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - De Gong
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Longjiao Zhu
- Key Laboratory of Precision Nutrition and Quality Control of Food, Ministry of Education, Department of Nutrition and Health (Institute of Nutrition and Health), China Agricultural University, Beijing 100083, China
| | - Jun Cai
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
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Zhu L, Lian W, Yu N, Meng J, Zeng H, Wang Y, Wang X, Wen M, Chen Z. Erythrocyte-Membrane-Camouflaged Magnetic Nanocapsules With Photothermal/Magnetothermal Effects for Thrombolysis. Adv Healthc Mater 2024:e2400127. [PMID: 38691349 DOI: 10.1002/adhm.202400127] [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: 01/12/2024] [Revised: 04/07/2024] [Indexed: 05/03/2024]
Abstract
Venous/arterial thrombosis poses significant threats to human health. However, drug-enabled thrombolysis treatment often encounters challenges such as short half-life and low bioavailability. To address these issues, the design of erythrocyte-membrane (EM) camouflaged nanocapsules (USIO/UK@EM) incorporating ultra-small iron oxide (USIO) and urokinase (UK) drug, which exhibits remarkable photothermal/magnetothermal effects and drug delivery ability for venous/arterial thrombolysis, is reported. USIO, UK, and EM are coextruded to fabricate USIO/UK@EM with average sizes of 103.7 nm. As USIO/UK@EM possesses wide photoabsorption and good magnetic properties, its solution demonstrates a temperature increase to 41.8-42.9 °C within 5 min when exposed to an 808 nm laser (0.33 mW cm-2) or alternating magnetic field (AMF). Such photothermal/magnetothermal effect along with UK confers impressive thrombolytic rates of 82.4% and 74.2%, higher than that (≈15%) achieved by UK alone. Further, the EM coating extends the circulating half-life (t1/2 = 3.28 h). When USIO/UK@EM is administered to mice and rabbits, tail vein thrombus in mice and femoral artery thrombus in rabbits can be dissolved by the synergetic effect of thermothrombolysis and UK. Therefore, this study not only offers insights into the rational design of multifunctional biomimetic nanocapsules but also showcases a promising thrombolysis strategy utilizing nanomedicine.
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Affiliation(s)
- Liqiong Zhu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, China
| | - Weishuai Lian
- Department of Interventional and Vascular Surgery, Shanghai Tenth People's Hospital, Tongji University School of Medicine, Shanghai, 200072, China
| | - Nuo Yu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, China
| | - Jialan Meng
- Department of Ultrasound, Songjiang Maternity & Child Health Hospital of Shanghai, Shanghai, 201600, China
| | - Hongchun Zeng
- Department of Radiology, Songjiang Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, Shanghai, 201600, P. R. China
| | - Yue Wang
- Department of Radiology, Songjiang Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, Shanghai, 201600, P. R. China
| | - Xiao Wang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, China
| | - Mei Wen
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, China
| | - Zhigang Chen
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, China
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Zhang X, Chen L, Fu L, Feng K, Gong J, Qu J, Niu R. Dual-functional metal-organic frameworks-based hydrogel micromotor for uranium detection and removal. JOURNAL OF HAZARDOUS MATERIALS 2024; 467:133654. [PMID: 38341894 DOI: 10.1016/j.jhazmat.2024.133654] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/16/2023] [Revised: 01/19/2024] [Accepted: 01/26/2024] [Indexed: 02/13/2024]
Abstract
Self-propelled micro/nanomotors have attracted great attention for environmental remediation, however, their use for radioactive waste detection and removal has not been addressed. Engineered micromotors that are able to combine fast detection and highly adsorptive capability are promising tools for radioactive waste management but remain challenging. Herein, we design self-propelled micromotors based on zeolite imidazolate framework (ZIF-8)-hydrogel composites via inverse emulsion polymerization and show their potential for efficient uranium detection and removal. The incorporation of magnetic ferroferric oxide nanoparticles enables the magnetic recycling and actuation of the single micromotors as well as formation of swarms of worm-like or tank-treading structure. Benefited from the enhanced motion, the micromotors show fast and high-capacity uranium adsorption (747.3 mg g-1), as well as fast uranium detection based on fluorescence quenching. DFT calculation confirms the strong binding between carboxyl groups and uranyl ions. The combination of poly(acrylic acid-co-acrylamide) with ZIF-8 greatly enhances the fluorescence of the micromotor, facilitating the high-resolution fluorescence detection. A low detection limit of 250 ppb is reached by the micromotors. Such self-propelled micromotors provide a new strategy for the design of smart materials in remediation of radioactive wastewater.
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Affiliation(s)
- Xinle Zhang
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Ling Chen
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Linhui Fu
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Kai Feng
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Jiang Gong
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Jinping Qu
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China; National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China
| | - Ran Niu
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China.
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6
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Wang L, Zou W, Shen J, Yang S, Wu J, Ying T, Cai X, Zhang L, Wu J, Zheng Y. Dual-Functional Laser-Guided Magnetic Nanorobot Collectives against Gravity for On-Demand Thermo-Chemotherapy of Peritoneal Metastasis. Adv Healthc Mater 2024; 13:e2303361. [PMID: 38115718 DOI: 10.1002/adhm.202303361] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/03/2023] [Revised: 12/13/2023] [Indexed: 12/21/2023]
Abstract
Combining hyperthermic intraperitoneal chemotherapy with cytoreductive surgery is the main treatment modality for peritoneal metastatic (PM) carcinoma despite the off-target effects of chemotherapy drugs and the ineluctable side effects of total abdominal heating. Herein, a laser-integrated magnetic actuation system that actively delivers doxorubicin (DOX)-grafted magnetic nanorobot collectives to the tumor site in model mice for local hyperthermia and chemotherapy is reported. With intraluminal movements controlled by a torque-force hybrid magnetic field, these magnetic nanorobots gather at a fixed point coinciding with the position of the localization laser, moving upward against gravity over a long distance and targeting tumor sites under ultrasound imaging guidance. Because aggregation enhances the photothermal effect, controlled local DOX release is achieved under near-infrared laser irradiation. The targeted on-demand photothermal therapy of multiple PM carcinomas while minimizing off-target tissue damage is demonstrated. Additionally, a localization/treatment dual-functional laser-integrated magnetic actuation system is developed and validated in vivo, offering a potentially clinically feasible drug delivery strategy for targeting PM and other intraluminal tumors.
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Affiliation(s)
- Longchen Wang
- Department of Ultrasound in Medicine, Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 600, Yishan Road, Shanghai, 200233, P. R. China
| | - Weijuan Zou
- Department of Ultrasound in Medicine, Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 600, Yishan Road, Shanghai, 200233, P. R. China
| | - Jian Shen
- Department of Ultrasound in Medicine, Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 600, Yishan Road, Shanghai, 200233, P. R. China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, P. R. China
| | - Jingjing Wu
- Department of Ultrasound in Medicine, Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 600, Yishan Road, Shanghai, 200233, P. R. China
| | - Tao Ying
- Department of Ultrasound in Medicine, Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 600, Yishan Road, Shanghai, 200233, P. R. China
| | - Xiaojun Cai
- Department of Ultrasound in Medicine, Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 600, Yishan Road, Shanghai, 200233, P. R. China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, P. R. China
| | - Jianrong Wu
- Department of Ultrasound in Medicine, Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 600, Yishan Road, Shanghai, 200233, P. R. China
| | - Yuanyi Zheng
- Department of Ultrasound in Medicine, Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 600, Yishan Road, Shanghai, 200233, P. R. China
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7
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Ren L, Liu S, Zhong J, Zhang L. Revolutionizing targeting precision: microfluidics-enabled smart microcapsules for tailored delivery and controlled release. LAB ON A CHIP 2024; 24:1367-1393. [PMID: 38314845 DOI: 10.1039/d3lc00835e] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/07/2024]
Abstract
As promising delivery systems, smart microcapsules have garnered significant attention owing to their targeted delivery loaded with diverse active materials. By precisely manipulating fluids on the micrometer scale, microfluidic has emerged as a powerful tool for tailoring delivery systems based on potential applications. The desirable characteristics of smart microcapsules are associated with encapsulation capacity, targeted delivery capability, and controlled release of encapsulants. In this review, we briefly describe the principles of droplet-based microfluidics for smart microcapsules. Subsequently, we summarize smart microcapsules as delivery systems for efficient encapsulation and focus on target delivery patterns, including passive targets, active targets, and microfluidics-assisted targets. Additionally, based on release mechanisms, we review controlled release modes adjusted by smart membranes and on/off gates. Finally, we discuss existing challenges and potential implications associated with smart microcapsules.
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Affiliation(s)
- Lingling Ren
- School of Petroleum Engineering, China University of Petroleum (East China), Qingdao, Shandong, China.
| | - Shuang Liu
- School of Petroleum Engineering, China University of Petroleum (East China), Qingdao, Shandong, China.
| | - Junjie Zhong
- School of Petroleum Engineering, China University of Petroleum (East China), Qingdao, Shandong, China.
| | - Liyuan Zhang
- School of Petroleum Engineering, China University of Petroleum (East China), Qingdao, Shandong, China.
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8
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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.
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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
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9
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Wang B, Wang Q, Chan KF, Ning Z, Wang Q, Ji F, Yang H, Jiang S, Zhang Z, Ip BYM, Ko H, Chung JPW, Qiu M, Han J, Chiu PWY, Sung JJY, Du S, Leung TWH, Yu SCH, Zhang L. tPA-anchored nanorobots for in vivo arterial recanalization at submillimeter-scale segments. SCIENCE ADVANCES 2024; 10:eadk8970. [PMID: 38295172 PMCID: PMC10830105 DOI: 10.1126/sciadv.adk8970] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/17/2023] [Accepted: 01/02/2024] [Indexed: 02/02/2024]
Abstract
Micro/nanorobots provide a promising approach for intravascular therapy with high precision. However, blood vessel is a highly complex system, and performing interventional therapy in those submillimeter segments remains challenging. While micro/nanorobots can enter submillimeter segments, they may still comprise nonbiodegradable parts, posing a considerable challenge for post-use removal. Here, we developed a retrievable magnetic colloidal microswarm, composed of tPA-anchored Fe3O4@mSiO2 nanorobots (tPA-nbots), to archive tPA-mediated thrombolysis under balloon catheter-assisted magnetic actuation with x-ray fluoroscopy imaging system (CMAFIS). By deploying tPA-nbot transcatheter to the vicinity of the thrombus, the tPA-nbot microswarms were magnetically actuated to the blood clot at the submillimeter vessels with high precision. After thrombolysis, the tPA-nbots can be retrieved via the CMAFIS, as demonstrated in ex vivo organ of human placenta and in vivo carotid artery of rabbit. The proposed colloidal microswarm provides a promising robotic tool with high spatial precision for enhanced thrombolysis with low side effects.
