Materials and Schemes of Multimodal Reconfigurable Micro/Nanomachines and Robots: Review and Perspective

Frictional behavior of one-dimensional materials: an experimental perspective

The frictional behavior of one-dimensional (1D) materials, including nanotubes, nanowires, and nanofibers, significantly influences the efficient fabrication, functionality, and reliability of innovative devices integrating 1D components. Such devices comprise piezoelectric and triboelectric nanogenerators, biosensing and implantable devices, along with biomimetic adhesives based on 1D arrays. This review compiles and critically assesses recent experimental techniques for exploring the frictional behavior of 1D materials. Specifically, it underscores various measurement methods and technologies employing atomic force microscopy, electron microscopy, and optical microscopy nanomanipulation. The emphasis is on their primary applications and challenges in measuring and characterizing the frictional behavior of 1D materials. Additionally, we discuss key accomplishments over the past two decades in comprehending the frictional behaviors of 1D materials, with a focus on factors such as materials combination, interface roughness, environmental humidity, and non-uniformity. Finally, we offer a brief perspective on ongoing challenges and future directions, encompassing the systematic investigation of the testing environment and conditions, as well as the modification of surface friction through surface alterations.

Tracking and navigation of a microswarm under laser speckle contrast imaging for targeted delivery

Micro/nanorobotic swarms consisting of numerous tiny building blocks show great potential in biomedical applications because of their collective active delivery ability, enhanced imaging contrast, and environment-adaptive capability. However, in vivo real-time imaging and tracking of micro/nanorobotic swarms remain a challenge, considering the limited imaging size and spatial-temporal resolution of current imaging modalities. Here, we propose a strategy that enables real-time tracking and navigation of a microswarm in stagnant and flowing blood environments by using laser speckle contrast imaging (LSCI), featuring full-field imaging, high temporal-spatial resolution, and noninvasiveness. The change in dynamic convection induced by the microswarm can be quantitatively investigated by analyzing the perfusion unit (PU) distribution, offering an alternative approach to investigate the swarm behavior and its interaction with various blood environments. Both the microswarm and surrounding environment were monitored and imaged by LSCI in real time, and the images were further analyzed for simultaneous swarm tracking and navigation in the complex vascular system. Moreover, our strategy realized real-time tracking and delivery of a microswarm in vivo, showing promising potential for LSCI-guided active delivery of microswarm in the vascular system.

Engineering Magnetic Soft and Reconfigurable Robots

Magnetic control has gained popularity recently due to its ability to enhance soft robots with reconfigurability and untethered maneuverability, among other capabilities. Several advancements in the fabrication and application of reconfigurable magnetic soft robots have been reported. This review summarizes novel fabrication techniques for designing magnetic soft robots, including chemical and physical methods. Mechanisms of reconfigurability and deformation properties are discussed in detail. The maneuverability of magnetic soft robots is then briefly discussed. Finally, the present challenges and possible future work in designing reconfigurable magnetic soft robots for biomedical applications are identified.

Optically Programmable Living Microrouter in Vivo

With high reconfigurability and swarming intelligence, programmable medical micromachines (PMMs) represent a revolution in microrobots for executing complex coordinated tasks, especially for dynamic routing of various targets along their respective routes. However, it is difficult to achieve a biocompatible implantation into the body due to their exogenous building blocks. Herein, a living microrouter based on an organic integration of endogenous red blood cells (RBCs), programmable scanning optical tweezers and flexible optofluidic strategy is reported. By harvesting energy from a designed optical force landscape, five RBCs are optically rotated in a controlled velocity and direction, under which, a specific actuation flow is achieved to exert the well-defined hydrodynamic forces on various biological targets, thus enabling a selective routing by integrating three successive functions, i.e., dynamic input, inner processing, and controlled output. Benefited from the optofluidic manipulation, various blood cells, such as the platelets and white blood cells, are transported toward the damaged vessel and cell debris for the dynamic hemostasis and targeted clearance, respectively. Moreover, the microrouter enables a precise transport of nanodrugs for active and targeted delivery in a large quantity. The proposed RBC microrouter might provide a biocompatible medical platform for cell separation, drug delivery, and immunotherapy.

