1
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Torrik A, Zarif M. Machine learning assisted sorting of active microswimmers. J Chem Phys 2024; 161:094907. [PMID: 39225539 DOI: 10.1063/5.0216862] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/01/2024] [Accepted: 08/19/2024] [Indexed: 09/04/2024] Open
Abstract
Active matter systems, being in a non-equilibrium state, exhibit complex behaviors, such as self-organization, giving rise to emergent phenomena. There are many examples of active particles with biological origins, including bacteria and spermatozoa, or with artificial origins, such as self-propelled swimmers and Janus particles. The ability to manipulate active particles is vital for their effective application, e.g., separating motile spermatozoa from nonmotile and dead ones, to increase fertilization chance. In this study, we proposed a mechanism-an apparatus-to sort and demix active particles based on their motility values (Péclet number). Initially, using Brownian simulations, we demonstrated the feasibility of sorting self-propelled particles. Following this, we employed machine learning methods, supplemented with data from comprehensive simulations that we conducted for this study, to model the complex behavior of active particles. This enabled us to sort them based on their Péclet number. Finally, we evaluated the performance of the developed models and showed their effectiveness in demixing and sorting the active particles. Our findings can find applications in various fields, including physics, biology, and biomedical science, where the sorting and manipulation of active particles play a pivotal role.
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Affiliation(s)
- Abdolhalim Torrik
- Department of Physical and Computational Chemistry, Shahid Beheshti University, Tehran 19839-9411, Iran
| | - Mahdi Zarif
- Department of Physical and Computational Chemistry, Shahid Beheshti University, Tehran 19839-9411, Iran
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2
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Wei K, Tang C, Ma H, Fang X, Yang R. 3D-printed microrobots for biomedical applications. Biomater Sci 2024; 12:4301-4334. [PMID: 39041236 DOI: 10.1039/d4bm00674g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/24/2024]
Abstract
Microrobots, which can perform tasks in difficult-to-reach parts of the human body under their own or external power supply, are potential tools for biomedical applications, such as drug delivery, microsurgery, imaging and monitoring, tissue engineering, and sensors and actuators. Compared with traditional fabrication methods for microrobots, recent improvements in 3D printers enable them to print high-precision microrobots, breaking through the limitations of traditional micromanufacturing technologies that require high skills for operators and greatly shortening the design-to-production cycle. Here, this review first introduces typical 3D printing technologies used in microrobot manufacturing. Then, the structures of microrobots with different functions and application scenarios are discussed. Next, we summarize the materials (body materials, propulsion materials and intelligent materials) used in 3D microrobot manufacturing to complete body construction and realize biomedical applications (e.g., drug delivery, imaging and monitoring). Finally, the challenges and future prospects of 3D printed microrobots in biomedical applications are discussed in terms of materials, manufacturing and advancement.
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Affiliation(s)
- Kun Wei
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Chenlong Tang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Hui Ma
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Xingmiao Fang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
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3
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Yu Y, Liang L, Sun T, Lu H, Yang P, Li J, Pang Q, Zeng J, Shi P, Li J, Lu Y. Micro/Nanomotor-Driven Intelligent Targeted Delivery Systems: Dynamics Sources and Frontier Applications. Adv Healthc Mater 2024:e2400163. [PMID: 39075811 DOI: 10.1002/adhm.202400163] [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: 01/15/2024] [Revised: 07/05/2024] [Indexed: 07/31/2024]
Abstract
Micro/nanomotors represent a promising class of drug delivery carriers capable of converting surrounding chemical or external energy into mechanical power, enabling autonomous movement. Their distinct autonomous propulsive force distinguishes them from other carriers, offering significant potential for enhancing drug penetration across cellular and tissue barriers. A comprehensive understanding of micro/nanomotor dynamics with various power sources is crucial to facilitate their transition from proof-of-concept to clinical application. In this review, micro/nanomotors are categorized into three classes based on their energy sources: endogenously stimulated, exogenously stimulated, and live cell-driven. The review summarizes the mechanisms governing micro/nanomotor movements under these energy sources and explores factors influencing autonomous motion. Furthermore, it discusses methods for controlling micro/nanomotor movement, encompassing aspects related to their structure, composition, and environmental factors. The remarkable propulsive force exhibited by micro/nanomotors makes them valuable for significant biomedical applications, including tumor therapy, bio-detection, bacterial infection therapy, inflammation therapy, gastrointestinal disease therapy, and environmental remediation. Finally, the review addresses the challenges and prospects for the application of micro/nanomotors. Overall, this review emphasizes the transformative potential of micro/nanomotors in overcoming biological barriers and enhancing therapeutic efficacy, highlighting their promising clinical applications across various biomedical fields.
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Affiliation(s)
- Yue Yu
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Ling Liang
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Ting Sun
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Haiying Lu
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Pushan Yang
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Jinrong Li
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Qinjiao Pang
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Jia Zeng
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Ping Shi
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
| | - Jianshu Li
- College of Polymer Science and Engineering, State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu, 610065, P. R. China
| | - Yongping Lu
- Guangyuan Central Hospital, Guangyuan, 628000, P. R. China
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4
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Liu J, Fu Y, Wu Y, Ruan H. Propulsion mechanism of artificial flagellated micro-swimmers actuated by acoustic waves-theory and experimental verification. BIOINSPIRATION & BIOMIMETICS 2024; 19:056008. [PMID: 38991522 DOI: 10.1088/1748-3190/ad622d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/16/2024] [Accepted: 07/11/2024] [Indexed: 07/13/2024]
Abstract
This work examines the acoustically actuated motions of artificial flagellated micro-swimmers (AFMSs) and compares the motility of these micro-swimmers with the predictions based on the corrected resistive force theory (RFT) and the bar-joint model proposed in our previous work. The key ingredient in the theory is the introduction of a correction factorKin drag coefficients to correct the conventional RFT so that the dynamics of an acoustically actuated AFMS with rectangular cross-sections can be accurately modeled. Experimentally, such AFMSs can be easily manufactured based on digital light processing of ultra-violet (UV)-curable resins. We first determined the viscoelastic properties of a UV-cured resin through dynamic mechanical analysis. In particular, the high-frequency storage moduli and loss factors were obtained based on the assumption of time-temperature superposition (TTS), which were then applied in theoretical calculations. Though the extrapolation based on the TTS implied the uncertainty of high-frequency material response and there is limited accuracy in determining head oscillation amplitude, the differences between the measured terminal velocities of the AFMSs and the predicted ones are less than 50%, which, to us, is well acceptable. These results indicate that the motions of acoustic AFMS can be predicted, and thus, designed, which pave the way for their long-awaited applications in targeted therapy.
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Affiliation(s)
- Jinan Liu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Yiqiang Fu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Yifei Wu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Haihui Ruan
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
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Shukla AK, Bhandari S, Mitra S, Kim B, Dey KK. Buoyancy-Driven Micro/-Nanomotors: From Fundamentals to Applications. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2308580. [PMID: 38225699 DOI: 10.1002/smll.202308580] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/26/2023] [Revised: 12/30/2023] [Indexed: 01/17/2024]
Abstract
The progression of self-powered micro/-nanomotors (MNMs) has rapidly evolved over the past few decades, showing applications in various fields such as nanotechnology, biomedical engineering, microfluidics, environmental science, and energy harvesting. Miniaturized MNMs transduce chemical/biochemical energies into mechanical motion for navigating through complex fluidic environments with directional control via external forces fields such as magnetic, photonic, and electric stimuli. Among various propulsion mechanisms, buoyancy-driven MNMs have received noteworthy recognition due to their simplicity, efficiency, and versatility. Buoyancy force-driven motors harness the principles of density variation-mediated force to overcome fluidic resistance to navigate through complex environments. Restricting the propulsion in one direction helps to control directional movement, making it more efficient in isotropic solutions. The changes in pH, ionic strength, chemical concentration, solute gradients, or the presence of specific molecules can influence the motion of buoyancy-driven MNMs as evidenced by earlier reports. This review aims to provide a fundamental and detailed analysis of the current state-of-the-art in buoyancy-driven MNMs, aiming to inspire further research and innovation in this promising field.
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Affiliation(s)
- Ashish Kumar Shukla
- Laboratory of Soft and Living Materials, Department of Physics, Indian Institute of Technology, Palaj, Gandhinagar, Gujarat, 382055, India
- School of Mechatronics Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
| | - Satyapriya Bhandari
- Department of Chemistry, Kandi Raj College, University of Kalyani, Murshidabad, Kandi, West Bengal, 742137, India
| | - Shirsendu Mitra
- Department of Chemical Engineering, Pandit Deendayal Energy University, Gandhinagar, Gujarat, 382007, India
| | - Byungki Kim
- School of Mechatronics Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
- Future Convergence Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
| | - Krishna Kanti Dey
- Laboratory of Soft and Living Materials, Department of Physics, Indian Institute of Technology, Palaj, Gandhinagar, Gujarat, 382055, India
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Mao M, Wu Y, He Q. Recent advances in targeted drug delivery for the treatment of glioblastoma. NANOSCALE 2024; 16:8689-8707. [PMID: 38606460 DOI: 10.1039/d4nr01056f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 04/13/2024]
Abstract
Glioblastoma multiforme (GBM) is one of the highly malignant brain tumors characterized by significant morbidity and mortality. Despite the recent advancements in the treatment of GBM, major challenges persist in achieving controlled drug delivery to tumors. The management of GBM poses considerable difficulties primarily due to unresolved issues in the blood-brain barrier (BBB)/blood-brain tumor barrier (BBTB) and GBM microenvironment. These factors limit the uptake of anti-cancer drugs by the tumor, thus limiting the therapeutic options. Current breakthroughs in nanotechnology provide new prospects concerning unconventional drug delivery approaches for GBM treatment. Specifically, swimming nanorobots show great potential in active targeted delivery, owing to their autonomous propulsion and improved navigation capacities across biological barriers, which further facilitate the development of GBM-targeted strategies. This review presents an overview of technological progress in different drug administration methods for GBM. Additionally, the limitations in clinical translation and future research prospects in this field are also discussed. This review aims to provide a comprehensive guideline for researchers and offer perspectives on further development of new drug delivery therapies to combat GBM.
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Affiliation(s)
- Meng Mao
- School of Medicine and Health, Harbin Institute of Technology, Harbin, China.
| | - Yingjie Wu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, China.
| | - Qiang He
- School of Medicine and Health, Harbin Institute of Technology, Harbin, China.