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Affiliation(s)
- Ben Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China
| | - Zhipeng Ning
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Shuai Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Zifeng Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Bonaventure Yiu Ming Ip
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China
| | - Ho Ko
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China
| | | | - Ming Qiu
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China
| | - Jianguo Han
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China
| | - Philip Wai Yan Chiu
- Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China
- Department of Surgery, CUHK, Sha Tin, N.T., Hong Kong, China
| | - Joseph Jao Yiu Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore, Singapore
| | - Shiwei Du
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China
| | - Thomas Wai Hong Leung
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China
| | - Simon Chun Ho Yu
- Department of Imaging and Interventional Radiology, CUHK, Sha Tin, N.T., Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
- Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China
- Department of Surgery, CUHK, Sha Tin, N.T., Hong Kong, China
- CUHK T Stone Robotics Institute, CUHK, Sha Tin, N.T., Hong Kong, China
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10
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Lu K, Zhou C, Li Z, Liu Y, Wang F, Xuan L, Wang X. Multi-level magnetic microrobot delivery strategy within a hierarchical vascularized organ-on-a-chip. LAB ON A CHIP 2024; 24:446-459. [PMID: 38095230 DOI: 10.1039/d3lc00770g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/31/2024]
Abstract
Targeted microrobotic delivery within the circulatory system holds significant potential for medical theranostic applications. Existing delivery strategies of microrobots encounter challenges such as slow speed, limited navigation control, and dispersal under dynamic flow conditions. Furthermore, within the realm of microrobots, in vitro testing platforms often lack essential biological microenvironments, while in vivo studies conducted on animal models are constrained by limited detection resolution. In this study, we propose a multi-level magnetic delivery strategy that integrates a tethered microrobotic guidewire and untethered swimming microrobots. The amalgamation compensates for their inherent constraints, ensuring a robust and highly efficient delivery of microrobots under complex physiological conditions over extensive distances. Concurrently, a hierarchical vascular network encompassing engineered arteries/veins and capillary networks was constructed by integrating vasculogenesis and endothelial cell (EC) lining strategies, thereby providing an in vivo-like testing platform for microrobots. Experimental evidence demonstrates that the flexible microrobotic guidewire can be precisely directed to any entrance of the second-tier branches, with its inner lumen providing an "express lane" for rapid passage of microrobots through complex fluidic environments without direct contact. After release, dynamically assembled swarms could effectively locomote on the micro-topography of the EC-lined channel surface without becoming trapped and congregate within specified regions inside capillary lumens when guided collectively by a biologically safe magnetic field. Additionally, the superparamagnetic capabilities of microrobotic swarms ensure their dissolution into monodispersed entities upon withdrawal of the magnetic field, mitigating the risk of intravascular thrombosis. The hierarchical vascularized organ-on-a-chip platform establishes a comprehensive testing platform that integrates imaging, control, and a functional 3D microvascular environment, thereby enhancing its suitability for microrobotic applications encompassing targeted drug delivery, thrombus ablation, sensing and diagnosis, etc.
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Affiliation(s)
- Kangyi Lu
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
| | - Chenyang Zhou
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
| | - Zhangjie Li
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
| | - Yijun Liu
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
| | - Feifan Wang
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
| | - Lian Xuan
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Xiaolin Wang
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China
- National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai, 200240, China
- National Center for Translational Medicine (Shanghai) SHU Branch, Shanghai University, Shanghai, 200444, China
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11
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Dillinger C, Knipper J, Nama N, Ahmed D. Steerable acoustically powered starfish-inspired microrobot. NANOSCALE 2024; 16:1125-1134. [PMID: 37946510 PMCID: PMC10795801 DOI: 10.1039/d3nr03516f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/19/2023] [Accepted: 10/24/2023] [Indexed: 11/12/2023]
Abstract
Soft polymeric microrobots that can be loaded with nanocargoes and driven via external field stimuli can provide innovative solutions in various fields, including precise microscale assembly, targeted therapeutics, microsurgery, and the capture and degradation of unwanted wastewater fragments. However, in aquatic environments, it remains challenging to operate with microrobotic devices due to the predominant viscous resistances and the robots' limited actuation and sensing capabilities attributed to their miniaturization. The miniature size prevents the incorporation of onboard batteries that can provide sufficient power for propulsion and navigation, necessitating a wireless power supply. Current research examines untethered microrobot manipulation using external magnetic, electric, thermodynamic, or acoustic field-guided technologies: all strategies capable of wireless energy transmission towards sensitive and hard-to-reach locations. Nonetheless, developing a manipulation strategy that harnesses simple-to-induce strong propulsive forces in a stable manner over extended periods of time remains a significant endeavor. This study presents the fabrication and manipulation of a microrobot consisting of a magnetized soft polymeric composite material that enables a combination of stable acoustic propulsion through starfish-inspired artificial cilia and magnetic field-guided navigation. The acousto-magnetic manipulation strategy leverages the unique benefits of each applied field in the viscous-dominated microscale, namely precise magnetic orientation and strong acoustic thrust.
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Affiliation(s)
- Cornel Dillinger
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
| | - Justin Knipper
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
| | - Nitesh Nama
- Department of Mechanical & Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USA
| | - Daniel Ahmed
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
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12
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Yang M, Zhang Y, Mou F, Cao C, Yu L, Li Z, Guan J. Swarming magnetic nanorobots bio-interfaced by heparinoid-polymer brushes for in vivo safe synergistic thrombolysis. SCIENCE ADVANCES 2023; 9:eadk7251. [PMID: 38019908 PMCID: PMC10686566 DOI: 10.1126/sciadv.adk7251] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/07/2023] [Accepted: 10/30/2023] [Indexed: 12/01/2023]
Abstract
Biocompatible swarming magnetic nanorobots that work in blood vessels for safe and efficient targeted thrombolytic therapy in vivo are demonstrated. This is achieved by using magnetic beads elaborately grafted with heparinoid-polymer brushes (HPBs) upon the application of an alternating magnetic field B(t). Because of the dense surface charges bestowed by HPBs, the swarming nanorobots demonstrate reversible agglomeration-free reconfigurations, low hemolysis, anti-bioadhesion, and self-anticoagulation in high-ionic-strength blood environments. They are confirmed in vitro and in vivo to perform synergistic thrombolysis efficiently by "motile-targeting" drug delivery and mechanical destruction. Moreover, upon the completion of thrombolysis and removal of B(t), the nanorobots disassemble into dispersed particles in blood, allowing them to safely participate in circulation and be phagocytized by immune cells without apparent organ damage or inflammatory lesion. This work provides a rational multifaceted HPB biointerfacing design strategy for biomedical nanorobots and a general motile platform to deliver drugs for targeted therapies.
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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
| | - Yaoyu Zhang
- School of Medicine, Wuhan University of Science and Technology, Wuhan 430081, P. R. China
- Department of Orthopedics, General Hospital of Chinese PLA Central Theater Command, 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
| | - Chuan Cao
- 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
| | - Lingxia Yu
- 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
| | - Zhi Li
- Department of Orthopedics, General Hospital of Chinese PLA Central Theater Command, 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
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, P. R. China
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13
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Wang X, Bai R. Advances in smart delivery of magnetic field-targeted drugs in cardiovascular diseases. Drug Deliv 2023; 30:2256495. [PMID: 37702067 PMCID: PMC10501169 DOI: 10.1080/10717544.2023.2256495] [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: 06/06/2023] [Revised: 08/11/2023] [Accepted: 08/26/2023] [Indexed: 09/14/2023] Open
Abstract
Magnetic Drug Targeting (MDT) is of particular interest to researchers because of its good loading efficiency, targeting accuracy, and versatile use in vivo. Cardiovascular Disease (CVD) is a global chronic disease with a high mortality rate, and the development of more precise and effective treatments is imminent. A growing number of studies have begun to explore the feasibility of MDT in CVD, but an up-to-date systematic summary is still lacking. This review discusses the current research status of MDT from guiding magnetic fields, magnetic nanocarriers, delivery channels, drug release control, and safety assessment. The current application status of MDT in CVD is also critically introduced. On this basis, new insights into the existing problems and future optimization directions of MDT are further highlighted.
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Affiliation(s)
- Xinyu Wang
- Jiangxi Province Key Laboratory of Molecular Medicine, Second Affiliated Hospital of Nanchang University, Nanchang, Jiangxi, China
| | - Ruru Bai
- Jiangxi Province Key Laboratory of Molecular Medicine, Second Affiliated Hospital of Nanchang University, Nanchang, Jiangxi, China
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14
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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.
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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.
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15
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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.
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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.
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16
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Winkler R, Ciria M, Ahmad M, Plank H, Marcuello C. A Review of the Current State of Magnetic Force Microscopy to Unravel the Magnetic Properties of Nanomaterials Applied in Biological Systems and Future Directions for Quantum Technologies. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:2585. [PMID: 37764614 PMCID: PMC10536909 DOI: 10.3390/nano13182585] [Citation(s) in RCA: 17] [Impact Index Per Article: 17.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/29/2023] [Revised: 09/13/2023] [Accepted: 09/15/2023] [Indexed: 09/29/2023]
Abstract
Magnetism plays a pivotal role in many biological systems. However, the intensity of the magnetic forces exerted between magnetic bodies is usually low, which demands the development of ultra-sensitivity tools for proper sensing. In this framework, magnetic force microscopy (MFM) offers excellent lateral resolution and the possibility of conducting single-molecule studies like other single-probe microscopy (SPM) techniques. This comprehensive review attempts to describe the paramount importance of magnetic forces for biological applications by highlighting MFM's main advantages but also intrinsic limitations. While the working principles are described in depth, the article also focuses on novel micro- and nanofabrication procedures for MFM tips, which enhance the magnetic response signal of tested biomaterials compared to commercial nanoprobes. This work also depicts some relevant examples where MFM can quantitatively assess the magnetic performance of nanomaterials involved in biological systems, including magnetotactic bacteria, cryptochrome flavoproteins, and magnetic nanoparticles that can interact with animal tissues. Additionally, the most promising perspectives in this field are highlighted to make the reader aware of upcoming challenges when aiming toward quantum technologies.
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Affiliation(s)
- Robert Winkler
- Christian Doppler Laboratory—DEFINE, Graz University of Technology, 8010 Graz, Austria; (R.W.); (H.P.)
| | - Miguel Ciria
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC-Universidad de Zaragoza, 50009 Zaragoza, Spain;
- Departamento de Física de la Materia Condensada, Universidad de Zaragoza, 50009 Zaragoza, Spain
| | - Margaret Ahmad
- Photobiology Research Group, IBPS, UMR8256 CNRS, Sorbonne Université, 75005 Paris, France;
| | - Harald Plank
- Christian Doppler Laboratory—DEFINE, Graz University of Technology, 8010 Graz, Austria; (R.W.); (H.P.)
- Graz Centre for Electron Microscopy, 8010 Graz, Austria
- Institute of Electron Microscopy, Graz University of Technology, 8010 Graz, Austria
| | - Carlos Marcuello
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC-Universidad de Zaragoza, 50009 Zaragoza, Spain;
- Laboratorio de Microscopias Avanzadas (LMA), Universidad de Zaragoza, 50018 Zaragoza, Spain
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17
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Liu J, Li L, Cao C, Feng Z, Liu Y, Ma H, Luo W, Guan J, Mou F. Swarming Multifunctional Heater-Thermometer Nanorobots for Precise Feedback Hyperthermia Delivery. ACS NANO 2023; 17:16731-16742. [PMID: 37651715 DOI: 10.1021/acsnano.3c03131] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/02/2023]
Abstract
Micro-/nanorobots (MNRs) are envisioned to act as "motile-targeting" platforms for biomedical tasks due to their ability to propel and navigate in challenging, hard-to-reach biological environments. However, it remains a great challenge for current swarming MNRs to accurately report and regulate therapeutic doses during disease treatment. Here we present the development of swarming multifunctional heater-thermometer nanorobots (HT-NRs) and their application in precise feedback photothermal hyperthermia delivery. The HT-NRs are designed as photothermal-responsive photonic nanochains consisting of magnetic Fe3O4 nanoparticles arranged periodically in one dimension and encapsulated in a temperature-responsive hydrogel shell. The HT-NRs exhibit energetic and controllable swarming motions under a rotating magnetic field, while simultaneously functioning as motile nanoheaters and nanothermometers, utilizing their photothermal conversion and (photo)thermal-responsive structural color changes (photothermochromism). Consequently, the HT-NRs can be quickly deployed to a remote target area (e.g., a superficial tumor lesion) using their collective motion and selectively eliminate diseased cells in a specific targeted region by utilizing their self-reporting photothermochromism as visual feedback for precisely regulating external light irradiation. This work may inspire the development of intelligent multifunctional theranostic micro-/nanorobots and their practical applications in precise disease treatment.