Precise electrokinetic position and three-dimensional orientation control of a nanowire bioprobe in solution

Owing to Brownian-motion effects, the precise manipulation of individual micro- and nanoparticles in solution is challenging. Therefore, scanning-probe-based techniques, such as atomic force microscopy, attach particles to cantilevers to enable their use as nanoprobes. Here we demonstrate a versatile electrokinetic trap that simultaneously controls the two-dimensional position with a precision of 20 nm and 0.5° in the three-dimensional orientation of an untethered nanowire, as small as 300 nm in length, under an optical microscope. The method permits the active transport of nanowires with a speed-dependent accuracy reaching 90 nm at 2.7 μm s-1. It also allows for their synchronous three-dimensional alignment and rotation during translocation along complex trajectories. We use the electrokinetic trap to accurately move a nanoprobe and stably position it on the surface of a single bacterial cell for sensing secreted metabolites for extended periods. The precision-controlled manipulation underpins developing nanorobotic tools for assembly, micromanipulation and biological measurements with subcellular resolution.

Cell unit-inspired natural nano-based biomaterials as versatile building blocks for bone/cartilage regeneration

The regeneration of weight-bearing bone defects and critical-sized cartilage defects remains a significant challenge. A wide range of nano-biomaterials are available for the treatment of bone/cartilage defects. However, their poor compatibility and biodegradability pose challenges to the practical applications of these nano-based biomaterials. Natural biomaterials inspired by the cell units (e.g., nucleic acids and proteins), have gained increasing attention in recent decades due to their versatile functionality, compatibility, biodegradability, and great potential for modification, combination, and hybridization. In the field of bone/cartilage regeneration, natural nano-based biomaterials have presented an unparalleled role in providing optimal cues and microenvironments for cell growth and differentiation. In this review, we systematically summarize the versatile building blocks inspired by the cell unit used as natural nano-based biomaterials in bone/cartilage regeneration, including nucleic acids, proteins, carbohydrates, lipids, and membranes. In addition, the opportunities and challenges of natural nano-based biomaterials for the future use of bone/cartilage regeneration are discussed.

Plasmonic Nanostructure Engineering with Shadow Growth

Physical shadow growth is a vacuum deposition technique that permits a wide variety of 3D-shaped nanoparticles and structures to be fabricated from a large library of materials. Recent advances in the control of the shadow effect at the nanoscale expand the scope of nanomaterials from spherical nanoparticles to complex 3D shaped hybrid nanoparticles and structures. In particular, plasmonically active nanomaterials can be engineered in their shape and material composition so that they exhibit unique physical and chemical properties. Here, the recent progress in the development of shadow growth techniques to realize hybrid plasmonic nanomaterials is discussed. The review describes how fabrication permits the material response to be engineered and highlights novel functions. Potential fields of application with a focus on photonic devices, biomedical, and chiral spectroscopic applications are discussed.

Programmable Acoustic Holography using Medium-Sound-Speed Modulation

Acoustic holography offers the ability to generate designed acoustic fields to manipulate microscale objects. However, the static nature or large aperture sizes of 3D printed acoustic holographic phase plates limits the ability to rapidly alter generated fields. In this work， a programmable acoustic holography approach is demonstrated by which multiple discrete or continuously variable acoustic targets can be created. Here, the holographic phase plate encodes multiple images, where the desired field is produced by modifying the sound speed of an intervening fluid media. Its flexibility is demonstrated in generating various acoustic patterns, including continuous line segments, discrete letters and numbers, using this method as a sound speed indicator and fluid identification tool. This programmable acoustic holography approach has the advantages of generating reconfigurable and designed acoustic fields, with broad potential in microfluidics, cell/tissue engineering, real-time sensing, and medical ultrasound.