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Tang D, Peng X, Wu S, Tang S. Autonomous Nanorobots as Miniaturized Surgeons for Intracellular Applications. NANOMATERIALS (BASEL, SWITZERLAND) 2024; 14:595. [PMID: 38607129 PMCID: PMC11013175 DOI: 10.3390/nano14070595] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/13/2024] [Revised: 03/06/2024] [Accepted: 03/27/2024] [Indexed: 04/13/2024]
Abstract
Artificial nanorobots have emerged as promising tools for a wide range of biomedical applications, including biosensing, detoxification, and drug delivery. Their unique ability to navigate confined spaces with precise control extends their operational scope to the cellular or subcellular level. By combining tailored surface functionality and propulsion mechanisms, nanorobots demonstrate rapid penetration of cell membranes and efficient internalization, enhancing intracellular delivery capabilities. Moreover, their robust motion within cells enables targeted interactions with intracellular components, such as proteins, molecules, and organelles, leading to superior performance in intracellular biosensing and organelle-targeted cargo delivery. Consequently, nanorobots hold significant potential as miniaturized surgeons capable of directly modulating cellular dynamics and combating metastasis, thereby maximizing therapeutic outcomes for precision therapy. In this review, we provide an overview of the propulsion modes of nanorobots and discuss essential factors to harness propulsive energy from the local environment or external power sources, including structure, material, and engine selection. We then discuss key advancements in nanorobot technology for various intracellular applications. Finally, we address important considerations for future nanorobot design to facilitate their translation into clinical practice and unlock their full potential in biomedical research and healthcare.
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Affiliation(s)
- Daitian Tang
- Luohu Clinical Institute, School of Medicine, Shantou University, Shantou 515000, China; (D.T.); (X.P.)
| | - Xiqi Peng
- Luohu Clinical Institute, School of Medicine, Shantou University, Shantou 515000, China; (D.T.); (X.P.)
| | - Song Wu
- Luohu Clinical Institute, School of Medicine, Shantou University, Shantou 515000, China; (D.T.); (X.P.)
| | - Songsong Tang
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA 91125, USA
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8
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Chen Q, Liu FW, Cho SK, Kim K. 3-D real-time ultrasound tracking of acoustically actuated swimming microdrone. Sci Rep 2024; 14:1547. [PMID: 38233589 PMCID: PMC10794230 DOI: 10.1038/s41598-024-52044-0] [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: 07/14/2023] [Accepted: 01/12/2024] [Indexed: 01/19/2024] Open
Abstract
Maneuverable microswimmers/microdrones that navigate in hard-to-reach spaces inside human bodies hold a great potential for various biomedical applications. Acoustically actuated microswimmers have already demonstrated feasibility. However, for eventual translation of this technology, a robust 3-D tracking strategy for the microswimmer is particularly required. This paper presents our lab-designed 3-D ultrasound tracking system for real-time tracking of an acoustically actuated 3-D swimming microdrone. The ultrasound tracking system utilizing two ultrasound probes, a step motor and a host controller, was built to track the 3-D arbitrary motion of the microdrone in real-time. The performance of tracking was evaluated in the benchtop experiments by comparing the reconstructed trajectories with synchronized camera recordings. The ultrasound tracking system showed high reliability, with an average error of less than 0.3 mm across six different trials when compared to camera tracking. The results demonstrated the capability of our lab-designed 3-D ultrasound tracking system in accurately tracking the undetermined motion of the acoustic actuated 3-D swimming microdrone in real-time. The developed tracking system holds promise as a potential approach for biomedical applications and could pave the way for future clinical translation of the microswimmer technology.
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Affiliation(s)
- Qiyang Chen
- Department of Medicine, University of Pittsburgh, 623A Scaife Hall, 3550 Terrace Street, Pittsburgh, PA, 15261, USA
- Center for Ultrasound Molecular Imaging and Therapeutics, Department of Medicine & Heart and Vascular Institute, University of Pittsburgh School of Medicine and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15261, USA
| | - Fang-Wei Liu
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA
| | - Sung Kwon Cho
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA
| | - Kang Kim
- Department of Medicine, University of Pittsburgh, 623A Scaife Hall, 3550 Terrace Street, Pittsburgh, PA, 15261, USA.
- Center for Ultrasound Molecular Imaging and Therapeutics, Department of Medicine & Heart and Vascular Institute, University of Pittsburgh School of Medicine and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15261, USA.
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA.
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA, 15261, USA.
- Division of Cardiology, Department of Medicine, University of Pittsburgh School of Medicine, Pittsburgh, PA, 15261, USA.
- McGowan Institute of Regenerative Medicine, University of Pittsburgh and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15219, USA.
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Bo Y, Wang H, Niu H, He X, Xue Q, Li Z, Yang H, Niu F. Advancements in materials, manufacturing, propulsion and localization: propelling soft robotics for medical applications. Front Bioeng Biotechnol 2024; 11:1327441. [PMID: 38260727 PMCID: PMC10800571 DOI: 10.3389/fbioe.2023.1327441] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/25/2023] [Accepted: 12/04/2023] [Indexed: 01/24/2024] Open
Abstract
Soft robotics is an emerging field showing immense potential for biomedical applications. This review summarizes recent advancements in soft robotics for in vitro and in vivo medical contexts. Their inherent flexibility, adaptability, and biocompatibility enable diverse capabilities from surgical assistance to minimally invasive diagnosis and therapy. Intelligent stimuli-responsive materials and bioinspired designs are enhancing functionality while improving biocompatibility. Additive manufacturing techniques facilitate rapid prototyping and customization. Untethered chemical, biological, and wireless propulsion methods are overcoming previous constraints to access new sites. Meanwhile, advances in tracking modalities like computed tomography, fluorescence and ultrasound imaging enable precision localization and control enable in vivo applications. While still maturing, soft robotics promises more intelligent, less invasive technologies to improve patient care. Continuing research into biocompatibility, power supplies, biomimetics, and seamless localization will help translate soft robots into widespread clinical practice.
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Affiliation(s)
- Yunwen Bo
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Haochen Wang
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Hui Niu
- Department of Pathology, Second Affiliated Hospital of Soochow University, Suzhou, China
| | - Xinyang He
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Quhao Xue
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Zexi Li
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
| | - Hao Yang
- Robotics and Microsystems Center, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, China
| | - Fuzhou Niu
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China
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Luo Y, Xu T. Ultrasound-Induced Enrichment of Ultra-Trace miRNA Biosensing in Nanoliter Samples. Methods Mol Biol 2024; 2822:25-36. [PMID: 38907909 DOI: 10.1007/978-1-0716-3918-4_3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/24/2024]
Abstract
The rapid and accurate analysis of micro-samples is a crucial foundation for precision medicine, particularly for early screening and monitoring of cancer, where it holds significant importance. Ultrasound-based multifunctional biocompatible manipulation techniques have been extensively applied in a variety of biomedical fields, providing insights for the development of rapid, cost-effective, and accurate biomarker detection strategies. In this chapter, we combine ultrasound-based gradient pressure fields with functionalized microsphere enrichment to develop a biosensing method for ultra-trace miRNA enrichment in nanoliter samples without PCR. This system relies on inexpensive capillaries, enabling simultaneous visual imaging and trace sample detection.
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Affiliation(s)
- Yong Luo
- The Institute for Advanced Study (IAS), Shenzhen University, Shenzhen, Guangdong, People's Republic of China
- Beijing Key Laboratory for Bioengineering and Sensing Technology, University of Science and Technology Beijing, Beijing, People's Republic of China
| | - Tailin Xu
- The Institute for Advanced Study (IAS), Shenzhen University, Shenzhen, Guangdong, People's Republic of China.
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Huang H, Yang S, Ying Y, Chen X, Puigmartí-Luis J, Zhang L, Pané S. 3D Motion Manipulation for Micro- and Nanomachines: Progress and Future Directions. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2305925. [PMID: 37801654 DOI: 10.1002/adma.202305925] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/19/2023] [Revised: 09/08/2023] [Indexed: 10/08/2023]
Abstract
In the past decade, micro- and nanomachines (MNMs) have made outstanding achievements in the fields of targeted drug delivery, tumor therapy, microsurgery, biological detection, and environmental monitoring and remediation. Researchers have made significant efforts to accelerate the rapid development of MNMs capable of moving through fluids by means of different energy sources (chemical reactions, ultrasound, light, electricity, magnetism, heat, or their combinations). However, the motion of MNMs is primarily investigated in confined two-dimensional (2D) horizontal setups. Furthermore, three-dimensional (3D) motion control remains challenging, especially for vertical movement and control, significantly limiting its potential applications in cargo transportation, environmental remediation, and biotherapy. Hence, an urgent need is to develop MNMs that can overcome self-gravity and controllably move in 3D spaces. This review delves into the latest progress made in MNMs with 3D motion capabilities under different manipulation approaches, discusses the underlying motion mechanisms, explores potential design concepts inspired by nature for controllable 3D motion in MNMs, and presents the available 3D observation and tracking systems.
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Affiliation(s)
- Hai Huang
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Yulong Ying
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
| | - 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, China
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona (UB), Barcelona, 08028, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Li Zhang
- Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zürich, Tannenstrasse 3, Zürich, CH-8092, Switzerland
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Mahkam N, Aghakhani A, Sheehan D, Gardi G, Katzschmann R, Sitti M. Acoustic Streaming-Induced Multimodal Locomotion of Bubble-Based Microrobots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2304233. [PMID: 37884484 PMCID: PMC10724404 DOI: 10.1002/advs.202304233] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2023] [Revised: 09/12/2023] [Indexed: 10/28/2023]
Abstract
Acoustically-driven bubbles at the micron scale can generate strong microstreaming flows in its surrounding fluidic medium. The tunable acoustic streaming strength of oscillating microbubbles and the diversity of the generated flow patterns enable the design of fast-moving microrobots with multimodal locomotion suitable for biomedical applications. The acoustic microrobots holding two coupled microbubbles inside a rigid body are presented; trapped bubbles inside the L-shaped structure with different orifices generate various streaming flows, thus allowing multiple degrees of freedom in locomotion. The streaming pattern and mean streaming speed depend on the intensity and frequency of the acoustic wave, which can trigger four dominant locomotion modes in the microrobot, denoted as translational and rotational, spinning, rotational, and translational modes. Next, the effect of various geometrical and actuation parameters on the control and navigation of the microrobot is investigated. Furthermore, the surface-slipping multimodal locomotion, flow mixing, particle manipulation capabilities, the effective interaction of high flow rates with cells, and subsequent cancerous cell lysing abilities of the proposed microrobot are demonstrated. Overall, these results introduce a design toolbox for the next generation of acoustic microrobots with higher degrees of freedom with multimodal locomotion in biomedical applications.