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Affiliation(s)
- Jianfeng Liu
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Luolin Li
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Chuan Cao
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Ziqi Feng
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Yun Liu
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Huiru Ma
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, People's Republic of China
| | - Wei Luo
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, People's Republic of 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, People's Republic of China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, People's Republic of 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, People's Republic of China
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18
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Ye Y, Tian H, Jiang J, Huang W, Zhang R, Li H, Liu L, Gao J, Tan H, Liu M, Peng F, Tu Y. Magnetically Actuated Biodegradable Nanorobots for Active Immunotherapy. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2300540. [PMID: 37382399 PMCID: PMC10477856 DOI: 10.1002/advs.202300540] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/25/2023] [Revised: 05/27/2023] [Indexed: 06/30/2023]
Abstract
An efficient and cost-effective therapeutic vaccine is highly desirable for the prevention and treatment of cancer, which helps to strengthen the immune system and activate the T cell immune response. However, initiating such an adaptive immune response efficiently remains challenging, especially the deficient antigen presentation by dendritic cells (DCs) in the immunosuppressive tumor microenvironment. Herein, an efficient and dynamic antigen delivery system based on the magnetically actuated OVA-CaCO3 -SPIO robots (OCS-robots) is rationally designed for active immunotherapy. Taking advantage of the unique dynamic features, the developed OCS-robots achieve controllable motion capability under the rotating magnetic field. Specifically, with the active motion, the acid-responsiveness of OCS-robots is beneficial for the tumor acidity attenuating and lysosome escape as well as the subsequent antigen cross-presentation of DCs. Furthermore, the dynamic OCS-robots boost the crosstalk between the DCs and antigens, which displays prominent tumor immunotherapy effect on melanoma through cytotoxic T lymphocytes (CTLs). Such a strategy of dynamic vaccine delivery system enables the active activation of immune system based on the magnetically actuated OCS-robots, which presents a plausible paradigm for incredibly efficient cancer immunotherapy by designing multifunctional and novel robot platforms in the future.
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Affiliation(s)
- Yicheng Ye
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Hao Tian
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Jiamiao Jiang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Weichang Huang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Ruotian Zhang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Huaan Li
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Lu Liu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Junbin Gao
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Haixin Tan
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Meihuan Liu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Fei Peng
- School of Materials Science and EngineeringSun Yat‐Sen UniversityGuangzhou510275China
| | - Yingfeng Tu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
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19
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Li L, Yu Z, Liu J, Yang M, Shi G, Feng Z, Luo W, Ma H, Guan J, Mou F. Swarming Responsive Photonic Nanorobots for Motile-Targeting Microenvironmental Mapping and Mapping-Guided Photothermal Treatment. NANO-MICRO LETTERS 2023; 15:141. [PMID: 37247162 PMCID: PMC10226971 DOI: 10.1007/s40820-023-01095-5] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/14/2023] [Accepted: 04/03/2023] [Indexed: 05/30/2023]
Abstract
Micro/nanorobots can propel and navigate in many hard-to-reach biological environments, and thus may bring revolutionary changes to biomedical research and applications. However, current MNRs lack the capability to collectively perceive and report physicochemical changes in unknown microenvironments. Here we propose to develop swarming responsive photonic nanorobots that can map local physicochemical conditions on the fly and further guide localized photothermal treatment. The RPNRs consist of a photonic nanochain of periodically-assembled magnetic Fe3O4 nanoparticles encapsulated in a responsive hydrogel shell, and show multiple integrated functions, including energetic magnetically-driven swarming motions, bright stimuli-responsive structural colors, and photothermal conversion. Thus, they can actively navigate in complex environments utilizing their controllable swarming motions, then visualize unknown targets (e.g., tumor lesion) by collectively mapping out local abnormal physicochemical conditions (e.g., pH, temperature, or glucose concentration) via their responsive structural colors, and further guide external light irradiation to initiate localized photothermal treatment. This work facilitates the development of intelligent motile nanosensors and versatile multifunctional nanotheranostics for cancer and inflammatory diseases.
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Affiliation(s)
- Luolin Li
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
| | - Zheng Yu
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
| | - Jianfeng Liu
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
| | - Manyi Yang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
| | - Gongpu Shi
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
| | - Ziqi Feng
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
| | - Wei Luo
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China.
| | - Huiru Ma
- School of Materials Science and Engineering, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
- School of Chemistry, Chemical Engineering and Life Science, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
| | - Jianguo Guan
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
- School of Materials and Microelectronics, Wuhan University of Technology, Wuhan, 430070, People's Republic of China
| | - Fangzhi Mou
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan, 430070, People's Republic of China.
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20
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Zhang B, Jiang X. Magnetic Nanoparticles Mediated Thrombolysis-A Review. IEEE OPEN JOURNAL OF NANOTECHNOLOGY 2023; 4:109-132. [PMID: 38111792 PMCID: PMC10727495 DOI: 10.1109/ojnano.2023.3273921] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 12/20/2023]
Abstract
Nanoparticles containing thrombolytic medicines have been developed for thrombolysis applications in response to the increasing demand for effective, targeted treatment of thrombosis disease. In recent years, there has been a great deal of interest in nanoparticles that can be navigated and driven by a magnetic field. However, there are few review publications concerning the application of magnetic nanoparticles in thrombolysis. In this study, we examine the current state of magnetic nanoparticles in the application of in vitro and in vivo thrombolysis under a static or dynamic magnetic field, as well as the combination of magnetic nanoparticles with an acoustic field for dual-mode thrombolysis. We also discuss four primary processes of magnetic nanoparticles mediated thrombolysis, including magnetic nanoparticle targeting, magnetic nanoparticle trapping, magnetic drug release, and magnetic rupture of blood clot fibrin networks. This review will offer unique insights for the future study and clinical development of magnetic nanoparticles mediated thrombolysis approaches.
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Affiliation(s)
- Bohua Zhang
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695 USA
| | - Xiaoning Jiang
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695 USA
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21
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Tang X, Yang Y, Zheng M, Yin T, Huang G, Lai Z, Zhang B, Chen Z, Xu T, Ma T, Pan H, Cai L. Magnetic-Acoustic Sequentially Actuated CAR T Cell Microrobots for Precision Navigation and In Situ Antitumor Immunoactivation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2211509. [PMID: 36807373 DOI: 10.1002/adma.202211509] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/08/2022] [Revised: 02/10/2023] [Indexed: 05/05/2023]
Abstract
Despite its clinical success, chimeric antigen receptor T (CAR T)-cell immunotherapy remains limited in solid tumors, owing to the harsh physical barriers and immunosuppressive microenvironment. Here a CAR-T-cell-based live microrobot (M-CAR T) is created by decorating CAR T with immunomagnetic beads using click conjugation. M-CAR Ts are capable of magnetic-acoustic actuation for precision targeting and in situ activation of antitumor immune responses. Sequential actuation endows M-CAR Ts with magnetically actuated anti-flow and obstacle avoidance as well as tissue penetration driven by acoustic propulsion, enabling efficient migration and accumulation in artificial tumor models. In vivo, sequentially actuated M-CAR Ts achieves long-distance targeting and accumulate at the peritumoural area under programmable magnetic guidance, and subsequently acoustic tweezers actuate M-CAR Ts to migrate into deep tumor tissues, resulting in a 6.6-fold increase in accumulated exogenous CD8+ CAR T cells compared with that without actuation. Anti-CD3/CD28 immunomagnetic beads stimulate infiltrated CAR T proliferation and activation in situ, significantly enhancing their antitumor efficacy. Thus, this sequential-actuation-guided cell microrobot combines the merits of autonomous targeting and penetration of intelligent robots with in situ T-cell immunoactivation, and holds considerable promise for precision navigation and cancer immunotherapies.
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Affiliation(s)
- Xiaofan Tang
- Guangdong Key Laboratory of Nanomedicine, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Ye Yang
- Paul C. Lauterbur Research Center for Biomedical Imaging, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Mingbin Zheng
- Guangdong Key Laboratory of Nanomedicine, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
- Guangdong Key Laboratory for Research and Development of Natural Drugs, Key Laboratory for Nanomedicine, Guangdong Medical University, Dongguan, 523808, P. R. China
| | - Ting Yin
- Guangdong Key Laboratory of Nanomedicine, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
- Guangdong Key Laboratory for Research and Development of Natural Drugs, Key Laboratory for Nanomedicine, Guangdong Medical University, Dongguan, 523808, P. R. China
| | - Guojun Huang
- Guangdong Key Laboratory of Nanomedicine, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Zhengyu Lai
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Baozhen Zhang
- Guangdong Key Laboratory of Nanomedicine, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Ze Chen
- Guangdong Key Laboratory of Nanomedicine, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Tiantian Xu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Teng Ma
- Paul C. Lauterbur Research Center for Biomedical Imaging, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Hong Pan
- Guangdong Key Laboratory of Nanomedicine, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Lintao Cai
- Guangdong Key Laboratory of Nanomedicine, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
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22
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Hui X, Luo J, Wang R, Sun H. Multiresponsive Microactuator for Ultrafast Submillimeter Robots. ACS NANO 2023; 17:6589-6600. [PMID: 36976705 DOI: 10.1021/acsnano.2c12203] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Untethered submillimeter microrobots have significant application prospects in environment monitoring, reconnaissance, and biomedicine. However, they are practically limited to their slow movement. Here, an electrical/optical-actuated microactuator is reported and developed into several untethered ultrafast submillimeter robots. Composed of multilayer nanofilms with exquisitely designed patterns and high surface-to-volume ratios, the microrobot exhibits flexible, precise, and rapid response under voltages and lasers, resulting in controllable and ultrafast inchworm-type movement. The proposed design and microfabrication approach allows various improved and distinctive 3D microrobots simultaneously. The motion speed is highly related to the laser frequency and reaches 2.96 mm/s (3.66 body length/s) on the polished wafer surface. Excellent movement adaptability of the robot is also verified on other rough substrates. Moreover, directional locomotion can be realized simply by the bias of the irradiation of the laser spot, and the maximum angular speed reaches 167.3°/s. Benefiting from the bimorph film structure and symmetrical configuration, the microrobot is able to maintain functionalized after being crashed by a payload 67 000 times heavier than its weight, or at the unexpectedly reversed state. These results provide a strategy for 3D microactuators with precise and rapid response, and microrobots with fast movement for delicate tasks in narrow and restrictive scenarios.
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Affiliation(s)
- Xusheng Hui
- School of Astronautics, Northwestern Polytechnical University, Shaanxi 710072, China
| | - Jianjun Luo
- School of Astronautics, Northwestern Polytechnical University, Shaanxi 710072, China
| | - Rong Wang
- School of Astronautics, Northwestern Polytechnical University, Shaanxi 710072, China
| | - Hao Sun
- Beijing Advanced Medical Technologies, Ltd. Inc., Beijing 102609, China
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23
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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.
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24
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Ji F, Wu Y, Pumera M, Zhang L. Collective Behaviors of Active Matter Learning from Natural Taxes Across Scales. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2203959. [PMID: 35986637 DOI: 10.1002/adma.202203959] [Citation(s) in RCA: 15] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/02/2022] [Revised: 07/23/2022] [Indexed: 06/15/2023]
Abstract
Taxis orientation is common in microorganisms, and it provides feasible strategies to operate active colloids as small-scale robots. Collective taxes involve numerous units that collectively perform taxis motion, whereby the collective cooperation between individuals enables the group to perform efficiently, adaptively, and robustly. Hence, analyzing and designing collectives is crucial for developing and advancing microswarm toward practical or clinical applications. In this review, natural taxis behaviors are categorized and synthetic microrobotic collectives are discussed as bio-inspired realizations, aiming at closing the gap between taxis strategies of living creatures and those of functional active microswarms. As collective behaviors emerge within a group, the global taxis to external stimuli guides the group to conduct overall tasks, whereas the local taxis between individuals induces synchronization and global patterns. By encoding the local orientations and programming the global stimuli, various paradigms can be introduced for coordinating and controlling such collective microrobots, from the viewpoints of fundamental science and practical applications. Therefore, by discussing the key points and difficulties associated with collective taxes of different paradigms, this review potentially offers insights into mimicking natural collective behaviors and constructing intelligent microrobotic systems for on-demand control and preassigned tasks.
