Multimodal Locomotion and Active Targeted Thermal Control of Magnetic Agents for Biomedical Applications

Magnetically Actuated Soft Microrobot with Environmental Adaptative Multimodal Locomotion Towards Targeted Delivery

The development of environmentally adaptive solutions for magnetically actuated microrobots to enable targeted delivery in complex and confined fluid environments presents a significant challenge. Inspired by the natural locomotion of crucian carp, a barbell-shaped soft microrobot (MBS2M) is proposed. A mechano-electromagnetic hybrid actuation system is developed to generate oscillating magnetic fields to manipulate the microrobot. The MBS2M can seamlessly transition between three fundamental locomotion modes: fast navigation (FN), high-precision navigation (HPN), and fixed-point rotation (FPR). Moreover, the MBS2M can move in reverse without turning. The multimodal locomotion endows the MBS2M's adaptability in diverse environments. It can smoothly pass through confined channels, climb over obstacles, overcome gravity for vertical motion, track complex pathways, traverse viscous environments, overcome low fluid resistance, and navigate complex spaces mimicking in vivo environments. Additionally, the MBS2M is capable of drug loading and release in response to ultrasound excitation. In an ex vivo porcine liver vein, the microrobot demonstrated targeted navigation under ultrasound guidance, showcasing its potential for specialized in vivo tasks.

Design and Control of the Magnetically Actuated Micro/Nanorobot Swarm toward Biomedical Applications

Recently, magnetically actuated micro/nanorobots hold extensive promises in biomedical applications due to their advantages of noninvasiveness, fuel-free operation, and programmable nature. While effectively promised in various fields such as targeted delivery, most past investigations are mainly displayed in magnetic control of individual micro/nanorobots. Facing practical medical use, the micro/nanorobots are required for the development of swarm control in a closed-loop control manner. This review outlines the recent developments in magnetic micro/nanorobot swarms, including their actuating fundamentals, designs, controls, and biomedical applications. The fundamental principles and interactions involved in the formation of magnetic micro/nanorobot swarms are discussed first. The recent advances in the design of artificial and biohybrid micro/nanorobot swarms, along with the control devices and methods used for swarm manipulation, are presented. Furthermore, biomedical applications that have the potential to achieve clinical application are introduced, such as imaging-guided therapy, targeted delivery, embolization, and biofilm eradication. By addressing the potential challenges discussed toward the end of this review, magnetic micro/nanorobot swarms hold promise for clinical treatments in the future.

Magnetic Chitosan Bionanocomposite Films as a Versatile Platform for Biomedical Hyperthermia

Responsive magnetic nanomaterials offer significant advantages for innovative therapies, for instance, in cancer treatments that exploit on-demand delivery on alternating magnetic field (AMF) stimulus. In this work, biocompatible magnetic bionanocomposite films are fabricated from chitosan by film casting with incorporation of magnetite nanoparticles (MNPs) produced by facile one pot synthesis. The influence of synthesis conditions and MNP concentration on the films' heating efficiency and heat dissipation are evaluated through spatio-temporal mapping of the surface temperature changes by video-thermography. The cast films have a thickness below 100 µm, and upon exposure to AMF (663 kHz, 12.8 kA m-1), induce exceptionally strong heating, reaching a maximum temperature increase of 82 °C within 270 s irradiation. Further, it is demonstrated that the films can serve as substrates that supply heat for multiple hyperthermia scenarios, including: i) non-contact automated heating of cell culture medium, ii) heating of gelatine-based hydrogels of different shapes, and iii) killing of cancerous melanoma cells. The films are versatile components for non-contact stimulus with translational potential in multiple biomedical applications.

Spatially selective delivery of living magnetic microrobots through torque-focusing

Rotating magnetic fields enable biomedical microrobots to overcome physiological barriers and promote extravasation and accumulation in tumors. Nevertheless, targeting deeply situated tumors requires suppression of off-target actuation in healthy tissue. Here, we investigate a control strategy for applying spatially selective torque density to microrobots by combining rotating fields with magnetostatic selection fields. Taking magnetotactic bacteria as diffuse torque-based actuators, we numerically model off-target torque suppression, indicating the feasibility of centimeter to millimeter resolution for human applications. We study focal torque application in vitro, observing off-target suppression of actuation-dependent effects such as colonization of bacteria in tumor spheroids. We then design and construct a mouse-scale torque-focusing apparatus capable of maneuvering the focal point. Applying this system to a mouse tumor model increased accumulation of intravenously injected bacteria within tumors receiving focused actuation compared to non-actuated or globally actuated groups. This control scheme combines the advantages of torque-based actuation with spatial targeting.