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Affiliation(s)
- Nima Mahkam
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
| | - Amirreza Aghakhani
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute of Biomaterials and Biomolecular SystemsUniversity of Stuttgart70569StuttgartGermany
| | - Devin Sheehan
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Gaurav Gardi
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Robert Katzschmann
- Department of Mechanical and Process EngineeringETH ZurichZurich8092Switzerland
| | - Metin Sitti
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
- School of MedicineKoç UniversityIstanbul34450Turkey
- College of EngineeringKoç UniversityIstanbul34450Turkey
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13
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Bickmann J, Bröker S, Te Vrugt M, Wittkowski R. Active Brownian particles in external force fields: Field-theoretical models, generalized barometric law, and programmable density patterns. Phys Rev E 2023; 108:044601. [PMID: 37978644 DOI: 10.1103/physreve.108.044601] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2023] [Accepted: 08/24/2023] [Indexed: 11/19/2023]
Abstract
We investigate the influence of external forces on the collective dynamics of interacting active Brownian particles in two as well as three spatial dimensions. Via explicit coarse graining, we derive predictive models, i.e., models that give a direct relation between the models' coefficients and the bare parameters of the system, that are applicable for space- and time-dependent external force fields. We study these models for the cases of gravity and harmonic traps. In particular, we derive a generalized barometric formula for interacting active Brownian particles under gravity that is valid for low to high concentrations and activities of the particles. Furthermore, we show that one can use an external harmonic trap to induce motility-induced phase separation in systems that, without external fields, remain in a homogeneous state. This finding makes it possible to realize programmable density patterns in systems of active Brownian particles. Our analytic predictions are found to be in very good agreement with Brownian dynamics simulations.
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Affiliation(s)
- Jens Bickmann
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Stephan Bröker
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Michael Te Vrugt
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
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14
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Jiang L, Liu X, Zhao D, Guo J, Ma X, Wang Y. Intelligent sensing based on active micro/nanomotors. J Mater Chem B 2023; 11:8897-8915. [PMID: 37667977 DOI: 10.1039/d3tb01163a] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/06/2023]
Abstract
In the microscopic world, synthetic micro/nanomotors (MNMs) can convert a variety of energy sources into driving forces to help humans perform a number of complex tasks with greater ease and efficiency. These tiny machines have attracted tremendous attention in the field of drug delivery, minimally invasive surgery, in vivo sampling, and environmental management. By modifying their surface materials and functionalizing them with bioactive agents, these MNMs can also be transformed into dynamic micro/nano-biosensors that can detect biomolecules in real-time with high sensitivity. The extensive range of operations and uses combined with their minuscule size have opened up new avenues for tackling intricate analytical difficulties. Here, in this review, various driving methods are briefly introduced, followed by a focus on intelligent detection techniques based on MNMs. And we discuss the distinctive advantages, current issues, and challenges associated with MNM-based intelligent detection. It is believed that the future advancements of MNMs will greatly impact the diagnosis, treatment, and prevention of diseases.
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Affiliation(s)
- Lingfeng Jiang
- Key Laboratory of Clinical Laboratory Diagnostics (Ministry of Education), College of Laboratory Medicine, Chongqing Medical University, Chongqing 400016, China.
| | - Xiaoxia Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China.
| | - Dongfang Zhao
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China.
| | - Jinhong Guo
- Key Laboratory of Clinical Laboratory Diagnostics (Ministry of Education), College of Laboratory Medicine, Chongqing Medical University, Chongqing 400016, China.
- School of Sensing Science and Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Xing Ma
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China.
| | - Yong Wang
- Key Laboratory of Clinical Laboratory Diagnostics (Ministry of Education), College of Laboratory Medicine, Chongqing Medical University, Chongqing 400016, China.
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15
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Voß J, Wittkowski R. Dependence of the acoustic propulsion of nano- and microcones on their orientation and aspect ratio. Sci Rep 2023; 13:12858. [PMID: 37553408 PMCID: PMC10409789 DOI: 10.1038/s41598-023-39231-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/25/2022] [Accepted: 07/21/2023] [Indexed: 08/10/2023] Open
Abstract
Recent research revealed the orientation-dependent propulsion of a cone-shaped colloidal particle that is exposed to a planar traveling ultrasound wave. Here, we extend the previous research by considering nano- and microcones with different aspect ratios and studying how the propulsion of a particle depends on its orientation and aspect ratio. We also study how the orientation-averaged propulsion of a cone-shaped particle, which corresponds to an isotropic ultrasound field, depends on its aspect ratio and identify an aspect ratio of 1/2 where the orientation-averaged propulsion is particularly strong. To make our simulation results easier reusable for follow-up research, we provide a corresponding simple analytic representation.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149, Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149, Münster, Germany.
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16
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Lee JG, Raj RR, Thome CP, Day NB, Martinez P, Bottenus N, Gupta A, Shields CW. Bubble-Based Microrobots with Rapid Circular Motions for Epithelial Pinning and Drug Delivery. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2300409. [PMID: 37058137 PMCID: PMC10524026 DOI: 10.1002/smll.202300409] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/14/2023] [Revised: 03/14/2023] [Indexed: 06/19/2023]
Abstract
Remotely powered microrobots are proposed as next-generation vehicles for drug delivery. However, most microrobots swim with linear trajectories and lack the capacity to robustly adhere to soft tissues. This limits their ability to navigate complex biological environments and sustainably release drugs at target sites. In this work, bubble-based microrobots with complex geometries are shown to efficiently swim with non-linear trajectories in a mouse bladder, robustly pin to the epithelium, and slowly release therapeutic drugs. The asymmetric fins on the exterior bodies of the microrobots induce a rapid rotational component to their swimming motions of up to ≈150 body lengths per second. Due to their fast speeds and sharp fins, the microrobots can mechanically pin themselves to the bladder epithelium and endure shear stresses commensurate with urination. Dexamethasone, a small molecule drug used for inflammatory diseases, is encapsulated within the polymeric bodies of the microrobots. The sustained release of the drug is shown to temper inflammation in a manner that surpasses the performance of free drug controls. This system provides a potential strategy to use microrobots to efficiently navigate large volumes, pin at soft tissue boundaries, and release drugs over several days for a range of diseases.
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Affiliation(s)
- Jin Gyun Lee
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Ritu R. Raj
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Cooper P. Thome
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Nicole B. Day
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Payton Martinez
- Department of Mechanical Engineering, University of Colorado Boulder, 1111 Engineering Drive, UCB 427, Boulder, CO 80309, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
| | - Nick Bottenus
- Department of Mechanical Engineering, University of Colorado Boulder, 1111 Engineering Drive, UCB 427, Boulder, CO 80309, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
| | - Ankur Gupta
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - C. Wyatt Shields
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
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17
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Zhang C, Ma S, Xu L. Velocity and Out-Step Frequencies for a Micro-Swimmer Based on Spiral Carbon Nanotubes. MICROMACHINES 2023; 14:1320. [PMID: 37512631 PMCID: PMC10385420 DOI: 10.3390/mi14071320] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/11/2023] [Revised: 06/24/2023] [Accepted: 06/26/2023] [Indexed: 07/30/2023]
Abstract
The existing producing processes of micro spiral swimmers are complex. Here, a microswimmer with a magnetic layer on the surface of the spiral carbon nanotubes is proposed, which has a simple producing process. For the microswimmer, its equations of the velocities and out-step frequency are deduced. Using these equations, the velocities and out-step frequency of the microswimmer and their changes with related parameters are investigated. Results show that its velocities are proportional to the radius and helix angle of the spiral carbon nanotubes, and its out-step frequencies are proportional to magnetic field strength, the helix angle and magnetic layer thicknesses of the spiral carbon nanotubes, and inversely proportional to the fluid viscosity. The out-step frequency of the microswimmer is measured, which is in good agreement with the calculative ones.
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Affiliation(s)
- Ce Zhang
- School of Mechanical Engineering, Yanshan University, Qinhuangdao 066000, China
| | - Shiqi Ma
- School of Mechanical Engineering, Yanshan University, Qinhuangdao 066000, China
| | - Lizhong Xu
- School of Mechanical Engineering, Yanshan University, Qinhuangdao 066000, China
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18
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Wang B, Handschuh-Wang S, Shen J, Zhou X, Guo Z, Liu W, Pumera M, Zhang L. Small-Scale Robotics with Tailored Wettability. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2205732. [PMID: 36113864 DOI: 10.1002/adma.202205732] [Citation(s) in RCA: 13] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/23/2022] [Revised: 09/01/2022] [Indexed: 05/05/2023]
Abstract
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.
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Affiliation(s)
- Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Stephan Handschuh-Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Jie Shen
- Shenzhen Key Laboratory of Spine Surgery, Department of Spine Surgery, Peking University Shenzhen Hospital, Shenzhen, 518036, China
| | - Xuechang Zhou
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Zhiguang Guo
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Science, Lanzhou, 730000, China
- Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials, Hubei University, Wuhan, 430062, China
| | - Weimin Liu
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Science, Lanzhou, 730000, China
| | - Martin Pumera
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno, 61200, Czech Republic
- 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, South Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, 999077, China
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19
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Feng Y, Jia D, Yue H, Wang J, Song W, Li L, Zhang AM, Li S, Chang X, Zhou D. Breaking through Barriers: Ultrafast Microbullet Based on Cavitation Bubble. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2207565. [PMID: 36732889 DOI: 10.1002/smll.202207565] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Revised: 01/12/2023] [Indexed: 05/04/2023]
Abstract
Micromotors hold great promise for extensive practical applications such as those in biomedical domains and reservoir exploration. However, insufficient propulsion of the micromotor limits its application in crossing biological barriers and breaking reservoir boundaries. In this study, an ultrafast microbullet based on laser cavitation that can utilize the energy of a cavitation bubble and realize its own hurtling motion is reported. The experiments are performed using high-speed photography. A boundary integral method is adopted to reveal the motion mechanism of a polystyrene (PS)/magnetic nanoparticle (MNP) microbullet under the action of laser cavitation. Furthermore, the influence of certain factors (including laser intensity, microbullet size, and ambient temperature) on the motion of the microbullet was explored. For the PS/MNP microbullet driven by laser cavitation, the instantaneous velocity obtained can reach 5.23 m s-1 . This strategy of driving the PS/MNP microbullet provides strong penetration ability and targeted motion. It is believed that the reported propulsion mechanism opens up new possibilities for micromotors in a wide range of engineering applications.