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Affiliation(s)
- Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
| | - Yilin Wu
- Department of Physics, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
| | - Martin Pumera
- Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul, 03722, Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
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25
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Xu C, Liu Y, Li J, Ning P, Shi Z, Zhang W, Li Z, Zhou R, Tong Y, Li Y, Lv C, Shen Y, Cheng Q, He B, Cheng Y. Photomagnetically Powered Spiky Nanomachines with Thermal Control of Viscosity for Enhanced Cancer Mechanotherapy. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2204996. [PMID: 36515124 DOI: 10.1002/adma.202204996] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/02/2022] [Revised: 11/21/2022] [Indexed: 06/17/2023]
Abstract
Nanomachines with active propulsion have emerged as an intelligent platform for targeted cancer therapy. Achieving an efficient locomotion performance using an external energy conversion is a key requirement in the design of nanomachines. In this study, inspired by diverse spiky structures in nature, a photomagnetically powered nanomachine (PMN) with a spiky surface and thermally dependent viscosity tunability is proposed to facilitate mechanical motion in lysosomes for cancer mechanotherapy. The hybrid nanomachine is integrated with magnetic nanoparticles as the core and covered with gold nanotips. Physical simulations and experimental results prove that the spiky structure endows nanomachines with an obvious photomagnetic coupling effect in the NIR-II region through the alignment and orienting movement of plasmons on the gold tips. Using a coupling-enhanced magnetic field, PMNs are efficiently assembled into chain-like structures to further elevate energy conversion efficiency. Notably, PMNs with the thermal control of viscosity are efficiently propelled under simultaneously applied dual external energy sources in cell lysosomes. Enhanced mechanical destruction of cancer cells via PMNs is confirmed both in vitro and in vivo under photomagnetic treatment. This study provides a new direction for designing integrated nanomachines with active adaptability to physiological environments for cancer treatment.
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Affiliation(s)
- Chang Xu
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Yali Liu
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Jiayan Li
- Institute of Acoustics, School of Physics Science and Engineering, Tongji University, Shanghai, 200092, P. R. China
| | - Peng Ning
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Zhong Shi
- School of Physics Science and Engineering, Tongji University, Shanghai, 200092, P. R. China
| | - Wei Zhang
- College of Electronics and Information Engineering, Tongji University, Shanghai, 200092, P. R. China
| | - Zhenguang Li
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Ruimei Zhou
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Yifan Tong
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Yingze Li
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Cheng Lv
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Yajing Shen
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
| | - Qian Cheng
- Institute of Acoustics, School of Physics Science and Engineering, Tongji University, Shanghai, 200092, P. R. China
| | - Bin He
- College of Electronics and Information Engineering, Tongji University, Shanghai, 200092, P. R. China
| | - Yu Cheng
- Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, Collaborative Innovation Center for Brain Science, School of Medicine, Tongji University, Shanghai, 200092, P. R. China
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26
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Wang Y, Shen J, Handschuh-Wang S, Qiu M, Du S, Wang B. Microrobots for Targeted Delivery and Therapy in Digestive System. ACS NANO 2023; 17:27-50. [PMID: 36534488 DOI: 10.1021/acsnano.2c04716] [Citation(s) in RCA: 13] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Untethered miniature robots enable targeted delivery and therapy deep inside the gastrointestinal tract in a minimally invasive manner. By combining actuation systems and imaging tools, significant progress has been made toward the development of functional microrobots. These robots can be actuated by external fields and fuels while featuring real-time tracking feedback toward certain regions and can perform the therapeutic process by rational exertion of the local environment of the gastrointestinal tract (e.g., pH, enzyme). Compared with conventional surgical tools, such as endoscopic devices and catheters, miniature robots feature minimally invasive diagnosis and treatment, multifunctionality, high safety and adaptivity, embodied intelligence, and easy access to tortuous and narrow lumens. In addition, the active motion of microrobots enhances local penetration and retention of drugs in tissues compared to common passive oral drug delivery. Based on the dissimilar microenvironments in the various sections of the gastrointestinal tract, this review introduces the advances of miniature robots for minimally invasive targeted delivery and therapy of diseases along the gastrointestinal tract. The imaging modalities for the tracking and their application scenarios are also discussed. We finally evaluate the challenges and barriers that retard their applications and hint on future research directions in this field.
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Affiliation(s)
- Yun Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
| | - Jie Shen
- Shenzhen Key Laboratory of Spine Surgery, Department of Spine Surgery, Peking University Shenzhen Hospital, Shenzhen518036, P.R. China
| | - Stephan Handschuh-Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
| | - Ming Qiu
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen518111, P.R. China
| | - Shiwei Du
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen518111, P.R. China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
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27
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Wang B, Liu D, Liao Y, Huang Y, Ni M, Wang M, Ma Z, Wu Z, Lu Y. Spatiotemporally Actuated Hydrogel by Magnetic Swarm Nanorobotics. ACS NANO 2022; 16:20985-21001. [PMID: 36469837 DOI: 10.1021/acsnano.2c08626] [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: 06/17/2023]
Abstract
Magnetic nanorobotic swarms can mimic collective functions of organisms in nature and be programmed for flexible spatiotemporal control. In this work, different assemblies of magnetic nanoparticle (MNP) swarms were constructed. Temperature-sensitive hydrogels were used as carriers to fix the distribution and ensure the stability of the swarm structure and the biocompatibility of the microrobot. Under three different outfield assembly strategies (gravitational field, gradient magnetic field, and uniform magnetic field), six different assembly modes of MNP are encapsulated (three unilateral unfolding assemblies with different microsphere profiles, unilateral chain assembly, and two symmetric chain assemblies with different magnetic chain positions). Their differences in the execution of motion, magnetothermal effects, and release of loaded DOX drugs were explored. The results showed that the symmetrical chain assembly with the magnetic chain distributed on the outside showed the best performance due to the advantage of the magnetic moment. It has a speed of up to 600 μm/s and a temperature rise rate of up to 1.5 °C/min. The present work provides an excellent solution to the poor MNP cluster distribution stability problem and enriches the assembly control scheme of microrobots in medical, catalytic, and three-dimensional-printing fields.
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Affiliation(s)
- Bin Wang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Dong Liu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Yuting Liao
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
- College of Light Industry and Food Engineering, Guangxi University, Nanning530004, China
| | - Yanjie Huang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
- Tianjin Industrial Microbiology Key Laboratory, College of Biotechnology, Tianjin University of Science and Technology, Tianjin300457, China
| | - Miao Ni
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Mengchen Wang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Zhanpeng Ma
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Zijian Wu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Yuan Lu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
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28
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“Double-punch” strategy against triple-negative breast cancer via a synergistic therapy of magneto-mechanical force enhancing NIR-II hypothermal ablation. Biomaterials 2022; 291:121868. [DOI: 10.1016/j.biomaterials.2022.121868] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/16/2022] [Revised: 10/14/2022] [Accepted: 10/19/2022] [Indexed: 11/16/2022]
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29
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Song X, Sun R, Wang R, Zhou K, Xie R, Lin J, Georgiev D, Paraschiv AA, Zhao R, Stevens MM. Puffball-Inspired Microrobotic Systems with Robust Payload, Strong Protection, and Targeted Locomotion for On-Demand Drug Delivery. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2204791. [PMID: 36066311 DOI: 10.1002/adma.202204791] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/27/2022] [Revised: 08/30/2022] [Indexed: 06/15/2023]
Abstract
Microrobots are recognized as transformative solutions for drug delivery systems (DDSs) because they can navigate through the body to specific locations and enable targeted drug release. However, their realization is substantially limited by insufficient payload capacity, unavoidable drug leakage/deactivation, and strict modification/stability criteria for drugs. Natural puffballs possess fascinating features that are highly desirable for DDSs, including a large fruitbody for storing spores, a flexible protective cap, and environmentally triggered release mechanisms. This report presents a puffball-inspired microrobotic system which incorporates an internal chamber for loading large drug quantities and spatial drug separation, and a near-infrared-responsive top-sealing layer offering strong drug protection and on-demand release. These puffball-inspired microrobots (PIMs) display tunable loading capacities up to high concentrations and enhanced drug protection with minimal drug leakage. Upon near-infrared laser irradiation, on-demand drug delivery with rapid release efficiency is achieved. The PIMs also demonstrate translational motion velocities, switchable motion modes, and precise locomotion under a rotating magnetic field. This work provides strong proof-of-concept for a DDS that combines the superior locomotion capability of microrobots with the unique characteristics of puffballs, thereby illustrating a versatile avenue for development of a new generation of microrobots for targeted drug delivery.
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Affiliation(s)
- Xin Song
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Rujie Sun
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Richard Wang
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Kun Zhou
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Ruoxiao Xie
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Junliang Lin
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Dimitar Georgiev
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
- Department of Computing, UKRI Centre for Doctoral Training in AI for Healthcare, Imperial College London, London, SW7 2AZ, UK
| | - Andrei-Alexandru Paraschiv
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
- Department of Chemistry, Imperial College London, London, SW7 2AZ, UK
| | - Ruibo Zhao
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
- Institute of Smart Biomaterials, School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, Zhejiang, 310018, China
| | - Molly M Stevens
- Department of Materials, Department of Bioengineering, Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
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30
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Zhu S, Xie G, Cui H, Li Q, Forth J, Yuan S, Tian J, Pan Y, Guo W, Chai Y, Zhang Y, Yang Z, Yu RWH, Yu Y, Liu S, Chao Y, Shen Y, Zhao S, Russell TP, Shum HC. Aquabots. ACS NANO 2022; 16:13761-13770. [PMID: 35904791 DOI: 10.1021/acsnano.2c00619] [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
Soft robots, made from elastomers, easily bend and flex, but deformability constraints severely limit navigation through and within narrow, confined spaces. Using aqueous two-phase systems we print water-in-water constructs that, by aqueous phase-separation-induced self-assembly, produce ultrasoft liquid robots, termed aquabots, comprised of hierarchical structures that span in length scale from the nanoscopic to microsciopic, that are beyond the resolution limits of printing and overcome the deformability barrier. The exterior of the compartmentalized membranes is easily functionalized, for example, by binding enzymes, catalytic nanoparticles, and magnetic nanoparticles that impart sensitive magnetic responsiveness. These ultrasoft aquabots can adapt their shape for gripping and transporting objects and can be used for targeted photocatalysis, delivery, and release in confined and tortuous spaces. These biocompatible, multicompartmental, and multifunctional aquabots can be readily applied to medical micromanipulation, targeted cargo delivery, tissue engineering, and biomimetics.