Swarming Responsive Photonic Nanorobots for Motile-Targeting Microenvironmental Mapping and Mapping-Guided Photothermal Treatment

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.

Active Micro/Nanoparticles in Colloidal Microswarms

Colloidal microswarms have attracted increasing attention in the last decade due to their unique capabilities in various complex tasks. Thousands or even millions of tiny active agents are gathered with distinctive features and emerging behaviors, demonstrating fascinating equilibrium and non-equilibrium collective states. In recent studies, with the development of materials design, remote control strategies, and the understanding of pair interactions between building blocks, microswarms have shown advantages in manipulation and targeted delivery tasks with high adaptability and on-demand pattern transformation. This review focuses on the recent progress in active micro/nanoparticles (MNPs) in colloidal microswarms under the input of an external field, including the response of MNPs to external fields, MNP-MNP interactions, and MNP-environment interactions. A fundamental understanding of how building blocks behave in a collective system provides the foundation for designing microswarm systems with autonomy and intelligence, aiming for practical application in diverse environments. It is envisioned that colloidal microswarms will significantly impact active delivery and manipulation applications on small scales.

Small-Scale Robotics with Tailored Wettability

Small-scale robots (SSRs) have emerged as promising and versatile tools in various biomedical, sensing, decontamination, and manipulation applications, as they are uniquely capable of performing tasks at small length scales. With the miniaturization of robots from the macroscale to millimeter-, micrometer-, and nanometer-scales, the viscous and surface forces, namely adhesive forces and surface tension have become dominant. These forces significantly impact motion efficiency. Surface engineering of robots with both hydrophilic and hydrophobic functionalization presents a brand-new pathway to overcome motion resistance and enhance the ability to target and regulate robots for various tasks. This review focuses on the current progress and future perspectives of SSRs with hydrophilic and hydrophobic modifications (including both tethered and untethered robots). The study emphasizes the distinct advantages of SSRs, such as improved maneuverability and reduced drag forces, and outlines their potential applications. With continued innovation, rational surface engineering is expected to endow SSRs with exceptional mobility and functionality, which can broaden their applications, enhance their penetration depth, reduce surface fouling, and inhibit bacterial adhesion.

A Magnetically Driven Amoeba-Like Nanorobot for Whole-Process Active Drug Transport

The passive diffusion performance of nanocarriers results in inefficient drug transport across multiple biological barriers and consequently cancer therapy failure. Here, a magnetically driven amoeba-like nanorobot (amNR) is presented for whole-process active drug transport. The amNR is actively extravasated from blood vessels and penetrated into deep tumor tissue through a magnetically driven deformation effect. Moreover, the acidic microenvironment of deep tumor tissue uncovers the masked targeting ligand of amNR to achieve active tumor cell uptake. Furthermore, the amNR rapidly releases the encapsulated doxorubicin (DOX) after alternating magnetic field application. The amNRs eventually deliver DOX into ≈92.3% of tumor cells and completely delay tumor growth with an inhibition rate of 96.1%. The deformable amNRs, with the assistance of magnetic field application, provide a facile strategy for whole-process active drug transport.

Light-Powered, Fuel-Free Oscillation, Migration, and Reversible Manipulation of Multiple Cargo Types by Micromotor Swarms

Through experiments and simulations, we show that fuel-free photoactive TiO₂ microparticles can form mobile, coherent swarms in the presence of UV light, which track the subsequent movement of an irradiated spot in a fluid-filled microchamber. Multiple concurrent propulsion mechanisms (electrolyte diffusioosmotic swarming, photocatalytic expansion, and photothermal migration) control the rich collective behavior of the swarms, which provide a strategy to reversely manipulate cargo. The active swarms can autonomously pick up groups of inert particles, sort them by size, and sequentially release the sorted particles at particular locations in the microchamber. Hence, these swarms overcome three obstacles, limiting the utility of self-propelled particles. Namely, they can (1) undergo directed, long-range migration without the addition of a chemical fuel, (2) perform diverse collective behavior not possible with a single active particle, and (3) repeatedly and controllably isolate and deliver specific components of a multiparticle "cargo". Since light sources are easily fabricated, transported, and controlled, the results can facilitate the development of portable devices, providing broader access to the diagnostic and manufacturing advances enabled by microfluidics.