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Affiliation(s)
- Yiwen Feng
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
| | - Deli Jia
- Research Institute of Petroleum Exploration & Development, PetroChina Company Limited, Beijing, 100083, China
| | - Honger Yue
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
| | - Jie Wang
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, 150001, China
| | - Wenping Song
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
- Chongqing Research Institute of Harbin Institute of Technology, Chongqing, 401151, China
| | - Longqiu Li
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
| | - A-Man Zhang
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, 150001, China
| | - Shuai Li
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, 150001, China
| | - Xiaocong Chang
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
- Chongqing Research Institute of Harbin Institute of Technology, Chongqing, 401151, China
| | - Dekai Zhou
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
- Chongqing Research Institute of Harbin Institute of Technology, Chongqing, 401151, China
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20
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Gao Q, Yang Z, Zhu R, Wang J, Xu P, Liu J, Chen X, Yan Z, Peng Y, Wang Y, Zheng H, Cai F, Wang W. Ultrasonic Steering Wheels: Turning Micromotors by Localized Acoustic Microstreaming. ACS NANO 2023; 17:4729-4739. [PMID: 36815761 DOI: 10.1021/acsnano.2c11070] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
The ability to steer micromotors in specific directions and at precise speeds is highly desired for their use in complex environments. However, a generic steering strategy that can be applied to micromotors of all types and surface coatings is yet to be developed. Here, we report that ultrasound of ∼100 kHz can spin a spherical micromotor so that it turns left or right when moving forward, or that it moves in full circles. The direction and angular speeds of their spinning and the radii of circular trajectories are precisely tunable by varying ultrasound voltages and frequencies, as well as particle properties such as its radius, materials, and coating thickness. Such spinning is hypothesized to originate from the circular microstreaming flows localized around a solid microsphere vibrating in ultrasound. In addition to causing a micromotor to spin, such streaming flows also helped release cargos from a micromotor during a capture-transport-release mission. Localized microstreaming does not depend on or interference with a specific propulsion mechanism and can steer a wide variety of micromotors. This work suggests that ultrasound can be used to steer microrobots in complex, biologically relevant environments as well as to steer microorganisms and cells.
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Affiliation(s)
- Qiang Gao
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Zhou Yang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Ruitong Zhu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Jinping Wang
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Pengzhao Xu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Jiayu Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Xiaowen Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Zuyao Yan
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yixin Peng
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yanping Wang
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Hairong Zheng
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Feiyan Cai
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Wei Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
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21
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Liu J, Fu Y, Liu X, Ruan H. A bar-joint model based on the corrected resistive force theory for artificial flagellated micro-swimmers propelled by acoustic waves. BIOINSPIRATION & BIOMIMETICS 2023; 18:035003. [PMID: 36821864 DOI: 10.1088/1748-3190/acbe86] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/09/2022] [Accepted: 02/23/2023] [Indexed: 06/18/2023]
Abstract
In this work, we proposed a bar-joint model based on the corrected resistive force theory (CRFT) for studying artificial flagellated micro-swimmers (AFMSs) propelled by acoustic waves in a two-dimensional (2D) flow field or with a rectangular cross-section. Note that the classical resistive-force theory for 3D cylindrical flagellum leads to over 90% deviation in terminal velocity from those of 2D fluid-structure interaction (FSI) simulations, while the proposed CRFT bar-joint model can reduce the deviation to below 5%; hence, it enables a reliable prediction of the 2D locomotion of an acoustically actuated AFMS with a rectangular cross-section, which is the case in some experiments. Introduced in the CRFT is a single correction factorKdetermined by comparing the linear terminal velocities under acoustic actuation obtained from the CRFT with those from simulations. After the determination ofK, detailed comparisons of trajectories between the CRFT-based bar-joint AFMS model and the FSI simulation were presented, exhibiting an excellent consistency. Finally, a numerical demonstration of the purely acoustic or magneto-acoustic steering of an AFMS based on the CRFT was presented, which can be one of the choices for future AFMS-based precision therapy.
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Affiliation(s)
- Jinan Liu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
| | - Yiqiang Fu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
| | - Xiongjun Liu
- State Key Laboratory for Advanced Metals and Materials, University of Science and Technology Beijing, Beijing 100083, People's Republic of China
| | - Haihui Ruan
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
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22
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Song SJ, Mayorga-Martinez CC, Vyskočil J, Častorálová M, Ruml T, Pumera M. Precisely Navigated Biobot Swarms of Bacteria Magnetospirillum magneticum for Water Decontamination. ACS APPLIED MATERIALS & INTERFACES 2023; 15:7023-7029. [PMID: 36700926 PMCID: PMC10016748 DOI: 10.1021/acsami.2c16592] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/14/2022] [Accepted: 01/12/2023] [Indexed: 06/17/2023]
Abstract
Hybrid biological robots (biobots) prepared from living cells are at the forefront of micro-/nanomotor research due to their biocompatibility and versatility toward multiple applications. However, their precise maneuverability is essential for practical applications. Magnetotactic bacteria are hybrid biobots that produce magnetosome magnetite crystals, which are more stable than synthesized magnetite and can orient along the direction of earth's magnetic field. Herein, we used Magnetospirillum magneticum strain AMB-1 (M. magneticum AMB-1) for the effective removal of chlorpyrifos (an organophosphate pesticide) in various aqueous solutions by naturally binding with organic matter. Precision control of M. magneticum AMB-1 was achieved by applying a magnetic field. Under a programed clockwise magnetic field, M. magneticum AMB-1 exhibit swarm behavior and move in a circular direction. Consequently, we foresee that M. magneticum AMB-1 can be applied in various environments to remove and retrieve pollutants by directional control magnetic actuation.
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Affiliation(s)
- Su-Jin Song
- Center
for Advanced Functional Nanorobots, Department of Inorganic Chemistry,
Faculty of Chemical Technology, University
of Chemistry and Technology Prague, Technická 5, Prague 166 28, Czech Republic
| | - Carmen C. Mayorga-Martinez
- Center
for Advanced Functional Nanorobots, Department of Inorganic Chemistry,
Faculty of Chemical Technology, University
of Chemistry and Technology Prague, Technická 5, Prague 166 28, Czech Republic
| | - Jan Vyskočil
- Center
for Advanced Functional Nanorobots, Department of Inorganic Chemistry,
Faculty of Chemical Technology, University
of Chemistry and Technology Prague, Technická 5, Prague 166 28, Czech Republic
| | - Markéta Častorálová
- Department
of Biochemistry and Microbiology, University
of Chemistry and Technology Prague, Technická 5, Prague 166 28, Czech Republic
| | - Tomáš Ruml
- Department
of Biochemistry and Microbiology, University
of Chemistry and Technology Prague, Technická 5, Prague 166 28, Czech Republic
| | - Martin Pumera
- Center
for Advanced Functional Nanorobots, Department of Inorganic Chemistry,
Faculty of Chemical Technology, University
of Chemistry and Technology Prague, Technická 5, Prague 166 28, Czech Republic
- Department
of Chemical and Biomolecular Engineering, Yonsei University, 50
Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea
- Faculty
of Electrical Engineering and Computer Science, VSB—Technical University of Ostrava, 17. listopadu 2172/15, Ostrava 70800, Czech Republic
- Department
of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung 40402, Taiwan
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23
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Smart micro- and nanorobots for water purification. NATURE REVIEWS BIOENGINEERING 2023; 1:236-251. [PMID: 37064655 PMCID: PMC9901418 DOI: 10.1038/s44222-023-00025-9] [Citation(s) in RCA: 25] [Impact Index Per Article: 25.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Accepted: 01/09/2023] [Indexed: 02/08/2023]
Abstract
Less than 1% of Earth's freshwater reserves is accessible. Industrialization, population growth and climate change are further exacerbating clean water shortage. Current water-remediation treatments fail to remove most pollutants completely or release toxic by-products into the environment. The use of self-propelled programmable micro- and nanoscale synthetic robots is a promising alternative way to improve water monitoring and remediation by overcoming diffusion-limited reactions and promoting interactions with target pollutants, including nano- and microplastics, persistent organic pollutants, heavy metals, oils and pathogenic microorganisms. This Review introduces the evolution of passive micro- and nanomaterials through active micro- and nanomotors and into advanced intelligent micro- and nanorobots in terms of motion ability, multifunctionality, adaptive response, swarming and mutual communication. After describing removal and degradation strategies, we present the most relevant improvements in water treatment, highlighting the design aspects necessary to improve remediation efficiency for specific contaminants. Finally, open challenges and future directions are discussed for the real-world application of smart micro- and nanorobots.
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24
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Fusi AD, Li Y, Llopis-Lorente A, Patiño T, van Hest JCM, Abdelmohsen LKEA. Achieving Control in Micro-/Nanomotor Mobility. Angew Chem Int Ed Engl 2023; 62:e202214754. [PMID: 36413146 PMCID: PMC10107182 DOI: 10.1002/anie.202214754] [Citation(s) in RCA: 12] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/07/2022] [Revised: 11/18/2022] [Accepted: 11/22/2022] [Indexed: 11/23/2022]
Abstract
Unprecedented opportunities exist for the generation of advanced nanotechnologies based on synthetic micro/nanomotors (MNMs), such as active transport of medical agents or the removal of pollutants. In this regard, great efforts have been dedicated toward controlling MNM motion (e.g., speed, directionality). This was generally performed by precise engineering and optimizing of the motors' chassis, engine, powering mode (i.e., chemical or physical), and mechanism of motion. Recently, new insights have emerged to control motors mobility, mainly by the inclusion of different modes that drive propulsion. With high degree of synchronization, these modes work providing the required level of control. In this Minireview, we discuss the diverse factors that impact motion; these include MNM morphology, modes of mobility, and how control over motion was achieved. Moreover, we highlight the main limitations that need to be overcome so that such motion control can be translated into real applications.