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Affiliation(s)
- Shipei Zhu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Ganhua Xie
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- College of Chemistry and Chemical Engineering, Hunan University, Changsha 410082, P. R. China
| | - Huanqing Cui
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Qingchuan Li
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- School of Chemistry & Chemical Engineering, National Engineering Research Center for Colloidal Materials, Shandong University, Jinan 250100, P. R. China
| | - Joe Forth
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- Department of Chemistry, University College London, London WC1H 0AJ, United Kingdom
| | - Shuai Yuan
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Jingxuan Tian
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Yi Pan
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Wei Guo
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Yu Chai
- Department of Physics, The City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong 999077, P. R. China
| | - Yage Zhang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Zhenyu Yang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Ryan Wing Hei Yu
- Department of Engineering, University of Cambridge, Trumpington Street, Cambridge CB2 1PZ, U.K
| | - Yafeng Yu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Sihan Liu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- Department of Electrical and Electronics Engineering, Southern University of Science and Technology, Shenzhen 518055, P. R. China
| | - Youchuang Chao
- Max Planck Institute for Dynamics and Self-Organization, Göttingen 37077, Germany
| | - Yinan Shen
- Department of Physics, Harvard University, Cambridge 02138, Massachusetts, United States
| | - Sai Zhao
- Department of Physics, The City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong 999077, P. R. China
| | - Thomas P Russell
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- Polymer Science and Engineering Department, University of Massachusetts, Amherst 01003, Massachusetts, United States
- Beijing Advanced Innovation Center for Soft Matter Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, P. R. China
- WPI-Advanced Institute for Materials Research, Tohoku University, Sendai 980-8577, Japan
| | - Ho Cheung Shum
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- Advanced Biomedical Instrumentation Centre, Hong Kong Science Park, Shatin, New Territories, Hong Kong 999077, (SAR), Hong Kong, P. R. China
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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.
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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
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32
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Zhu S, Zheng W, Wang J, Fang X, Zhang L, Niu F, Wang Y, Luo T, Liu G, Yang R. Interactive and synergistic behaviours of multiple heterogeneous microrobots. LAB ON A CHIP 2022; 22:3412-3423. [PMID: 35880648 DOI: 10.1039/d2lc00265e] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Microrobots have been extensively studied for biomedical applications, and significant innovations and advances have been made in diverse aspects of the field. However, most studies have been based on individual microrobots with limited capabilities, constraining their scalability of functions for practical use. Here, we demonstrate the interactive and synergistic behaviours of multiple microrobots that are heterogeneous or incompletely homogeneous. A frequency-response theory is proposed where in a certain frequency range of an external rotating magnetic field (RMF), microrobots with dispersed and linearly aligned magnetic nanoparticles (MNPs) would exhibit similar and different behaviour, respectively. These microrobots rotate following the rotation of the external field, and such complete rotational motion is interrupted when the frequency exceeds a certain value, called the critical frequency (cf), but such behaviour is more prominent in microrobots with linear MNPs. Upon further investigating the effect of various parameters on the cf of the microrobots during the fabrication process, we find that heterogeneous microrobots with specific cf values can be customized. In addition, experiments and simulations are combined to show the hydrodynamic behaviours around the rotating microrobots at different frequencies. Based on these findings, the interactive and synergistic behaviours of multiple microrobots are presented, which suggests great potential for the independent execution of multiple tasks or the synergistic performance of complex tasks and is significant for the future development of interactive synergistic microrobots in the biomedical field.
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Affiliation(s)
- Shilu Zhu
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Weijie Zheng
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Jian Wang
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Xingmiao Fang
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Lijiu Zhang
- Dastroenterology Department, The Second Affiliated Hospital of Anhui Medical University, Hefei 230601, China
| | - Fuzhou Niu
- School of Mechanical Engineering Suzhou University of Science and Technology Suzhou, Jiangsu 215009, China
| | - Ying Wang
- School of Biomedical Engineering, Beihang University, Beijing 100191, China
| | - Tingting Luo
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Guangli Liu
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering and the 3D-Printing and Tissue Engineering Center (3DPTEC), Anhui Medical University, Hefei 230032, China.
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33
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Huan Z, Ma W, Wang J, Wu F. Path planning and optimization for micro-robot in a vessel-mimic environment. Front Neurorobot 2022; 16:923348. [PMID: 36160285 PMCID: PMC9489927 DOI: 10.3389/fnbot.2022.923348] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/19/2022] [Accepted: 05/25/2022] [Indexed: 11/13/2022] Open
Abstract
Manipulating micro-robots in blood vessels is an essential technology for medical researchers in applications such as drug delivery and thrombus removal. The usage of micro-robots in medicine can help overcome the limitations of many conventional clinical methods. In this study, we aimed to make the micro-robot more intelligent while moving through blood vessels. First, the skeleton of an image of the blood vessels is extracted, which is further used for path planning. Then, the skeleton-extraction-based A* algorithm was used for determining a best route for the movement of the microrobot at a safe distance from the vascular wall. Finally, the gradient descent algorithm was utilized to smooth the planned path. Simulations were conducted to verify the effectiveness of the proposed algorithms. The proposed methods would improve the efficiency for the further manipulation of the micro-robot in the blood vessel environment.
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Affiliation(s)
- Zhijie Huan
- School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen, China
| | - Weicheng Ma
- School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen, China
| | - Jiamin Wang
- School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen, China
- *Correspondence: Jiamin Wang
| | - Feibin Wu
- Quanzhou Institute of Equipment Manufacturing, Haixi Institutes of Research on the Structure of Matter, Chinese Academy of Sciences, Quanzhou, Fujian, China
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34
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Wu R, Zhu Y, Cai X, Wu S, Xu L, Yu T. Recent Process in Microrobots: From Propulsion to Swarming for Biomedical Applications. MICROMACHINES 2022; 13:1473. [PMID: 36144096 PMCID: PMC9503943 DOI: 10.3390/mi13091473] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/31/2022] [Revised: 08/26/2022] [Accepted: 08/30/2022] [Indexed: 06/16/2023]
Abstract
Recently, robots have assisted and contributed to the biomedical field. Scaling down the size of robots to micro/nanoscale can increase the accuracy of targeted medications and decrease the danger of invasive operations in human surgery. Inspired by the motion pattern and collective behaviors of the tiny biological motors in nature, various kinds of sophisticated and programmable microrobots are fabricated with the ability for cargo delivery, bio-imaging, precise operation, etc. In this review, four types of propulsion-magnetically, acoustically, chemically/optically and hybrid driven-and their corresponding features have been outlined and categorized. In particular, the locomotion of these micro/nanorobots, as well as the requirement of biocompatibility, transportation efficiency, and controllable motion for applications in the complex human body environment should be considered. We discuss applications of different propulsion mechanisms in the biomedical field, list their individual benefits, and suggest their potential growth paths.
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35
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Tang X, Manamanchaiyaporn L, Zhou Q, Huang C, Li L, Li Z, Wang L, Wang J, Ren L, Xu T, Yan X, Zheng Y. Synergistic Integration and Pharmacomechanical Function of Enzyme-Magnetite Nanoparticle Swarms for Low-Dose Fast Thrombolysis. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2202848. [PMID: 35905497 DOI: 10.1002/smll.202202848] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/18/2022] [Revised: 07/08/2022] [Indexed: 06/15/2023]
Abstract
Magnetic micro-/nanoparticles are extensively explored over the past decade as active diagnostic/therapeutic agents for minimally invasive medicine. However, sufficient function integration on these miniaturized bodies toward practical applications remains challenging. This work proposes a synergistic strategy via integrating particle functionalization and bioinspired swarming, demonstrated by recombinant tissue plasminogen activator modified magnetite nanoparticles (rtPA-Fe3 O4 NPs) for fast thrombolysis in vivo with low drug dosage. The synthesized rtPA-Fe3 O4 NPs exhibit superior magnetic performance, high biocompatibility, and thrombolytic enzyme activity. Benefiting from a customized magnetic operation system designed for animal experiments and preclinical development, these agglomeration-free NPs can assemble into micro-/milli-scale swarms capable of robust maneuver and reconfigurable transformation for on-demand tasks in complex biofluids. Specifically, the spinning mode of the swarm exerts focused fluid shear stresses while rubbing on the thrombus surface, constituting a mechanical force for clot breakdown. The synergy of the NPs' inherent enzymatic effect and swarming-triggered fluid forces enables amplified efficacy of thrombolysis in an in vivo occlusion model of rabbit carotid artery, using lower drug concentration than clinical dosage. Furthermore, swarming-enhanced ultrasound signals aid in imaging-guided treatment. Therefore, the pharmacomechanical NP swarms herein represent an injectable thrombolytic tool joining advantages of intravenous drug therapy and robotic intervention.
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Affiliation(s)
- Xiuzhen Tang
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, Shanghai Institute of Ultrasound in Medicine, Shanghai, 200233, China
- State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics & Center for Molecular Imaging and Translational Medicine, School of Public Health, Xiamen University, Xiamen, 361005, China
- Center of Excellence in Creative Engineering Design and Development & Department of Mechanical Engineering, Faculty of Engineering, Thammasat University, Pathumthani, 12121, Thailand
| | - Laliphat Manamanchaiyaporn
- State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics & Center for Molecular Imaging and Translational Medicine, School of Public Health, Xiamen University, Xiamen, 361005, China
- Center of Excellence in Creative Engineering Design and Development & Department of Mechanical Engineering, Faculty of Engineering, Thammasat University, Pathumthani, 12121, Thailand
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, China
| | - Qi Zhou
- School of Engineering, Institute for Multiscale Thermofluids, University of Edinburgh, Edinburgh, EH9 3FD, UK
| | - Chenyang Huang
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, China
| | - Lihuang Li
- Department of Biomaterials, College of Materials, Xiamen University, Xiamen, 361005, China
| | - Ziqiao Li
- State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics & Center for Molecular Imaging and Translational Medicine, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Longchen Wang
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, Shanghai Institute of Ultrasound in Medicine, Shanghai, 200233, China
| | - Jienan Wang
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, Shanghai Institute of Ultrasound in Medicine, Shanghai, 200233, China
| | - Lei Ren
- Department of Biomaterials, College of Materials, Xiamen University, Xiamen, 361005, China
| | - Tiantian Xu
- Center of Excellence in Creative Engineering Design and Development & Department of Mechanical Engineering, Faculty of Engineering, Thammasat University, Pathumthani, 12121, Thailand
| | - Xiaohui Yan
- State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics & Center for Molecular Imaging and Translational Medicine, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Yuanyi Zheng
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, Shanghai Institute of Ultrasound in Medicine, Shanghai, 200233, China
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36
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Wang T, Ugurlu H, Yan Y, Li M, Li M, Wild AM, Yildiz E, Schneider M, Sheehan D, Hu W, Sitti M. Adaptive wireless millirobotic locomotion into distal vasculature. Nat Commun 2022; 13:4465. [PMID: 35915075 PMCID: PMC9343456 DOI: 10.1038/s41467-022-32059-9] [Citation(s) in RCA: 25] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/27/2021] [Accepted: 07/14/2022] [Indexed: 11/23/2022] Open
Abstract
Microcatheters have enabled diverse minimally invasive endovascular operations and notable health benefits compared with open surgeries. However, with tortuous routes far from the arterial puncture site, the distal vascular regions remain challenging for safe catheter access. Therefore, we propose a wireless stent-shaped magnetic soft robot to be deployed, actively navigated, used for medical functions, and retrieved in the example M4 segment of the middle cerebral artery. We investigate shape-adaptively controlled locomotion in phantoms emulating the physiological conditions here, where the lumen diameter shrinks from 1.5 mm to 1 mm, the radius of curvature of the tortuous lumen gets as small as 3 mm, the lumen bifurcation angle goes up to 120°, and the pulsatile flow speed reaches up to 26 cm/s. The robot can also withstand the flow when the magnetic actuation is turned off. These locomotion capabilities are confirmed in porcine arteries ex vivo. Furthermore, variants of the robot could release the tissue plasminogen activator on-demand locally for thrombolysis and function as flow diverters, initiating promising therapies towards acute ischemic stroke, aneurysm, arteriovenous malformation, dural arteriovenous fistulas, and brain tumors. These functions should facilitate the robot’s usage in new distal endovascular operations. Accessibility into the distal vascular systems to treat various diseases remains challenging using medical catheters. Here, Wang et al. demonstrate that a stent-shaped wireless magnetic soft robot enables adaptive locomotion and medical functions into these distal vascular regions.