Microrobots for Targeted Delivery and Therapy in Digestive System

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.

DNA conformational equilibrium enables continuous changing of curvatures

Assembly of complex structures from a small set of tiles is a common theme in biology. For example, many copies of identical proteins make up polyhedron-shaped, viral capsids and tubulin can make long microtubules. This inspired the development of tile-based DNA self-assembly for nanoconstruction, particularly for structures with high symmetries. In the final structure, each type of motif will adopt the same conformation, either rigid or with defined flexibility. For structures that have no symmetry, their assembly remains a challenge from a small set of tiles. To meet this challenge, algorithmic self-assembly has been explored driven by computational science, but it is not clear how to implement this approach to one-dimensional (1D) structures. Here, we have demonstrated that a constant shift of a conformational equilibrium could allow 1D structures to evolve. As shown by atomic force microscopy imaging, one type of DNA tile successfully assembled into DNA spirals and concentric circles, which became less and less curved from the structure's center outward. This work points to a new direction for tile-based DNA assembly.

Intelligent Micro-/Nanorobots for Cancer Theragnostic

Cancer is one of the most intractable diseases owing to its high mortality rate and lack of effective diagnostic and treatment tools. Advancements in micro-/nanorobot (MNR)-assisted sensing, imaging, and therapeutics offer unprecedented opportunities to develop MNR-based cancer theragnostic platforms. Unlike ordinary nanoparticles, which exhibit Brownian motion in biofluids, MNRs overcome viscous resistance in an ultralow Reynolds number (Re << 1) environment by effective self-propulsion. This unique locomotion property has motivated the advanced design and functionalization of MNRs as a basis for next-generation cancer-therapy platforms, which offer the potential for precise distribution and improved permeation of therapeutic agents. Enhanced barrier penetration, imaging-guided operation, and biosensing are additionally studied to enable the promising cancer-related applications of MNRs. Herein, the recent advances in MNR-based cancer therapy are comprehensively addresses, including actuation engines, diagnostics, medical imaging, and targeted drug delivery; promising research opportunities that can have a profound impact on cancer therapy over the next decade is highlighted.

Optically Manipulated Neutrophils as Native Microcrafts In Vivo

As the first line of host defense against invading pathogens, neutrophils have an inherent phagocytosis capability for the elimination of foreign agents and target loading upon activation, as well as the ability to transmigrate across blood vessels to the infected tissue, making them natural candidates to execute various medical tasks in vivo. However, most of the existing neutrophil-based strategies rely on their spontaneous chemotactic motion, lacking in effective activation, rapid migration, and high navigation precision. Here, we report an optically manipulated neutrophil microcraft in vivo through the organic integration of endogenous neutrophils and scanning optical tweezers, functioning as a native biological material and wireless remote controller, respectively. The neutrophil microcrafts can be remotely activated by light and then navigated to the target position along a designated route, followed by the fulfillment of its task in vivo, such as active intercellular connection, targeted delivery of nanomedicine, and precise elimination of cell debris, free from the extra construction or modification of the native neutrophils. On the basis of the innate immunologic function of neutrophils and intelligent optical manipulation, the proposed neutrophil microcraft might provide new insight for the construction of native medical microdevices for drug delivery and precise treatment of inflammatory diseases.