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Affiliation(s)
- Alexander D Fusi
- Departments of Chemical Engineering and Chemistry, and Biomedical Engineering, Institute for Complex Molecular Systems, Technische Universiteit Eindhoven, Het Kranenveld 14, 5612, AZ Eindhoven, The Netherlands
| | - Yudong Li
- Departments of Chemical Engineering and Chemistry, and Biomedical Engineering, Institute for Complex Molecular Systems, Technische Universiteit Eindhoven, Het Kranenveld 14, 5612, AZ Eindhoven, The Netherlands
| | - A Llopis-Lorente
- Departments of Chemical Engineering and Chemistry, and Biomedical Engineering, Institute for Complex Molecular Systems, Technische Universiteit Eindhoven, Het Kranenveld 14, 5612, AZ Eindhoven, The Netherlands.,CIBER de Bioingeniería, Biomateriales y Nanomedicina (CIBER-BBN), Institute of Molecular Recognition and Technological Development (IDM), Universitat Politècnica de València, Camino de Vera s/n, 46022, Valencia, Spain
| | - Tania Patiño
- Departments of Chemical Engineering and Chemistry, and Biomedical Engineering, Institute for Complex Molecular Systems, Technische Universiteit Eindhoven, Het Kranenveld 14, 5612, AZ Eindhoven, The Netherlands
| | - Jan C M van Hest
- Departments of Chemical Engineering and Chemistry, and Biomedical Engineering, Institute for Complex Molecular Systems, Technische Universiteit Eindhoven, Het Kranenveld 14, 5612, AZ Eindhoven, The Netherlands
| | - Loai K E A Abdelmohsen
- Departments of Chemical Engineering and Chemistry, and Biomedical Engineering, Institute for Complex Molecular Systems, Technische Universiteit Eindhoven, Het Kranenveld 14, 5612, AZ Eindhoven, The Netherlands
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25
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Zhang D, Gorochowski TE, Marucci L, Lee HT, Gil B, Li B, Hauert S, Yeatman E. Advanced medical micro-robotics for early diagnosis and therapeutic interventions. Front Robot AI 2023; 9:1086043. [PMID: 36704240 PMCID: PMC9871318 DOI: 10.3389/frobt.2022.1086043] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/01/2022] [Accepted: 12/15/2022] [Indexed: 01/12/2023] Open
Abstract
Recent technological advances in micro-robotics have demonstrated their immense potential for biomedical applications. Emerging micro-robots have versatile sensing systems, flexible locomotion and dexterous manipulation capabilities that can significantly contribute to the healthcare system. Despite the appreciated and tangible benefits of medical micro-robotics, many challenges still remain. Here, we review the major challenges, current trends and significant achievements for developing versatile and intelligent micro-robotics with a focus on applications in early diagnosis and therapeutic interventions. We also consider some recent emerging micro-robotic technologies that employ synthetic biology to support a new generation of living micro-robots. We expect to inspire future development of micro-robots toward clinical translation by identifying the roadblocks that need to be overcome.
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Affiliation(s)
- Dandan Zhang
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, Bristol, United Kingdom
| | - Thomas E. Gorochowski
- School of Biological Sciences, University of Bristol, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Lucia Marucci
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- School of Biological Sciences, University of Bristol, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Hyun-Taek Lee
- Department of Mechanical Engineering, Inha University, Incheon, South Korea
| | - Bruno Gil
- Department of Electrical and Electronic Engineering, Imperial College London, London, United Kingdom
| | - Bing Li
- The Institute for Materials Discovery, University College London, London, United Kingdom
- Department of Brain Science, Imperial College London, London, United Kingdom
- Care Research & Technology Centre, UK Dementia Research Institute, Imperial College London, London, United Kingdom
| | - Sabine Hauert
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Eric Yeatman
- Department of Electrical and Electronic Engineering, Imperial College London, London, United Kingdom
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26
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Bryan MT. Assessing the Challenges of Nanotechnology-Driven Targeted Therapies: Development of Magnetically Directed Vectors for Targeted Cancer Therapies and Beyond. Methods Mol Biol 2023; 2575:105-123. [PMID: 36301473 DOI: 10.1007/978-1-0716-2716-7_6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Targeted delivery, in which therapeutic agents are preferentially concentrated at the diseased site, has the potential to improve therapeutic outcomes by minimizing off-target interactions in healthy tissue. Both passive and active methods of targeting delivery have been proposed, often with particular emphasis on cancer treatment. Passive methods rely on the overexpression of a biomarker in diseased tissue that can then be used to target the therapy. Active techniques involve physically guiding therapeutic agents toward the target region. Since the motion of magnetic particles can be remotely controlled by external magnetic fields, magnetic technologies have the potential to drive and hold drugs or other cargo at the required therapeutic site, increasing the localized dose while minimizing overall exposure. Directed motion may be generated either by simple magnetic attraction or by causing the particles to perform swimming strokes to produce propulsion. This chapter will compare the different strategies using magnetic nanotechnology to produce directed motion compatible with that required for targeted cargo delivery and magnetically assisted therapies and assess their potential to meet the challenges of operating within the human body.
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Affiliation(s)
- Matthew T Bryan
- Department of Electronic Engineering, Royal Holloway, University of London, Egham, UK.
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27
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Zhu Q, Yan T, Yang Y, Song Y, Lu J, Luo Y, Xu LP, Xu T. Programmable Microparticle Array for In Situ Modification and Multiple miRNA Detection. ACS Sens 2022; 7:3654-3659. [PMID: 36448914 DOI: 10.1021/acssensors.2c02158] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/02/2022]
Abstract
Simultaneous detection of multiple miRNAs of one disease can greatly reduce misdiagnosis and improve the detection rate, which is helpful for early cancer diagnosis. Here, a programmable microparticle-array-based acoustic microchip for in situ simultaneous multiple miRNAs detection is developed. On this microchip, the multiple probes-labeled microparticle array can be procedurally arranged in a microfluidic reaction chamber when four orthogonally piezoelectric transducers are applied. The probes-labeled microparticle array offers a platform for full molecular contact under dynamic ultrasonic streaming, and the array supplies a multipoint data correction to reduce the false positive of the detection results for more precisely visible fluorescence multiple target miRNAs sensing. We employed miRNA-21, miRNA-210, and miRNA-155 as specific biomarkers of pancreatic cancer and successfully finished the multiple miRNAs simultaneous detection in the microchip with a detection limit of 139.1, 179.9, and 111.4 pM, respectively. Such a device is programmable by adjusting the imputing frequency and voltage, and target biomarkers can be easily collected when the ultrasound force is released for further analysis, which shows great potential in multiple miRNAs enrichment and simultaneous detection for cancer clinical diagnosis.
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Affiliation(s)
- Qinglin Zhu
- Research Center for Bioengineering and Sensing Technology, University of Science and Technology Beijing, Beijing100083, People's Republic of China
| | - Tingxiu Yan
- Research Center for Bioengineering and Sensing Technology, University of Science and Technology Beijing, Beijing100083, People's Republic of China
| | - Yuemeng Yang
- Research Center for Bioengineering and Sensing Technology, University of Science and Technology Beijing, Beijing100083, People's Republic of China
| | - Yongchao Song
- Intelligent Wearable Engineering Research Center of Qingdao, Research Center for Intelligent and Wearable Technology, College of Textiles and Clothing, State Key Laboratory of Bio-Fibers and Eco-Textiles, Qingdao University, Qingdao266071, People's Republic of China
| | - Jingwei Lu
- Research Center for Bioengineering and Sensing Technology, University of Science and Technology Beijing, Beijing100083, People's Republic of China
| | - Yong Luo
- Research Center for Bioengineering and Sensing Technology, University of Science and Technology Beijing, Beijing100083, People's Republic of China
| | - Li-Ping Xu
- Research Center for Bioengineering and Sensing Technology, University of Science and Technology Beijing, Beijing100083, People's Republic of China
| | - Tailin Xu
- Research Center for Bioengineering and Sensing Technology, University of Science and Technology Beijing, Beijing100083, People's Republic of China.,School of Biomedical Engineering, Shenzhen University, Shenzhen, Guangdong518060, People's Republic of China
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28
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Shah ZH, Wu B, Das S. Multistimuli-responsive microrobots: A comprehensive review. Front Robot AI 2022; 9:1027415. [PMID: 36420129 PMCID: PMC9676497 DOI: 10.3389/frobt.2022.1027415] [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: 08/25/2022] [Accepted: 10/24/2022] [Indexed: 11/16/2023] Open
Abstract
Untethered robots of the size of a few microns have attracted increasing attention for the potential to transform many aspects of manufacturing, medicine, health care, and bioengineering. Previously impenetrable environments have become available for high-resolution in situ and in vivo manipulations as the size of the untethered robots goes down to the microscale. Nevertheless, the independent navigation of several robots at the microscale is challenging as they cannot have onboard transducers, batteries, and control like other multi-agent systems, due to the size limitations. Therefore, various unconventional propulsion mechanisms have been explored to power motion at the nanoscale. Moreover, a variety of combinations of actuation methods has also been extensively studied to tackle different issues. In this survey, we present a thorough review of the recent developments of various dedicated ways to actuate and control multistimuli-enabled microrobots. We have also discussed existing challenges and evolving concepts associated with each technique.
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Affiliation(s)
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE, United States
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29
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Binsley JL, Pagliara S, Ogrin FY. Numerical investigation of flexible Purcell-like integrated microfluidic pumps. JOURNAL OF APPLIED PHYSICS 2022; 132:164701. [PMID: 36313737 PMCID: PMC9605776 DOI: 10.1063/5.0109263] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/12/2022] [Accepted: 09/20/2022] [Indexed: 06/16/2023]
Abstract
Integrating miniature pumps within microfluidic devices is crucial for advancing point-of-care diagnostics. Understanding the emergence of flow from novel integrated pumping systems is the first step in their successful implementation. A Purcell-like elasto-magnetic integrated microfluidic pump has been simulated in COMSOL Multiphysics and its performance has been investigated and evaluated. An elastic, cilia-like element contains an embedded magnet, which allows for actuation via a weak, uniaxial, sinusoidally oscillating, external magnetic field. Pumping performance is correlated against a number of variables, such as the frequency of the driving field and the proximity of the pump to the channel walls, in order to understand the emergence of the pumping behavior. Crucially, these simulations capture many of the trends observed experimentally and shed light on the key interactions. The proximity of the channel walls in the in-plane direction strongly determines the direction of net fluid flow. This characterization has important implications for the design and optimization of this pump in practical applications.
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Affiliation(s)
- Jacob L. Binsley
- Department of Physics and Astronomy, University of Exeter, Exeter EX4 4QL, United Kingdom
| | - Stefano Pagliara
- Living Systems Institute and Biosciences, University of Exeter, Exeter EX4 4QD, United Kingdom
| | - Feodor Y. Ogrin
- Department of Physics and Astronomy, University of Exeter, Exeter EX4 4QL, United Kingdom
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30
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Luo Y, Gao H, Zhou M, Xiao L, Xu T, Zhang X. Integrated Acoustic Chip for Culturing 3D Cell Arrays. ACS Sens 2022; 7:2654-2660. [PMID: 36049227 DOI: 10.1021/acssensors.2c01103] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/07/2023]
Abstract
Three-dimensional (3D) cell arrays provide an in vitro platform for clinical drug screening, but the bulky culture devices limit their application scenarios. Here, we demonstrate an integrated portable device that can realize contact-free construction of 3D cell spheroids. The interaction between the ultrasound generated by the portable device and the capillary results in periodic pressure nodes or anti-nodes, which lead to form a 3D cell array for cell culture. Such a 3D cell array pattern can be constructed in seconds and requires only 1 μL of cell samples. We further assessed the spheroids formed by the portable device and the impact of the acoustic field on spheroids and demonstrated the drug screening with assembled spheroids. More importantly, the integrated acoustic device can be further integrated with other components for more complex cell culture and all-round analysis. This portable and effective integrated device provides a new avenue for clinical biomedicine.