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Affiliation(s)
- Tianlu Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany.,Department of Information Technology and Electrical Engineering, ETH Zurich, 8092, Zurich, Switzerland
| | - Halim Ugurlu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany.,Clinic for Neuroradiology, Klinikum Stuttgart, 70174, Stuttgart, Germany.,Department of Biophysics, Aydın Adnan Menderes University, Graduate School of Health Sciences, 09010, Aydın, Turkey
| | - Yingbo Yan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Anna-Maria Wild
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Erdost Yildiz
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Martina Schneider
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Devin Sheehan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Wenqi Hu
- 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. .,Department of Information Technology and Electrical Engineering, ETH Zurich, 8092, Zurich, Switzerland. .,School of Medicine and College of Engineering, Koç University, 34450, Istanbul, Turkey.
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37
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Sun M, Chan KF, Zhang Z, Wang L, Wang Q, Yang S, Chan SM, Chiu PWY, Sung JJY, Zhang L. Magnetic Microswarm and Fluoroscopy-Guided Platform for Biofilm Eradication in Biliary Stents. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2201888. [PMID: 35474246 DOI: 10.1002/adma.202201888] [Citation(s) in RCA: 47] [Impact Index Per Article: 23.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/27/2022] [Revised: 04/18/2022] [Indexed: 06/14/2023]
Abstract
Biofilm eradication from medical implants is of fundamental importance, and the treatment of biofilm-associated pathogen infections on inaccessible biliary stents remains challenging. Magnetically driven microrobots with controlled motility, accessibility to the tiny lumen, and swarm enhancement effects can physically disrupt the deleterious biostructures while not developing drug resistance. Magnetic urchin-like capsule robots (MUCRs) loaded with magnetic liquid metal droplets (MLMDs, antibacterial agents) are designed using natural sunflower pollen, and the therapeutic effect of swarming MUCR@MLMDs is explored for eradicating complex mixtures of bacterial biofilm within biliary stents collected from patients. The external magnetic field triggers the emergence of the microswarm and induces MLMDs to transform their shape into spheroids and rods with sharp edges. The inherent natural microspikes of MUCRs and the obtained sharp edges of MLMDs actively rupture the dense biological matrix and multiple species of embedded bacterial cells by exerting mechanical force, finally achieving synergistic biofilm eradication. The microswarm is precisely and rapidly deployed into the biliary stent via endoscopy in 10 min. Notably, fluoroscopy imaging is used to track and navigate the locomotion of microswarm in biliary stents in real-time. The microswarm has great potential for treating bacterial biofilm infections associated with medical implants.
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Affiliation(s)
- Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
| | - Zifeng Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Lu Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | | | - Philip Wai Yan Chiu
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
| | - Joseph Jao Yiu Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore
| | - 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
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
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38
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Zhang H, Xu B, Ouyang Y, Wang Y, Zhu H, Huang G, Cui J, Mei Y. Shape Memory Alloy Helical Microrobots with Transformable Capability towards Vascular Occlusion Treatment. Research (Wash D C) 2022; 2022:9842752. [PMID: 35928304 PMCID: PMC9297727 DOI: 10.34133/2022/9842752] [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: 04/21/2022] [Accepted: 06/15/2022] [Indexed: 11/06/2022] Open
Abstract
Practical implementation of minimally invasive biomedical applications has been a long-sought goal for microrobots. In this field, most previous studies only demonstrate microrobots with locomotion ability or performing a single task, unable to be functionalized effectively. Here, we propose a biocompatible shape memory alloy helical microrobot with regulative structure transformation, making it possible to adjust its motion behavior and mechanical properties precisely. Especially, towards vascular occlusion problem, these microrobots reveal a fundamental solution strategy in the mechanical capability using shape memory effect. Such shape-transformable microrobots can not only manipulate thrust and torque by structure to enhance the unclogging efficiency as a microdriller but also utilize the high work energy to apply the expandable helical tail as a self-propulsive stent. The strategy takes advantage of untethered manipulation to operate microsurgery without unnecessary damage. This study opens a route to functionalize microrobots via accurate tuning in structures, motions, and mechanical properties.
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Affiliation(s)
- Hehua Zhang
- Department of Materials Science, Fudan University, Shanghai 200438, China
| | - Borui Xu
- Department of Materials Science, Fudan University, Shanghai 200438, China
- Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Institute of Optoelectronics, Fudan University, Shanghai 200433, China
- Yiwu Research Institute of Fudan University, Yiwu 322000, Zhejiang, China
| | - Yi Ouyang
- Department of Materials Science, Fudan University, Shanghai 200438, China
| | - Yunqi Wang
- Department of Materials Science, Fudan University, Shanghai 200438, China
| | - Hong Zhu
- Department of Materials Science, Fudan University, Shanghai 200438, China
| | - Gaoshan Huang
- Department of Materials Science, Fudan University, Shanghai 200438, China
- Yiwu Research Institute of Fudan University, Yiwu 322000, Zhejiang, China
- International Institute for Intelligent Nanorobots and Nanosystems, Fudan University, Shanghai 200438, China
| | - Jizhai Cui
- Department of Materials Science, Fudan University, Shanghai 200438, China
- Yiwu Research Institute of Fudan University, Yiwu 322000, Zhejiang, China
| | - Yongfeng Mei
- Department of Materials Science, Fudan University, Shanghai 200438, China
- Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Institute of Optoelectronics, Fudan University, Shanghai 200433, China
- Yiwu Research Institute of Fudan University, Yiwu 322000, Zhejiang, China
- International Institute for Intelligent Nanorobots and Nanosystems, Fudan University, Shanghai 200438, China
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39
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Kararsiz G, Duygu YC, Rogowski LW, Bhattacharjee A, Kim MJ. Rolling Motion of a Soft Microsnowman under Rotating Magnetic Field. MICROMACHINES 2022; 13:mi13071005. [PMID: 35888822 PMCID: PMC9321327 DOI: 10.3390/mi13071005] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/25/2022] [Revised: 06/21/2022] [Accepted: 06/24/2022] [Indexed: 12/10/2022]
Abstract
This paper demonstrates a manipulation of snowman-shaped soft microrobots under a uniform rotating magnetic field. Each microsnowman robot consists of two biocompatible alginate microspheres with embedded magnetic nanoparticles. The soft microsnowmen were fabricated using a microfluidic device by following a centrifuge-based microfluidic droplet method. Under a uniform rotating magnetic field, the microsnowmen were rolled on the substrate surface, and the velocity response for increasing magnetic field frequencies was analyzed. Then, a microsnowman was rolled to follow different paths, which demonstrated directional controllability of the microrobot. Moreover, swarms of microsnowmen and single alginate microrobots were manipulated under the rotating magnetic field, and their velocity responses were analyzed for comparison.
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Affiliation(s)
- Gokhan Kararsiz
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA; (G.K.); (Y.C.D.); (A.B.)
| | - Yasin Cagatay Duygu
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA; (G.K.); (Y.C.D.); (A.B.)
| | - Louis William Rogowski
- Applied Research Associates, Inc. (ARA), 4300 San Mateo Blvd. NE, Suite A-220, Albuquerque, NM 87110, USA;
| | - Anuruddha Bhattacharjee
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA; (G.K.); (Y.C.D.); (A.B.)
| | - Min Jun Kim
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA; (G.K.); (Y.C.D.); (A.B.)
- Correspondence: ; Tel.: +1-214-768-3972
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40
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Chen H, Li Y, Wang Y, Ning P, Shen Y, Wei X, Feng Q, Liu Y, Li Z, Xu C, Huang S, Deng C, Wang P, Cheng Y. An Engineered Bacteria-Hybrid Microrobot with the Magnetothermal Bioswitch for Remotely Collective Perception and Imaging-Guided Cancer Treatment. ACS NANO 2022; 16:6118-6133. [PMID: 35343677 DOI: 10.1021/acsnano.1c11601] [Citation(s) in RCA: 26] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Microrobots driven by multiple propelling forces hold great potential for noninvasively targeted delivery in the physiologic environment. However, the remotely collective perception and precise propelling in a low Reynold's number bioenvironment remain the major challenges of microrobots to achieve desired therapeutic effects in vivo. Here, we reported a biohybrid microrobot that integrated with magnetic, thermal, and hypoxia sensitivities and an internal fluorescent protein as the dual reporter of thermal and positioning signals for targeted cancer treatment. There were three key elements in the microrobotic system, including the magnetic nanoparticle (MNP)-loaded probiotic Escherichia coli Nissle1917 (EcN@MNP) for spatially magnetic and hypoxia perception, a thermal-logic circuit engineered into the bacteria to control the biosynthesis of mCherry as the temperature and positioning reporter, and NDH-2 enzyme encoded in the EcN for enhanced anticancer therapy. According to the fluorescent-protein-based imaging feedback, the microrobot showed good thermal sensitivity and active targeting ability to the tumor area in a collective manner under the magnetic field. The cancer cell apoptosis was efficiently triggered in vitro and in vivo by the hybrid microrobot coupled with the effects of magnetothermal ablation and NDH-2-induced reactive oxygen species (ROS) damage. Our study demonstrates that the biohybrid EcN microrobot is an ideal platform to integrate the physical, biological, and chemical properties for collective perception and propelling in targeted cancer treatment.
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Affiliation(s)
- Haotian Chen
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Yingze Li
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Yanjin Wang
- Tongji University Cancer Center, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Middle Yanchang Road, Shanghai 200072, China
| | - Peng Ning
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Yajing Shen
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Xueyan Wei
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Qishuai Feng
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Yali Liu
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Zhenguang Li
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Chang Xu
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Siyu Huang
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Cuijun Deng
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
| | - Ping Wang
- Tongji University Cancer Center, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Middle Yanchang Road, Shanghai 200072, China
| | - Yu Cheng
- Shanghai East Hospital, School of Medicine, Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, 1800 Yuntai Road, Shanghai 200120, China
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Xie S, Mo C, Cao W, Xie S, Li S, Zhang Z, Li X. Bacteria-propelled microtubular motors for efficient penetration and targeting delivery of thrombolytic agents. Acta Biomater 2022; 142:49-59. [PMID: 35158079 DOI: 10.1016/j.actbio.2022.02.008] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/06/2021] [Revised: 01/12/2022] [Accepted: 02/07/2022] [Indexed: 11/01/2022]
Abstract
Effective thrombolysis is critical to rapidly rebuild blood flow for thrombosis patients. Drug delivery systems have been developed to address inadequate pharmacokinetics of thrombolytic agents, but challenges still remain in the timely removal of blood clots regarding the dense fibrin networks. Herein, rod-shaped tubular micromotors were developed to achieve efficient penetration and thorough destruction of thrombi. By using electrospun fiber fragments as the template, urokinase (uPA)-loaded polydopamine (PDA) microtubes with surface decorated fucoidan (FuPDAuPA) were prepared at the aspect ratio of around 2. One E. coli Nissle 1917 (EcN) was assembled into one microtube to construct a FuPDAuPA@EcN hybrid micromotor through PDA adhesion and L-aspartate induction. The pharmacokinetic analysis indicates that the encapsulation of uPA into micromotors extends the half-life from 0.4 to 5.6 h and increases the bioavailability over 10 times. EcN-propelled motion elevates adsorption capacities of FuPDAuPA@EcN for more than four times compared with that of FuPDAuPA. The fucoidan-mediated targeting causes 2-fold higher thrombolysis capacity in vitro and over 10-fold higher uPA accumulation in thrombi in vivo. In the treatment of venous thrombi at mouse hindlimbs, intravenous administration of FuPDAuPA@EcN completely removed blood clots with almost full recovery of blood flows and apparently alleviated tail bleeding. It should be noted that FuPDAuPA@EcN treatment at a reduced uPA dose caused no significant difference in the blood flow rate compared with those of FuPDAuPA. The synergistic action of fucoidan-induced targeting and EcN-driven motion provides a prerequisite for promoting thrombolytic efficacy and reducing uPA dose and bleeding side effect. STATEMENT OF SIGNIFICANCE: The standard treatment to thrombosis patient is intravenous infusion of thrombolytic agents, but the associated bleeding complications and impairment of normal haemostasis greatly offset the therapeutic benefits. Drug delivery systems have been developed to address the limitations of inadequate pharmacokinetics of thrombolytic agents, but challenges still exist in less efficient penetration into dense networks for thorough destruction of thrombi. Up to now only few attempts have been made to construct nano-/micromotors for combating thrombosis and there is no single case that antithrombosis is assisted by bacteria or cells-propelled motors. Herein, bacteria-propelled microtubes were developed to carry urokinase for efficient penetration into blood clots and effective thrombolysis. The synergistic action of bacteria-driven motion and specific ligand-induced targeting holds a promising treatment strategy for life-threatening cardiovascular diseases such as thrombosis and atherosclerosis.