Human-scale navigation of magnetic microrobots in hepatic arteries

Using external actuation sources to navigate untethered drug-eluting microrobots in the bloodstream offers great promise in improving the selectivity of drug delivery, especially in oncology, but the current field forces are difficult to maintain with enough strength inside the human body (>70-centimeter-diameter range) to achieve this operation. Here, we present an algorithm to predict the optimal patient position with respect to gravity during endovascular microrobot navigation. Magnetic resonance navigation, using magnetic field gradients in clinical magnetic resonance imaging (MRI), is combined with the algorithm to improve the targeting efficiency of magnetic microrobots (MMRs). Using a dedicated microparticle injector, a high-precision MRI-compatible balloon inflation system, and a clinical MRI, MMRs were successfully steered into targeted lobes via the hepatic arteries of living pigs. The distribution ratio of the microrobots (roughly 2000 MMRs per pig) in the right liver lobe increased from 47.7 to 86.4% and increased in the left lobe from 52.2 to 84.1%. After passing through multiple vascular bifurcations, the number of MMRs reaching four different target liver lobes had a 1.7- to 2.6-fold increase in the navigation groups compared with the control group. Performing simulations on 19 patients with hepatocellular carcinoma (HCC) demonstrated that the proposed technique can meet the need for hepatic embolization in patients with HCC. Our technology offers selectable direction for actuator-based navigation of microrobots at the human scale.

System integration of magnetic medical microrobots: from design to control

Magnetic microrobots are ideal for medical applications owing to their deep tissue penetration, precise control, and flexible movement. After decades of development, various magnetic microrobots have been used to achieve medical functions such as targeted delivery, cell manipulation, and minimally invasive surgery. This review introduces the research status and latest progress in the design and control systems of magnetic medical microrobots from a system integration perspective and summarizes the advantages and limitations of the research to provide a reference for developers. Finally, the future development direction of magnetic medical microrobot design and control systems are discussed.

Combined three dimensional locomotion and deformation of functional ferrofluidic robots

Magnetic microrobots possess remarkable potential for targeted applications in the medical field, primarily due to their non-invasive, controllable properties. These unique qualities have garnered increased attention and fascination among researchers. However, these robotic systems do face challenges such as limited deformation capabilities and difficulties navigating confined spaces. Recently, researchers have turned their attention towards magnetic droplet robots, which are notable for their superior deformability, controllability, and potential for a range of applications such as automated virus detection and targeted drug delivery. Despite these advantages, the majority of current research is constrained to two-dimensional deformation and motion, thereby limiting their broader functionality. In response to these limitations, this study proposes innovative strategies for controlling deformation and achieving a three-dimensional (3D) trajectory in ferrofluidic robots. These strategies leverage a custom-designed eight-axis electromagnetic coil and a sliding mode controller. The implementation of these methods exhibits the potential of ferrofluidic robots in diverse applications, including microfluidic pump systems, 3D micromanipulation, and selective vascular occlusion. In essence, this study aims to broaden the capabilities of ferrofluidic robots, thereby enhancing their applicability across a multitude of fields such as medicine, micromanipulation, bioengineering, and more by maximizing the potential of these intricate robotic systems.