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Affiliation(s)
- Yong Luo
- Beijing Key Laboratory for Bioengineering and Sensing Technology, School of Chemistry and Biological Engineering, University of Science and Technology Beijing, Beijing 100083, PR China
| | - Hongxiao Gao
- Beijing Key Laboratory for Bioengineering and Sensing Technology, School of Chemistry and Biological Engineering, University of Science and Technology Beijing, Beijing 100083, PR China
| | - Mengyun Zhou
- Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), School of Biomedical Engineering, Shenzhen University, Shenzhen, Guangdong 518060, PR China
| | - Long Xiao
- Department of Urology, Shenzhen University General Hospital, Shenzhen University, Shenzhen, Guangdong 518060, PR China
| | - Tailin Xu
- Beijing Key Laboratory for Bioengineering and Sensing Technology, School of Chemistry and Biological Engineering, University of Science and Technology Beijing, Beijing 100083, PR China.,Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), School of Biomedical Engineering, Shenzhen University, Shenzhen, Guangdong 518060, PR China
| | - Xueji Zhang
- Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), School of Biomedical Engineering, Shenzhen University, Shenzhen, Guangdong 518060, PR China
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31
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Reynolds MF, Cortese AJ, Liu Q, Zheng Z, Wang W, Norris SL, Lee S, Miskin MZ, Molnar AC, Cohen I, McEuen PL. Microscopic robots with onboard digital control. Sci Robot 2022; 7:eabq2296. [PMID: 36129993 DOI: 10.1126/scirobotics.abq2296] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
Autonomous robots-systems where mechanical actuators are guided through a series of states by information processing units to perform a predesigned function-are expected to revolutionize everything from health care to transportation. Microscopic robots are poised for a similar revolution in fields from medicine to environmental remediation. A key hurdle to developing these microscopic robots is the integration of information systems, particularly electronics fabricated at commercial foundries, with microactuators. Here, we develop such an integration process and build microscopic robots controlled by onboard complementary metal oxide semiconductor electronics. The resulting autonomous, untethered robots are 100 to 250 micrometers in size, are powered by light, and walk at speeds greater than 10 micrometers per second. In addition, we demonstrate a microscopic robot that can respond to an optical command. This work paves the way for ubiquitous autonomous microscopic robots that perform complex functions, respond to their environments, and communicate with the outside world.
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Affiliation(s)
- Michael F Reynolds
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA
| | - Alejandro J Cortese
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA.,Department of Electrical and Computer Engineering, Cornell University, Ithaca, NY, USA
| | - Qingkun Liu
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA
| | - Zhangqi Zheng
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA
| | - Wei Wang
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA.,Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA
| | - Samantha L Norris
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA
| | - Sunwoo Lee
- Department of Electrical and Computer Engineering, Cornell University, Ithaca, NY, USA
| | - Marc Z Miskin
- Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA
| | - Alyosha C Molnar
- Department of Electrical and Computer Engineering, Cornell University, Ithaca, NY, USA.,Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, NY, USA
| | - Itai Cohen
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA.,Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, NY, USA
| | - Paul L McEuen
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, USA.,Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, NY, USA
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32
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Voß J, Wittkowski R. Acoustic Propulsion of Nano- and Microcones: Dependence on the Viscosity of the Surrounding Fluid. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2022; 38:10736-10748. [PMID: 35998334 DOI: 10.1021/acs.langmuir.2c00603] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
This article investigates how the acoustic propulsion of cone-shaped colloidal particles that are exposed to a traveling ultrasound wave depends on the viscosity of the fluid surrounding the particles. Using acoustofluidic computer simulations, we found that the propulsion of such nano- and microcones decreases strongly and even changes sign for increasing shear viscosity. In contrast, we found only a weak dependence of the propulsion on the bulk viscosity. The obtained results are in line with the findings of previous theoretical and experimental studies.
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Affiliation(s)
- Johannes Voß
- Institute of Theoretical Physics, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Raphael Wittkowski
- Institute of Theoretical Physics, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
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33
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Melvin AA, Goudeau B, Nogala W, Kuhn A. Spatially Controlled CO
2
Conversion Kinetics in Natural Leaves for Motion Generation. Angew Chem Int Ed Engl 2022; 61:e202205298. [DOI: 10.1002/anie.202205298] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/11/2022] [Indexed: 11/09/2022]
Affiliation(s)
- Ambrose A. Melvin
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
- Institute of Physical Chemistry Polish Academy of Sciences Kasprzaka 44/52 01-224 Warsaw Poland
| | - Bertrand Goudeau
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
| | - Wojciech Nogala
- Institute of Physical Chemistry Polish Academy of Sciences Kasprzaka 44/52 01-224 Warsaw Poland
| | - Alexander Kuhn
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
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34
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Ji H, Hu H, Tang Q, Kang X, Liu X, Zhao L, Jing R, Wu M, Li G, Zhou X, Liu J, Wang Q, Cong H, Wu L, Qin Y. Precisely controlled and deeply penetrated micro-nano hybrid multifunctional motors with enhanced antibacterial activity against refractory biofilm infections. JOURNAL OF HAZARDOUS MATERIALS 2022; 436:129210. [PMID: 35739732 DOI: 10.1016/j.jhazmat.2022.129210] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/20/2022] [Revised: 05/17/2022] [Accepted: 05/19/2022] [Indexed: 06/15/2023]
Abstract
The biofilm resistance of microorganisms has severe economic and environmental implications, especially the contamination of facilities associated with human life, including medical implants, air-conditioning systems, water supply systems, and food-processing equipment, resulting in the prevalence of infectious diseases. Once bacteria form biofilms, their antibiotic resistance can increase by 10-1,000-fold, posing a great challenge to the treatment of related diseases. In order to overcome the contamination of bacterial biofilm, destroying the biofilm's matrix so as to solve the penetration depth dilemma of antibacterial agents is the most effective way. Here, a magnetically controlled multifunctional micromotor was developed by using H2O2 as the fuel and MnO2 as the catalyst to treat bacterial biofilm infection. In the presence of H2O2, the as-prepared motors could be self-propelled by the generated oxygen microbubbles. Thereby, the remotely controlled motors could drill into the EPS of biofilm and disrupt them completely with the help of bubbles. Finally, the generated highly toxic •OH could efficiently kill the unprotected bacteria. This strategy combined the mechanical damage, highly toxic •OH, and precise magnetic guidance in one system, which could effectively eliminate biologically infectious fouling in microchannels within 10 min, possessing a wide range of practical application prospects especially in large scale and complex infection sites.
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Affiliation(s)
- Haiwei Ji
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Haolu Hu
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Qu Tang
- Department of Laboratory Medicine, Affiliated hospital of Nantong University, No. 20, Xisi Road, Nantong 226001, Jiangsu, China
| | - Xiaoxia Kang
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Xiaodi Liu
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Lingfeng Zhao
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Rongrong Jing
- Department of Laboratory Medicine, Affiliated hospital of Nantong University, No. 20, Xisi Road, Nantong 226001, Jiangsu, China
| | - Mingmin Wu
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Guo Li
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Xiaobo Zhou
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Jinxia Liu
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Qi Wang
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China
| | - Hui Cong
- Department of Laboratory Medicine, Affiliated hospital of Nantong University, No. 20, Xisi Road, Nantong 226001, Jiangsu, China.
| | - Li Wu
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China.
| | - Yuling Qin
- School of Public Health, Nantong University, No. 9, Seyuan Road, Nantong 226019, Jiangsu, China.
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35
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Zhou Y, Dai L, Jiao N. Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly. MICROMACHINES 2022; 13:1068. [PMID: 35888885 PMCID: PMC9324494 DOI: 10.3390/mi13071068] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/07/2022] [Revised: 06/30/2022] [Accepted: 07/01/2022] [Indexed: 02/01/2023]
Abstract
In recent years, microbubbles have been widely used in the field of microrobots due to their unique properties. Microbubbles can be easily produced and used as power sources or tools of microrobots, and the bubbles can even serve as microrobots themselves. As a power source, bubbles can propel microrobots to swim in liquid under low-Reynolds-number conditions. As a manipulation tool, microbubbles can act as the micromanipulators of microrobots, allowing them to operate upon particles, cells, and organisms. As a microrobot, microbubbles can operate and assemble complex microparts in two- or three-dimensional spaces. This review provides a comprehensive overview of bubble applications in microrobotics including propulsion, micromanipulation, and microassembly. First, we introduce the diverse bubble generation and control methods. Then, we review and discuss how bubbles can play a role in microrobotics via three functions: propulsion, manipulation, and assembly. Finally, by highlighting the advantages and current challenges of this progress, we discuss the prospects of microbubbles in microrobotics.
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Affiliation(s)
- Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Liguo Dai
- College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China;
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
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36
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Nitschke T, Stenhammar J, Wittkowski R. Collective guiding of acoustically propelled nano- and microparticles. NANOSCALE ADVANCES 2022; 4:2844-2856. [PMID: 36132012 PMCID: PMC9417943 DOI: 10.1039/d2na00007e] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/03/2022] [Accepted: 05/05/2022] [Indexed: 06/01/2023]
Abstract
One of the most important potential applications of motile nano- and microdevices is targeted drug delivery. To realize this, biocompatible particles that can be guided collectively towards a target inside a patient's body are required. Acoustically propelled nano- and microparticles constitute a promising candidate for such biocompatible, artificial motile particles. The main remaining obstacle to targeted drug delivery by motile nano- and microdevices is to also achieve a reliable and biocompatible method for guiding them collectively to their target. Here, we propose such a method. As we confirm by computer simulations, it allows for the remote guiding of large numbers of acoustically propelled particles to a prescribed target by combining a space- and time-dependent acoustic field and a time-dependent magnetic field. The method works without detailed knowledge about the particle positions and for arbitrary initial particle distributions. With these features, it paves the way for the future application of motile particles as vehicles for targeted drug delivery in nanomedicine.