2D-Material-Integrated Micromachines: Competing Propulsion Strategy and Enhanced Bacterial Disinfection

2D transition-metal-dichalcogenide materials, such as molybdenum disulfide (MoS₂ ) have received immense interest owing to their remarkable structure-endowed electronic, catalytic, and mechanical properties for applications in optoelectronics, energy storage, and wearable devices. However, 2D materials have been rarely explored in the field of micro/nanomachines, motors, and robots. Here, MoS₂  with anatase TiO₂  is successfully integrated into an original one-side-open hollow micromachine, which demonstrates increased light absorption of TiO₂ -based micromachines to the visible region and the first observed motion acceleration in response to ionic media. Both experimentation and theoretical analysis suggest the unique type-II bandgap alignment of MoS₂ /TiO₂  heterojunction that accounts for the observed unique locomotion owing to a competing propulsion mechanism. Furthermore, by leveraging the chemical properties of MoS₂ /TiO₂ , the micromachines achieve sunlight-powered water disinfection with 99.999% Escherichia coli lysed in an hour. This research suggests abundant opportunities offered by 2D materials in the creation of a new class of micro/nanomachines and robots.

Bistable and Multistable Actuators for Soft Robots: Structures, Materials, and Functionalities

Snap-through bistability is often observed in nature (e.g., fast snapping to closure of Venus flytrap) and the life (e.g., bottle caps and hair clippers). Recently, harnessing bistability and multistability in different structures and soft materials has attracted growing interest for high-performance soft actuators and soft robots. They have demonstrated broad and unique applications in high-speed locomotion on land and under water, adaptive sensing and fast grasping, shape reconfiguration, electronics-free controls with a single input, and logic computation. Here, an overview of integrating bistable and multistable structures with soft actuating materials for diverse soft actuators and soft/flexible robots is given. The mechanics-guided structural design principles for five categories of basic bistable elements from 1D to 3D (i.e., constrained beams, curved plates, dome shells, compliant mechanisms of linkages with flexible hinges and deformable origami, and balloon structures) are first presented, alongside brief discussions of typical soft actuating materials (i.e., fluidic elastomers and stimuli-responsive materials such as electro-, photo-, thermo-, magnetic-, and hydro-responsive polymers). Following that, integrating these soft materials with each category of bistable elements for soft bistable and multistable actuators and their diverse robotic applications are discussed. To conclude, perspectives on the challenges and opportunities in this emerging field are considered.

Vector-Controlled Wheel-Like Magnetic Swarms With Multimodal Locomotion and Reconfigurable Capabilities

Inspired by the biological collective behaviors of nature, artificial microrobotic swarms have exhibited environmental adaptability and tasking capabilities for biomedicine and micromanipulation. Complex environments are extremely relevant to the applications of microswarms, which are expected to travel in blood vessels, reproductive and digestive tracts, and microfluidic chips. Here we present a strategy that reconfigures paramagnetic nanoparticles into a vector-controlled microswarm with 3D collective motions by programming sawtooth magnetic fields. Horizontal swarms can be manipulated to stand vertically and swim like a wheel by adjusting the direction of magnetic-field plane. Compared with horizontal swarms, vertical wheel-like swarms were evaluated to be of approximately 15-fold speed increase and enhanced maneuverability, which was exhibited by striding across complex 3D confinements. Based on analysis of collective behavior of magnetic particles in flow field using molecular dynamics methods, a rotary stepping mechanism was proposed to address the formation and locomotion mechanisms of wheel-like swarm. we present a strategy that actuates swarms to stand and hover in situ under a programming swing magnetic fields, which provides suitable solutions to travel across confined space with unexpected changes, such as stepped pipes. By biomimetic design from fin motion of fish, wheel-like swarms were endowed with multi-modal locomotion and load-carrying capabilities. This design of intelligent microswarms that adapt to complicated biological environments can promote the applications ranging from the construction of smart and multifunctional materials to biomedical engineering.