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Stimuli-controllable iron oxide nanoparticle assemblies: Design, manipulation and bio-applications. J Control Release 2022; 345:231-274. [DOI: 10.1016/j.jconrel.2022.03.024] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/19/2021] [Revised: 03/11/2022] [Accepted: 03/12/2022] [Indexed: 02/07/2023]
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Zhang Z, Wang L, Chan TKF, Chen Z, Ip M, Chan PKS, Sung JJY, Zhang L. Micro-/Nanorobots in Antimicrobial Applications: Recent Progress, Challenges, and Opportunities. Adv Healthc Mater 2022; 11:e2101991. [PMID: 34907671 DOI: 10.1002/adhm.202101991] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/18/2021] [Revised: 11/24/2021] [Indexed: 12/13/2022]
Abstract
The evolution of drug-resistant pathogenic bacteria remains one of the most urgent threats to public health worldwide. Even worse, the bacterial cells commonly form biofilms through aggregation and adhesion, preventing antibiotic penetration and resisting environmental stress. Moreover, biofilms tend to grow in some hard-to-reach regions, bringing difficulty for antibiotic delivery at the infected site. The drug-resistant pathogenic bacteria and intractable biofilm give rise to chronic and recurrent infections, exacerbating the challenge in combating bacterial infections. Micro/nanorobots (MNRs) are capable of active cargo delivery, targeted treatment with high precision, and motion-assisted mechanical force, which enable transport and enhance penetration of antibacterial agents into the targeted site, thus showing great promise in emerging as an attractive alternative to conventional antibacterial therapies. This review summarizes the recent advances in micro-/nanorobots for antibacterial applications, with emphasis on those novel strategies for drug-resistance bacterium and stubborn biofilm infections. Insights on the future development of MNRs with good functionality and biosafety offer promising approaches to address infections in the clinic setting.
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Affiliation(s)
- Zifeng Zhang
- Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR 999077 China
| | - Lu Wang
- Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR 999077 China
| | - Tony K. F. Chan
- Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong SAR 999077 China
| | - Zigui Chen
- Department of Microbiology The Chinese University of Hong Kong Hong Kong SAR 999077 China
| | - Margaret Ip
- Department of Microbiology The Chinese University of Hong Kong Hong Kong SAR 999077 China
| | - Paul K. S. Chan
- Department of Microbiology The Chinese University of Hong Kong Hong Kong SAR 999077 China
- Stanley Ho Centre for Emerging Infectious Diseases Faculty of Medicine The Chinese University of Hong Kong Hong Kong SAR 999077 China
| | - Joseph J. Y. Sung
- Lee Kong Chian School of Medicine Nanyang Technological University Singapore 636921 Singapore
| | - Li Zhang
- Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR 999077 China
- Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong SAR 999077 China
- CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong SAR 999077 China
- Department of Surgery The Chinese University of Hong Kong Hong Kong SAR 999077 China
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Fu D, Xie D, Wang F, Chen B, Wang Z, Peng F. Mechanically Optimize T Cells Activation by Spiky Nanomotors. Front Bioeng Biotechnol 2022; 10:844091. [PMID: 35273958 PMCID: PMC8902353 DOI: 10.3389/fbioe.2022.844091] [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: 12/27/2021] [Accepted: 01/26/2022] [Indexed: 11/13/2022] Open
Abstract
T cell activation is vital for immune response initiation and modulation. Except for the strength of the interaction between T cell receptors (TCR) and peptides on major histocompatibility complex molecules (MHC), mechanical force, mediated by professional mechanosensitive ion channels, contributes to activating T cells. The intrinsic characteristic of synthetic micro/nanomotors that convert diverse energy sources into physical movement and force, opening up new possibilities for T cell regulation. In this work, Pd/Au nanomotors with spiky morphology were fabricated, and in the presence of low concentrations of hydrogen peroxide fuel, the motors exhibited continuous locomotion in the cellular biological environment. Physical cues (force and pressure) generated by the dynamic performance are sensed by mechanosensitive ion channels of T cells and trigger Ca2+ influx and subsequent activation. The successful demonstration that mechanical signals generated in the bio microenvironment can potentiate T cells activation, represents a potential approach for cell-based cancer immunotherapy.
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Affiliation(s)
- Dongmei Fu
- School of Materials Science and Engineering, Sun-Yat-sen University, Guangzhou, China
| | - Dazhi Xie
- School of Materials Science and Engineering, Sun-Yat-sen University, Guangzhou, China
| | - Fei Wang
- School of Pharmaceutical Science, Southern Medical University, Guangzhou, China
| | - Bin Chen
- School of Pharmaceutical Science, Southern Medical University, Guangzhou, China
| | - Zhen Wang
- School of Materials Science and Engineering, Sun-Yat-sen University, Guangzhou, China
| | - Fei Peng
- School of Materials Science and Engineering, Sun-Yat-sen University, Guangzhou, China
- *Correspondence: Fei Peng,
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Liu F, Liu X, Huang Q, Arai T. Recent Progress of Magnetically Actuated DNA Micro/Nanorobots. CYBORG AND BIONIC SYSTEMS 2022; 2022:9758460. [PMID: 36285315 PMCID: PMC9494703 DOI: 10.34133/2022/9758460] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/25/2021] [Accepted: 12/22/2021] [Indexed: 01/12/2023] Open
Abstract
In the past few decades, the field of DNA origami-based micro/nanotechnology has developed dramatically and spawned attention increasingly, as its high integrality, rigid structure, and excellent resistance ability to enzyme digestion. Many two-dimensional and three-dimensional DNA nanostructures coordinated with optical, chemical, or magnetic triggers have been designed and assembled, extensively used as versatile templates for molecular robots, nanosensors, and intracellular drug delivery. The magnetic field has been widely regarded as an ideal driving and operating system for micro/nanomaterials, as it does not require high-intensity lasers like light control, nor does it need to change the chemical composition similar to chemical activation. Herein, we review the recent achievements in the induction and actuation of DNA origami-based nanodevices that respond to magnetic fields. These magnetic actuation-based DNA nanodevices were regularly combined with magnetic beads or gold nanoparticles and applied to generate single-stranded scaffolds, assemble various DNA nanostructures, and purify specific DNA nanostructures. Moreover, they also produced artificial magnetism or moved regularly driven by external magnetic fields to explain deeper scientific issues.
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Affiliation(s)
- Fengyu Liu
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Xiaoming Liu
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Qiang Huang
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Tatsuo Arai
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo 182-8585, Japan
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Wang Z, Xu Z, Zhu B, Zhang Y, Lin J, Wu Y, Wu D. Design, fabrication and application of magnetically actuated micro/nanorobots: a review. NANOTECHNOLOGY 2022; 33:152001. [PMID: 34915458 DOI: 10.1088/1361-6528/ac43e6] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/15/2021] [Accepted: 12/16/2021] [Indexed: 06/14/2023]
Abstract
Magnetically actuated micro/nanorobots are typical micro- and nanoscale artificial devices with favorable attributes of quick response, remote and contactless control, harmless human-machine interaction and high economic efficiency. Under external magnetic actuation strategies, they are capable of achieving elaborate manipulation and navigation in extreme biomedical environments. This review focuses on state-of-the-art progresses in design strategies, fabrication techniques and applications of magnetically actuated micro/nanorobots. Firstly, recent advances of various robot designs, including helical robots, surface walkers, ciliary robots, scaffold robots and biohybrid robots, are discussed separately. Secondly, the main progresses of common fabrication techniques are respectively introduced, and application achievements on these robots in targeted drug delivery, minimally invasive surgery and cell manipulation are also presented. Finally, a short summary is made, and the current challenges and future work for magnetically actuated micro/nanorobots are discussed.
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Affiliation(s)
- Zhongbao Wang
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Zhenjin Xu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Bin Zhu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Yang Zhang
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Jiawei Lin
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Yigen Wu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
| | - Dezhi Wu
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, People's Republic of China
- Shenzhen Research Institute of Xiamen University, Shenzhen, 518057, People's Republic of China
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Du H, Akakuru OU, Yao C, Yang F, Wu A. Transition metal ion-doped ferrites nanoparticles for bioimaging and cancer therapy. Transl Oncol 2022; 15:101264. [PMID: 34781185 PMCID: PMC8593663 DOI: 10.1016/j.tranon.2021.101264] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/21/2021] [Revised: 09/25/2021] [Accepted: 10/27/2021] [Indexed: 12/17/2022] Open
Abstract
Magnetic nanoparticles (MNPs) have been extensively researched and implemented in biomedicine for more than half a century due to their non-invasive nature, ease of temporal and spatial manipulation, and considerable biocompatibility. However, the complex magnetic behaviour of MNPs is influenced by several parameters (e.g., particle size, shape, composition, core-shell structure, etc.), among which the amount of transition metal doping plays an important factor. For this reason, the doping of ferrite with transition metals has been used as an effective strategy to precisely tailor MNPs to achieve satisfactory performance in biomedical applications. In this review, we first introduced the main properties of coordinated MNPs (including magnetic moment and saturated magnetisation) and provide a comprehensive overview of the mechanistic studies related to the doping of transition metal ions into ferrite to precisely modulate its magnetic properties. We also highlighted the potential mechanisms and recent advances in transition metal ion-doped MNPs (TMNPs) for bioimaging (magnetic resonance imaging and magnetic particle imaging) and tumour therapy (e.g., magneto-mechanical killing, magnetothermal therapy, and drug delivery). Finally, we summarised the current challenges and future trends of TMNPs in the biomedical field based on the latest advances by researchers.
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Affiliation(s)
- Hui Du
- CAS Key Laboratory of Magnetic Materials and Devices, & Key Laboratory of Additive Manufacturing Materials of Zhejiang Province, Chinese Academy of Sciences, Cixi Institute of Biomedical Engineering, Ningbo Institute of Materials Technology and Engineering, Ningbo 315201, PR China; University of Chinese Academy of Sciences, Beijing 100049, China
| | - Ozioma Udochukwu Akakuru
- CAS Key Laboratory of Magnetic Materials and Devices, & Key Laboratory of Additive Manufacturing Materials of Zhejiang Province, Chinese Academy of Sciences, Cixi Institute of Biomedical Engineering, Ningbo Institute of Materials Technology and Engineering, Ningbo 315201, PR China
| | - Chenyang Yao
- CAS Key Laboratory of Magnetic Materials and Devices, & Key Laboratory of Additive Manufacturing Materials of Zhejiang Province, Chinese Academy of Sciences, Cixi Institute of Biomedical Engineering, Ningbo Institute of Materials Technology and Engineering, Ningbo 315201, PR China; University of Chinese Academy of Sciences, Beijing 100049, China
| | - Fang Yang
- CAS Key Laboratory of Magnetic Materials and Devices, & Key Laboratory of Additive Manufacturing Materials of Zhejiang Province, Chinese Academy of Sciences, Cixi Institute of Biomedical Engineering, Ningbo Institute of Materials Technology and Engineering, Ningbo 315201, PR China; Advanced Energy Science and Technology Guangdong Laboratory, Huizhou 516000, PR China.
| | - Aiguo Wu
- CAS Key Laboratory of Magnetic Materials and Devices, & Key Laboratory of Additive Manufacturing Materials of Zhejiang Province, Chinese Academy of Sciences, Cixi Institute of Biomedical Engineering, Ningbo Institute of Materials Technology and Engineering, Ningbo 315201, PR China; Advanced Energy Science and Technology Guangdong Laboratory, Huizhou 516000, PR China.