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Affiliation(s)
- Tobias Nitschke
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster 48149 Münster Germany
| | - Joakim Stenhammar
- Division of Physical Chemistry, Lund University SE-221 00 Lund Sweden
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster 48149 Münster Germany
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37
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Melvin AA, Goudeau B, Nogala W, Kuhn A. Spatially Controlled CO
2
Conversion Kinetics in Natural Leaves for Motion Generation. Angew Chem Int Ed Engl 2022. [DOI: 10.1002/ange.202205298] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Ambrose A. Melvin
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
- Institute of Physical Chemistry Polish Academy of Sciences Kasprzaka 44/52 01-224 Warsaw Poland
| | - Bertrand Goudeau
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
| | - Wojciech Nogala
- Institute of Physical Chemistry Polish Academy of Sciences Kasprzaka 44/52 01-224 Warsaw Poland
| | - Alexander Kuhn
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
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38
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Babu D, Katsonis N, Lancia F, Plamont R, Ryabchun A. Motile behaviour of droplets in lipid systems. Nat Rev Chem 2022; 6:377-388. [PMID: 37117430 DOI: 10.1038/s41570-022-00392-8] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 04/14/2022] [Indexed: 01/08/2023]
Abstract
Motility is the capacity for living organisms to move autonomously and with purpose, and is essential to life. The transition from abiotic chemistry into motile cellular compartments has yet to be understood, but motile behaviour likely followed chemical evolution because primeval cell survival depended on scouting for resources effectively. Minimalistic motile systems provide an experimental framework to delineate the emergence mechanisms of such an evolutionary asset. In this Review, we discuss frontier developments in controlling the movement of droplets in lipid systems, in particular, chemotactic behaviours driven by fluctuations in interfacial tension, because of its simple mechanism and prebiotic relevance. Although most efforts have focused on designing oil droplet motility in lipid-rich aqueous solutions, we highlight that water droplets can also move in lipid-enriched oils. First, we describe how droplets evolve chemotactic motility in lipid systems. Next, we review how these oil droplets can adapt their movement to illumination conditions. Finally, we discuss examples where chemical reactivity brings complexity to motility. This work contributes to systems chemistry, where chemical reactions combined with physicochemical phenomena can yield new functions, such that a limited set of molecules can promote complex movement at larger functional scales by following the rules of molecular chemistry.
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Affiliation(s)
- Dhanya Babu
- Stratingh Institute for Chemistry, University of Groningen, Groningen, Netherlands
| | - Nathalie Katsonis
- Stratingh Institute for Chemistry, University of Groningen, Groningen, Netherlands.
| | - Federico Lancia
- Stratingh Institute for Chemistry, University of Groningen, Groningen, Netherlands
| | - Remi Plamont
- Stratingh Institute for Chemistry, University of Groningen, Groningen, Netherlands
| | - Alexander Ryabchun
- Stratingh Institute for Chemistry, University of Groningen, Groningen, Netherlands
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39
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Meisami AH, Abbasi M, Mosleh-Shirazi S, Azari A, Amani AM, Vaez A, Golchin A. Self-propelled micro/nanobots: A new insight into precisely targeting cancerous cells through intelligent and deep cancer penetration. Eur J Pharmacol 2022; 926:175011. [PMID: 35568064 DOI: 10.1016/j.ejphar.2022.175011] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2022] [Revised: 05/03/2022] [Accepted: 05/04/2022] [Indexed: 12/13/2022]
Abstract
Cancer overlooks are globally one of the most dangerous and life-threatening tribulations. While significant advances have been made in the targeted delivery of anti-cancer medications over the last few years, several challenges, such as low efficacy and strong toxic effects, remain to be addressed. Micro/nanomotors have been thoroughly studied for both effective cancer detection and treatment, as demonstrated by significant advancements in the architecture of smart and functional micro/nanomotor biomedical systems. Able to self-propelled within fluid media, micro/nanomotors have attractive vehicles to maximize the efficacy of tumor delivery. Here, we present the current developments in the delivery, detection, and imaging-guided treatment of micro/nanomotors in the clinical field, including cancer-related specific targeted drug delivery, and then discuss the barriers and difficulties encountered by micro/nanomotors throughout the medical process. Furthermore, this paper addresses the potential growth of micro/nanomotors for medical applications, and sets out the current drawbacks and future research directions for more advancement.
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Affiliation(s)
- Amir Hossein Meisami
- Department of Emergency Medicine, School of Medicine, Kermanshah University of Medical Sciences, Kermanshah, Iran
| | - Milad Abbasi
- Department of Medical Nanotechnology, School of Advanced Medical Sciences and Technologies, Shiraz University of Medical Sciences, Shiraz, Iran
| | - Sareh Mosleh-Shirazi
- Department of Materials Science and Engineering, Shiraz University of Technology, Shiraz, Iran
| | - Arezo Azari
- Department of Applied Cell Sciences and Tissue Engineering, School of Advanced Technologies in Medicine, Shahid Beheshti University of Medical Sciences, Tehran, Iran
| | - Ali Mohammad Amani
- Department of Medical Nanotechnology, School of Advanced Medical Sciences and Technologies, Shiraz University of Medical Sciences, Shiraz, Iran.
| | - Ahmad Vaez
- Department of Tissue Engineering and Applied Cell Sciences, School of Advanced Medical Sciences and Technologies, Shiraz University of Medical Sciences, Shiraz, Iran.
| | - Ali Golchin
- Cellular and Molecular Research Center, Cellular and Molecular Medicine Institute, Urmia University of Medical Sciences, Urmia, Iran; Department of Clinical Biochemistry and Applied Cell Sciences, School of Medicine, Urmia University of Medical Sciences, Urmia, Iran.
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40
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Voß J, Wittkowski R. Orientation-Dependent Propulsion of Triangular Nano- and Microparticles by a Traveling Ultrasound Wave. ACS NANO 2022; 16:3604-3612. [PMID: 35263102 DOI: 10.1021/acsnano.1c02302] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Previous studies on ultrasound-propelled nano- and microparticles have considered only systems in which the particle orientation is perpendicular to the direction of propagation of the ultrasound. However, in future applications of these particles, they will typically be able to attain other orientations. Therefore, using direct acoustofluidic simulations, here we study how the propulsion of triangular nano- and microparticles, which are known to have a particularly efficient acoustic propulsion and are therefore promising candidates for future applications, depends on their orientation relative to the propagation direction of a traveling ultrasound wave. Our results reveal that the propulsion of the particles depends strongly on their orientation relative to the direction of wave propagation and that the particles tend to orient perpendicularly to the wave direction. We also address the orientation-averaged translational and angular velocities of the particles, which correspond to the particles' effective propulsion for an isotropic exposure to ultrasound. Our results allow assessment of how free ultrasound-propelled colloidal particles move in three spatial dimensions and thus constitute an important step toward the realization of envisaged future applications of such particles.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, D-48149 Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, D-48149 Münster, Germany
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41
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Acoustic power management by swarms of microscopic robots. JOURNAL OF MICRO-BIO ROBOTICS 2022. [DOI: 10.1007/s12213-022-00148-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
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42
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Athanassiadis AG, Ma Z, Moreno-Gomez N, Melde K, Choi E, Goyal R, Fischer P. Ultrasound-Responsive Systems as Components for Smart Materials. Chem Rev 2022; 122:5165-5208. [PMID: 34767350 PMCID: PMC8915171 DOI: 10.1021/acs.chemrev.1c00622] [Citation(s) in RCA: 75] [Impact Index Per Article: 37.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/14/2021] [Indexed: 02/06/2023]
Abstract
Smart materials can respond to stimuli and adapt their responses based on external cues from their environments. Such behavior requires a way to transport energy efficiently and then convert it for use in applications such as actuation, sensing, or signaling. Ultrasound can carry energy safely and with low losses through complex and opaque media. It can be localized to small regions of space and couple to systems over a wide range of time scales. However, the same characteristics that allow ultrasound to propagate efficiently through materials make it difficult to convert acoustic energy into other useful forms. Recent work across diverse fields has begun to address this challenge, demonstrating ultrasonic effects that provide control over physical and chemical systems with surprisingly high specificity. Here, we review recent progress in ultrasound-matter interactions, focusing on effects that can be incorporated as components in smart materials. These techniques build on fundamental phenomena such as cavitation, microstreaming, scattering, and acoustic radiation forces to enable capabilities such as actuation, sensing, payload delivery, and the initiation of chemical or biological processes. The diversity of emerging techniques holds great promise for a wide range of smart capabilities supported by ultrasound and poses interesting questions for further investigations.
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Affiliation(s)
- Athanasios G. Athanassiadis
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Zhichao Ma
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Nicolas Moreno-Gomez
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
| | - Kai Melde
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Eunjin Choi
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
| | - Rahul Goyal
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Peer Fischer
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
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43
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Xu Y, Bian Q, Wang R, Gao J. Micro/nanorobots for precise drug delivery via targeted transport and triggered release: a review. Int J Pharm 2022; 616:121551. [PMID: 35131352 DOI: 10.1016/j.ijpharm.2022.121551] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/18/2021] [Revised: 01/22/2022] [Accepted: 02/01/2022] [Indexed: 01/17/2023]
Abstract
Micro/nanorobots that can effectively convert diverse energy sources into movement can revolutionize the field of pharmaceutical, particularly targeted drug delivery. By targeted transport and triggered release, drug can be delivered to targeted tissues or body sites. Targeted transport is discussed with different actuation energy sources including self-propelled (H2O2 and enzymes), external field-propelled (light, electrical, acoustics and magnetic field) and motile microorganism-propelled (bacterium, sperm, and contractile and immune cells) types. Triggered release systems including physiological environment, external fields and other mechanisms categories are also discussed here for the first time. With different transport and triggered release systems, micro/nanorobots achieved the goal of precise delivery of therapeutics. This review may provide a different perspective or referable guidance for the future development of more flexible targeted delivery systems.
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Affiliation(s)
- Yihua Xu
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Qiong Bian
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Ruxuan Wang
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Jianqing Gao
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China.
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44
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Voß J, Wittkowski R. Acoustically propelled nano- and microcones: fast forward and backward motion. NANOSCALE ADVANCES 2021; 4:281-293. [PMID: 36132955 PMCID: PMC9417971 DOI: 10.1039/d1na00655j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/01/2021] [Accepted: 10/21/2021] [Indexed: 05/07/2023]
Abstract
We focus on cone-shaped nano- and microparticles, which have recently been found to show particularly strong propulsion when they are exposed to a traveling ultrasound wave, and study based on direct acoustofluidic computer simulations how their propulsion depends on the cones' aspect ratio. The simulations reveal that the propulsion velocity and even its sign are very sensitive to the aspect ratio, where short particles move forward whereas elongated particles move backward. Furthermore, we identify a cone shape that allows for a particularly large propulsion speed. Our results contribute to the understanding of the propulsion of ultrasound-propelled colloidal particles, suggest a method for separation and sorting of nano- and microcones concerning their aspect ratio, and provide useful guidance for future experiments and applications.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster D-48149 Münster Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster D-48149 Münster Germany
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45
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Torrik A, Naji A, Zarif M. Dimeric colloidal inclusion in a chiral active bath: Effective interactions and chirality-induced torque. Phys Rev E 2021; 104:064610. [PMID: 35030934 DOI: 10.1103/physreve.104.064610] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/29/2021] [Accepted: 11/29/2021] [Indexed: 06/14/2023]
Abstract
Colloidal inclusions suspended in a bath of smaller particles experience an effective bath-mediated attraction at small intersurface separations, which is known as the depletion interaction. In an active bath of nonchiral self-propelled particles, the effective force changes from attraction to repulsion, an effect that is suppressed when the active bath particles are chiral. Using Brownian dynamics simulations, we study the effects of channel confinement and bath chirality on the effective forces and torques that are mediated between two inclusions that may be fixed within the channel or may be allowed to rotate freely as a rigid dimer around its center of mass. We show that the confinement has a strong effect on the effective interactions, depending on the orientation of the dimer relative to the channel walls. The active particle chirality leads to a force imbalance and, hence, a net torque on the inclusion dimer, which we investigate as a function of the bath chirality strength and the channel height.