Inductive sensing of magnetic microrobots under actuation by rotating magnetic fields

The engineering space for magnetically manipulated biomedical microrobots is rapidly expanding. This includes synthetic, bioinspired, and biohybrid designs, some of which may eventually assume clinical roles aiding drug delivery or performing other therapeutic functions. Actuating these microrobots with rotating magnetic fields (RMFs) and the magnetic torques they exert offers the advantages of efficient mechanical energy transfer and scalable instrumentation. Nevertheless, closed-loop control still requires a complementary noninvasive imaging modality to reveal position and trajectory, such as ultrasound or X-rays, increasing complexity and posing a barrier to use. Here, we investigate the possibility of combining actuation and sensing via inductive detection of model microrobots under field magnitudes ranging from 100 s of microtesla to 10 s of millitesla rotating at 1 to 100 Hz. A prototype apparatus accomplishes this using adjustment mechanisms for both phase and amplitude to finely balance sense and compensation coils, suppressing the background signal of the driving RMF by 90 dB. Rather than relying on frequency decomposition to analyze signals, we show that, for rotational actuation, phase decomposition is more appropriate. We demonstrate inductive detection of a micromagnet placed in two distinct viscous environments using RMFs with fixed and time-varying frequencies. Finally, we show how magnetostatic selection fields can spatially isolate inductive signals from a micromagnet actuated by an RMF, with the resolution set by the relative magnitude of the selection field and the RMF. The concepts developed here lay a foundation for future closed-loop control schemes for magnetic microrobots based on simultaneous inductive sensing and actuation.

Photomagnetically Powered Spiky Nanomachines with Thermal Control of Viscosity for Enhanced Cancer Mechanotherapy

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.

Bio-Inspired Micro- and Nanorobotics Driven by Magnetic Field

In recent years, there has been explosive growth in the number of investigations devoted to the development and study of biomimetic micro- and nanorobots. The present review is dedicated to novel bioinspired magnetic micro- and nanodevices that can be remotely controlled by an external magnetic field. This approach to actuate micro- and nanorobots is non-invasive and absolutely harmless for living organisms in vivo and cell microsurgery, and is very promising for medicine in the near future. Particular attention has been paid to the latest advances in the rapidly developing field of designing polymer-based flexible and rigid magnetic composites and fabricating structures inspired by living micro-objects and organisms. The physical principles underlying the functioning of hybrid bio-inspired magnetic miniature robots, sensors, and actuators are considered in this review, and key practical applications and challenges are analyzed as well.

Scale-reconfigurable miniature ferrofluidic robots for negotiating sharply variable spaces

Magnetic miniature soft robots have shown great potential for facilitating biomedical applications by minimizing invasiveness and possible physical damage. However, researchers have mainly focused on fixed-size robots, with their active locomotion accessible only when the cross-sectional dimension of these confined spaces is comparable to that of the robot. Here, we realize the scale-reconfigurable miniature ferrofluidic robots (SMFRs) based on ferrofluid droplets and propose a series of control strategies for reconfiguring SMFR's scale and deformation to achieve trans-scale motion control by designing a multiscale magnetic miniature robot actuation (M³RA) system. The results showed that SMFRs, varying from centimeters to a few micrometers, leveraged diverse capabilities, such as locomotion in structured environments, deformation to squeeze through gaps, and even reversible scale reconfiguration for navigating sharply variable spaces. A miniature robot system with these capabilities combined is promising to be applied in future wireless medical robots inside confined regions of the human body.

Single Coil Mechano-Electromagnetic System for the Automatic 1-Axis Position Feedback 3D Locomotion Control of Magnetic Robots and Their Selective Manipulation

3D locomotion of magnetic microrobots requires at least one pair of coils per axis and 3D feedback of the position of the microrobot. This results in voluminous systems with high-power usage and a small working space, which require complex and expensive controllers. This study presents a single-coil magneto-electromagnetic system, comprising a parallel robot and coil, capable of precise 3D locomotion control of magnetic millirobots while requiring only feedback of the vertical position of the millirobot. The coil current creates a 2D magnetic trapping point in the horizontal plane, which depends on the position and orientation of the coil and toward which the millirobot moves, eliminating the need for position feedback at such plane. The vertical position of the millirobot is controlled by varying the coil current while receiving feedback from the vertical position of the millirobot. Feedbackless 2D control and 1-axis feedback 3D automatic control of magnetic millirobots are experimentally demonstrated, achieving higher speeds and similar position errors when compared to control systems with 3D position feedback. Furthermore, selective control of two millirobots is demonstrated by matching the region of maximum vertical magnetic force and the targeted millirobot, achieving selective levitation and control of such millirobots.