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48
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Wang L, Wang J, Hao J, Dong Z, Wu J, Shen G, Ying T, Feng L, Cai X, Liu Z, Zheng Y. Guiding Drug Through Interrupted Bloodstream for Potentiated Thrombolysis by C-Shaped Magnetic Actuation System In Vivo. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2105351. [PMID: 34647345 DOI: 10.1002/adma.202105351] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/12/2021] [Revised: 09/02/2021] [Indexed: 06/13/2023]
Abstract
Fast and effective thrombolysis using tissue plasminogen activator (tPA) is limited by the poor delivery efficiency of thrombolytic drugs, which is induced by an interrupted bloodstream and delayed recanalization. Existing magnetic micro/nanodrug-loaded robots used for targeted thrombotic therapy are limited by the complexity of the clinical verification of nanodrugs and the limited space of magnetic actuation systems. Herein, a general drug delivery strategy based on mass transportation theory for thrombolysis is presented, and an open space C-shaped magnetic actuation system with laser location and ultrasound imaging navigation for in vivo evaluation is developed. tPA can be guided through an interrupted bloodstream to the thrombi by the locomotion of magnetic nanoparticle swarms (MNSs), thereby improving the thrombolysis efficacy. Notably, this strategy is able to quickly establish a life channel to achieve time-critical recanalization, which is typically inaccessible using native tPA. Both in vitro and in vivo thrombolysis experiments demonstrate that the thrombus lysis efficacy significantly increases after the application of the MNS under a rotating magnetic field. This study provides an anticipated C-shaped magnetic actuation system for in vivo validation and also presents a clinically feasible drug delivery strategy for targeted thrombolytic therapy with minimal systemic tPA exposure.
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Affiliation(s)
- Longchen Wang
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, No. 600, Shanghai, 200233, P. R. China
| | - Jienan Wang
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, No. 600, Shanghai, 200233, P. R. China
| | - Junnian Hao
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, No. 600, Shanghai, 200233, P. R. China
| | - Ziliang Dong
- Jiangsu Key Laboratory for Carbon-Based Functional Materials and Devices, Institute of Functional Nano and Soft Materials (FUNSOM), Soochow University, 199 Ren'ai Road, Suzhou, Jiangsu, 215123, P. R. China
| | - Jianrong Wu
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, No. 600, Shanghai, 200233, P. R. China
- Shanghai Center for Brain Science and Brain-Inspired Technology, Shanghai, 200031, P. R. China
| | - Guofeng Shen
- School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, 200030, P. R. China
| | - Tao Ying
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, No. 600, Shanghai, 200233, P. R. China
| | - Liangzhu Feng
- Jiangsu Key Laboratory for Carbon-Based Functional Materials and Devices, Institute of Functional Nano and Soft Materials (FUNSOM), Soochow University, 199 Ren'ai Road, Suzhou, Jiangsu, 215123, P. R. China
| | - Xiaojun Cai
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, No. 600, Shanghai, 200233, P. R. China
| | - Zhuang Liu
- Jiangsu Key Laboratory for Carbon-Based Functional Materials and Devices, Institute of Functional Nano and Soft Materials (FUNSOM), Soochow University, 199 Ren'ai Road, Suzhou, Jiangsu, 215123, P. R. China
| | - Yuanyi Zheng
- Department of Ultrasound in Medicine, Shanghai Jiao Tong University Affiliated Sixth People's Hospital, No. 600, Shanghai, 200233, P. R. China
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Chen H, Zhang H, Xu T, Yu J. An Overview of Micronanoswarms for Biomedical Applications. ACS NANO 2021; 15:15625-15644. [PMID: 34647455 DOI: 10.1021/acsnano.1c07363] [Citation(s) in RCA: 21] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Micronanoswarms have attracted extensive attention worldwide due to their great promise in biomedical applications. The collective behaviors among thousands, or even millions, of tiny active agents indicate immense potential for benefiting the progress of clinical therapeutic and diagnostic methods. In recent years, with the development of smart materials, remote actuation modalities, and automatic control strategies, the motion dexterity, environmental adaptability, and functionality versatility of micronanoswarms are improved. Swarms can thus be designed as dexterous platforms inside living bodies to perform a multitude of tasks related to healthcare. Existing surveys summarize the design, functionalization, and biomedical applications of micronanorobots and the actuation and motion control strategies of micronanoswarms. This review presents the recent progress of micronanoswarms, aiming for biomedical applications. The recent advances on structural design of artificial, living, and hybrid micronanoswarms are summarized, and the biomedical applications that could be tackled using micronanoswarms are introduced, such as targeted drug delivery, hyperthermia, imaging and sensing, and thrombolysis. Moreover, potential challenges and promising trends of future developments are discussed. It is envisioned that the future success of these promising tools will have a significant impact on clinical treatment.
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Affiliation(s)
- Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
| | - Huimin Zhang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
| | - Tiantian Xu
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518126, China
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
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50
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Chang LH, Chuang EY, Cheng TM, Lin C, Shih CM, Wu AT, Jheng PR, Lu HY, Shih CC, Mi FL. Thrombus-specific theranostic nanocomposite for codelivery of thrombolytic drug, algae-derived anticoagulant and NIR fluorescent contrast agent. Acta Biomater 2021; 134:686-701. [PMID: 34358695 DOI: 10.1016/j.actbio.2021.07.072] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/04/2021] [Revised: 07/13/2021] [Accepted: 07/29/2021] [Indexed: 12/12/2022]
Abstract
Thrombolysis is a standard treatment for rapidly restoring blood flow. However, the application of urokinase-type plasminogen activator (Uk) in clinical therapy is limited due to its nonspecific distribution and inadequate therapeutic accumulation. Precise thrombus imaging and site-specific drug delivery can enhance the diagnostic and therapeutic efficacy for thrombosis. Accordingly, we developed a P-selectin-specific, photothermal theranostic nanocomposite for thrombus-targeted codelivery of Uk and indocyanine green (ICG, a contrast agent for near-infrared (NIR) fluorescence imaging). We evaluated its capabilities for thrombus imaging and enzyme/hyperthermia combined thrombolytic therapy. Mesoporous silica-coated gold nanorods (Si-AuNRs) were functionalized with an arginine-rich peptide to create an organic template for the adsorption of ICG and fucoidan (Fu), an algae-derived anticoagulant. Uk was loaded into the SiO2 pores of the Si-AuNRs through the formation of a Fu-Uk-ICG complex on the peptide-functionalized template. The Fu-Uk/ICG@SiAu NRs nanocomposite increased the photostability of ICG and improved its targeting/accumulation at blood clot sites with a strong NIR fluorescence intensity for precise thrombus imaging. Furthermore, ICG incorporated into the nanocomposite enhanced the photothermal effect of Si-AuNRs. Fu, as a P-selectin-targeting ligand, enabled the nanocomposite to target a thrombus site where platelets were activated. The nanocomposite enabled a faster release of Uk for rapid clearing of blood clots and a slower release of Fu for longer lasting prevention of thrombosis regeneration. The nanocomposite with multiple functions, including thrombus-targeting drug delivery, photothermal thrombolysis, and NIR fluorescence imaging, is thus an advanced theranostic platform for thrombolytic therapy with reduced hemorrhaging risk and enhanced imaging/thrombolysis efficiency. STATEMENT OF SIGNIFICANCE: Herein, for the first time, a P-selectin specific, photothermal theranostic nanocomposite for thrombus-targeted co-delivery of urokinase and NIR fluorescence contrast agent indocyanine green (ICG) was developed. We evaluated the potential of this theranostic nanocomposite for thrombus imaging and enzyme/hyperthermia combined thrombolytic therapy. The nanocomposite showed multiple functions including thrombus targeting and imaging, and photothermal thrombolysis. Besides, it allowed faster release of the thrombolytic urokinase for rapidly clearing blood clots and slower release of a brown algae-derived anticoagulant fucoidan (also acting as a P-selectin ligand) for prevention of thrombosis regeneration. The nanocomposite is thus a new and advanced theranostic platform for targeted thrombolytic therapy.
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Affiliation(s)
- Lee-Hsin Chang
- School of Medicine, College of Medicine, Taipei Medical University, Taipei 11031, Taiwan; Graduate Institute of Medical Sciences, College of Medicine, Taipei Medical University, Taipei 11031, Taiwan
| | - Er-Yuan Chuang
- Graduate Institute of Biomedical Materials and Tissue Engineering, College of Biomedical Engineering, Taipei Medical University, Taipei 11031, Taiwan
| | - Tsai-Mu Cheng
- The PhD Program for Translational Medicine, College of Medical Science and Technology, Taipei Medical University, Taipei 11031, Taiwan; Taipei Heart Institute, Taipei Medical University, Taipei 11031, Taiwan
| | - Chi Lin
- Graduate Institute of Medical Sciences, College of Medicine, Taipei Medical University, Taipei 11031, Taiwan
| | - Chun-Ming Shih
- Taipei Heart Institute, Taipei Medical University, Taipei 11031, Taiwan; Division of Cardiology, Department of Internal Medicine, Taipei Medical University Hospital, Taipei 11031, Taiwan; Department of Internal Medicine, School of Medicine, College of Medicine, Taipei Medical University, Taipei 11031, Taiwan
| | - Alexander Th Wu
- The PhD Program for Translational Medicine, College of Medical Science and Technology, Taipei Medical University, Taipei 11031, Taiwan; Taipei Heart Institute, Taipei Medical University, Taipei 11031, Taiwan
| | - Pei-Ru Jheng
- Graduate Institute of Biomedical Materials and Tissue Engineering, College of Biomedical Engineering, Taipei Medical University, Taipei 11031, Taiwan
| | - Hsin-Ying Lu
- Taipei Heart Institute, Taipei Medical University, Taipei 11031, Taiwan; Division of Cardiovascular Surgery, Department of Surgery, Wan Fang Hospital, Taipei Medical University, Taipei 11031, Taiwan; Institute of Clinical Medicine, School of Medicine, National Yang-Ming Chiao Tung University, Taipei, Taiwan
| | - Chun-Che Shih
- Taipei Heart Institute, Taipei Medical University, Taipei 11031, Taiwan; Division of Cardiovascular Surgery, Department of Surgery, Wan Fang Hospital, Taipei Medical University, Taipei 11031, Taiwan; Institute of Clinical Medicine, School of Medicine, National Yang-Ming Chiao Tung University, Taipei, Taiwan; Department of Surgery, School of Medicine, College of Medicine, Taipei Medical University, Taipei 11031, Taiwan.
| | - Fwu-Long Mi
- Graduate Institute of Medical Sciences, College of Medicine, Taipei Medical University, Taipei 11031, Taiwan; Taipei Heart Institute, Taipei Medical University, Taipei 11031, Taiwan; Department of Biochemistry and Molecular Cell Biology, School of Medicine, College of Medicine, Taipei Medical University, Taipei 11031, Taiwan; Graduate Institute of Nanomedicine and Medical Engineering, College of Biomedical Engineering, Taipei Medical University, Taipei 11031, Taiwan.
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