Micro/Nanorobots for Medical Diagnosis and Disease Treatment

Micro/nanorobots are functional devices in microns, at nanoscale, which enable efficient propulsion through chemical reactions or external physical field, including ultrasonic, optical, magnetic, and other external fields, as well as microorganisms. Compared with traditional robots, micro/nanorobots can perform various tasks on the micro/nanoscale, which has the advantages of high precision, strong flexibility, and wide adaptability. In addition, such robots can also perform tasks in a cluster manner. The design and development of micro/nanorobots and the integration of surface functionalization, remote drive system, and imaging tracking technology will become a key step for their medical applications in organisms. Thus, micro/nanorobots are expected to achieve more efficient and accurate local diagnosis and treatment, and they have broad application prospects in the biomedical field. This paper aims to introduce relevant driving methods of micro/nanorobots preparation in detail, summarizes the progress of research in medical applications, and discusses the challenges it faces in clinical applications and the future direction of development.

Reconfigurable assembly of colloidal motors towards interactive soft materials and systems

Due to the highly flexible reconfiguration of swarms, collective behaviors have provided various natural organisms with a powerful adaptivity to the complex environment. To mimic these natural systems and construct artificial intelligent soft materials, self-propelled colloidal motors that can convert diverse forms of energy into swimming-like movement in fluids afford an ideal model system at the micro-/nanoscales. Through the coupling of local gradient fields, colloidal motors driven by chemical reactions or externally physical fields can assembly into swarms with adaptivity. Here, we summarize the progress on reconfigurable assembly of colloidal motors which is driven and modulated by chemical reactions and external fields (e.g., light, ultrasonic, electric, and magnetic fields). The adaptive reconfiguration behaviors and the corresponding mechanisms are discussed in detail. The future directions and challenges are also addressed for developing colloidal motor-based interactive soft matter materials and systems with adaptation and interactive functions comparable to that of natural systems.

Multifunctional Nanomachinery for Enhancement of Bone Healing

The visionary idea that RNA adopts nonbiological roles in today's nanomaterial world has been nothing short of phenomenal. These RNA molecules have ample chemical functionality and self-assemble to form distinct nanostructures in response to external stimuli. They may be combined with inorganic materials to produce nanomachines that carry cargo to a target site in a controlled manner and respond dynamically to environmental changes. Comparable to biological cells, programmed RNA nanomachines have the potential to replicate bone healing in vitro. Here, an RNA-biomineral nanomachine is developed, which accomplishes intrafibrillar and extrafibrillar mineralization of collagen scaffolds to mimic bone formation in vitro. Molecular dynamics simulation indicates that noncovalent hydrogen bonding provides the energy source that initiates self-assembly of these nanomachines. Incorporation of the RNA-biomineral nanomachines into collagen scaffolds in vivo creates an osteoinductive microenvironment within a bone defect that is conducive to rapid biomineralization and osteogenesis. Addition of RNA-degrading enzymes into RNA-biomineral nanomachines further creates a stop signal that inhibits unwarranted bone formation in tissues. The potential of RNA in building functional nanostructures has been underestimated in the past. The concept of RNA-biomineral nanomachines participating in physiological processes may transform the nanoscopic world of life science.

Reconfigurable Disk-like Microswarm under a Sawtooth Magnetic Field

Swarming robotic systems, which stem from insect swarms in nature, exhibit a high level of environmental adaptability and enhanced tasking capabilities for targeted delivery and micromanipulation. Here, we present a strategy that reconfigures paramagnetic nanoparticles into microswarms energized by a sawtooth magnetic field. A rotary-stepping magnetic-chain mechanism is proposed to address the forming principle of disk-like swarms. Based on programming the sawtooth field, the microswarm can perform reversible transformations between a disk, an ellipse and a ribbon, as well as splitting and merging. In addition, the swarms can be steered in any direction with excellent maneuverability and a high level of pattern stability. Under accurate manipulation of a magnetic microswarm, multiple microparts with complicated shapes were successfully combined into a complete assembly. This reconfigurable swarming microrobot may shed light on the understanding of complex morphological transformations in living systems and provide future practical applications of microfabrication and micromanipulation.