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Affiliation(s)
- Abdolhalim Torrik
- Department of Physical and Computational Chemistry, Shahid Beheshti University, Tehran 19839-9411, Iran
| | - Ali Naji
- School of Nano Science, Institute for Research in Fundamental Sciences (IPM), Tehran 19395-5531, Iran
- School of Physics, Institute for Research in Fundamental Sciences (IPM), Tehran 19395-5531, Iran
| | - Mahdi Zarif
- Department of Physical and Computational Chemistry, Shahid Beheshti University, Tehran 19839-9411, Iran
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46
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Biohybrid microswimmers against bacterial infections. Acta Biomater 2021; 136:99-110. [PMID: 34601106 DOI: 10.1016/j.actbio.2021.09.048] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/24/2021] [Revised: 09/21/2021] [Accepted: 09/27/2021] [Indexed: 12/16/2022]
Abstract
Biohybrid microswimmers exploit the natural abilities of motile microorganisms e.g. in releasing cargo on-demand. However, using such engineered swarms to release antibiotics addressing bacterial infections has not yet been realized. Herein, a design strategy for biohybrid microswimmers is reported, which features the covalent attachment of antibiotics with a photo-cleavable linker to the algae Chlamydomonas reinhardtii via two synthetic steps. This surface engineering does not rely on genetic manipulations, proceeds with high efficiency, and retains the viability or phototaxis of microalgae. Two different antibiotics have been separately utilized, which result in activity against both gram-positive and gram-negative strains. Guiding the biohybrid microswimmers by an external beacon, and on-demand delivery of the drugs by light with high spatial and temporal control, allowed for strong inhibition of bacterial growth. This efficient strategy could potentially allow for the selective treatment of bacterial infections by engineered algal microrobots with high precision in space and time. STATEMENT OF SIGNIFICANCE: Biological swimmers with innate sensing and actuation capabilities and integrated components have been widely investigated to create autonomous microsystems. The use of natural swimmers as cargo delivery systems presents an alternative strategy to transport therapeutics to the required locations with the difficult access by traditional strategies. Although the transfer of various therapeutic cargo has shown promising results, the utilization of microswimmers for the delivery of antimicrobials was barely covered. Therefore, we present biohybrid microalga-powered swimmers designed and engineered to carry antibiotic cargo against both Gram-positive and Gram-negative bacteria. Guided by an external beacon, these microhybrids deliver the antibiotic payload to the site of bacterial infection, with high spatial and temporal precision, released on-demand by an external trigger to inhibit bacterial growth.
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47
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Torlakcik H, Sarica C, Bayer P, Yamamoto K, Iorio-Morin C, Hodaie M, Kalia SK, Neimat JS, Hernesniemi J, Bhatia A, Nelson BJ, Pané S, Lozano AM, Zemmar A. Magnetically Guided Catheters, Micro- and Nanorobots for Spinal Cord Stimulation. Front Neurorobot 2021; 15:749024. [PMID: 34744678 PMCID: PMC8565609 DOI: 10.3389/fnbot.2021.749024] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2021] [Accepted: 09/10/2021] [Indexed: 11/21/2022] Open
Abstract
Spinal cord stimulation (SCS) is an established treatment for refractory pain syndromes and has recently been applied to improve locomotion. Several technical challenges are faced by surgeons during SCS lead implantation, particularly in the confined dorsal epidural spaces in patients with spinal degenerative disease, scarring and while targeting challenging structures such as the dorsal root ganglion. Magnetic navigation systems (MNS) represent a novel technology that uses externally placed magnets to precisely steer tethered and untethered devices. This innovation offers several benefits for SCS electrode placement, including enhanced navigation control during tip placement, and the ability to position and reposition the lead in an outpatient setting. Here, we describe the challenges of SCS implant surgery and how MNS can be used to overcome these hurdles. In addition to tethered electrode steering, we discuss the navigation of untethered micro- and nanorobots for wireless and remote neuromodulation. The use of these small-scale devices can potentially change the current standard of practice by omitting the need for electrode and pulse generator implantation or replacement. Open questions include whether small-scale robots can generate an electrical field sufficient to activate neuronal tissue, as well as testing precise navigation, placement, anchoring, and biodegradation of micro- and nanorobots in the in vivo environment.
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Affiliation(s)
- Harun Torlakcik
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China.,Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Can Sarica
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Patrick Bayer
- Faculty of Medicine, Ludwig Maximilians University Munich, Munich, Germany
| | - Kazuaki Yamamoto
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | | | - Mojgan Hodaie
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Suneil K Kalia
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Joseph S Neimat
- Department of Neurosurgery, School of Medicine, University of Louisville, Louisville, KY, United States
| | - Juha Hernesniemi
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China
| | - Anuj Bhatia
- Department of Anesthesia and Pain Medicine, University Health Network, University of Toronto, Toronto, ON, Canada
| | - Bradley J Nelson
- Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Salvador Pané
- Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Andres M Lozano
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Ajmal Zemmar
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China.,Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada.,Department of Neurosurgery, School of Medicine, University of Louisville, Louisville, KY, United States
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48
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Wang W, Mallouk TE. A Practical Guide to Analyzing and Reporting the Movement of Nanoscale Swimmers. ACS NANO 2021; 15:15446-15460. [PMID: 34636550 DOI: 10.1021/acsnano.1c07503] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
The recent invention of nanoswimmers-synthetic, powered objects with characteristic lengths in the range of 10-500 nm-has sparked widespread interest among scientists and the general public. As more researchers from different backgrounds enter the field, the study of nanoswimmers offers new opportunities but also significant experimental and theoretical challenges. In particular, the accurate characterization of nanoswimmers is often hindered by strong Brownian motion, convective effects, and the lack of a clear way to visualize them. When coupled with improper experimental designs and imprecise practices in data analysis, these issues can translate to results and conclusions that are inconsistent and poorly reproducible. This Perspective follows the course of a typical nanoswimmer investigation from synthesis through to applications and offers suggestions for best practices in reporting experimental details, recording videos, plotting trajectories, calculating and analyzing mobility, eliminating drift, and performing control experiments, in order to improve the reliability of the reported results.
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Affiliation(s)
- Wei Wang
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Thomas E Mallouk
- Department of Chemistry, University of Pennsylvania, Philadelphia, Pennsylvania 19104-6243, United States
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49
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Llacer-Wintle J, Rivas-Dapena A, Chen XZ, Pellicer E, Nelson BJ, Puigmartí-Luis J, Pané S. Biodegradable Small-Scale Swimmers for Biomedical Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2102049. [PMID: 34480388 DOI: 10.1002/adma.202102049] [Citation(s) in RCA: 27] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/15/2021] [Revised: 06/14/2021] [Indexed: 06/13/2023]
Abstract
Most forms of biomatter are ephemeral, which means they transform or deteriorate after a certain time. From this perspective, implantable healthcare devices designed for temporary treatments should exhibit the ability to degrade and either blend in with healthy tissues, or be cleared from the body with minimal disruption after accomplishing their designated tasks. This topic is currently being investigated in the field of biomedical micro- and nanoswimmers. These tiny devices have the ability to move through fluids by converting physical or chemical energy into motion. Several architectures of these devices have been designed to mimic the motion strategies of nature's motile microorganisms and cells. Due to their motion abilities, these devices have been proposed as minimally invasive tools for precision healthcare applications. Hence, a natural progression in this field is to produce motile structures that can adopt, or even surpass, similar transient features as biological systems. The fate of small-scale swimmers after accomplishing their therapeutic mission is critical for the successful translation of small-scale swimmers' technologies into clinical applications. In this review, recent research efforts are summarized on the topic of biodegradable micro- and nanoswimmers for biomedical applications, with a focus on targeted therapeutic delivery.
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Affiliation(s)
- Joaquin Llacer-Wintle
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Antón Rivas-Dapena
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Xiang-Zhong Chen
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Eva Pellicer
- Departament de Física, Universitat Autònoma de Barcelona, Bellaterra (Cerdanyola del Vallès), Barcelona, 08193, Spain
| | - Bradley J Nelson
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica I Computacional, Barcelona, 08028, Spain
- ICREA, Pg. Lluís Companys 23, Barcelona, 0 8010, Spain
| | - Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
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50
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Salinas G, Tieriekhov K, Garrigue P, Sojic N, Bouffier L, Kuhn A. Lorentz Force-Driven Autonomous Janus Swimmers. J Am Chem Soc 2021; 143:12708-12714. [PMID: 34343427 DOI: 10.1021/jacs.1c05589] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022]
Abstract
Autonomous swimmers have been intensively studied in recent years due to their numerous potential applications in many areas ranging from biomedicine to environmental remediation. Their motion is based either on different self-propulsion mechanisms or on the use of various external stimuli. Herein, the synergy between the ion flux around self-electrophoretic Mg/Pt Janus swimmers and an external magnetic field is proposed as an efficient alternative mechanism to power swimmers on the basis of the resulting Lorentz force. A strong magnetohydrodynamic effect is observed due to the orthogonal combination of magnetic field and spontaneous ionic currents, leading to an increase of the swimmer speed by up to 2 orders of magnitude. Furthermore, the trajectory of the self-propelled swimmers can be controlled by the orientation of the magnetic field, due to the presence of an additional torque force caused by a horizontal cation flux along the swimmer edges, resulting in predictable clockwise or anticlockwise motion. In addition, this effect is independent of the swimmer size, since a similar type of rotational motion is observed for macro- and microscale objects.
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Affiliation(s)
- Gerardo Salinas
- Bordeaux INP, ISM, UMR 5255, University of Bordeaux, CNRS, F-33607 Pessac, France
| | | | - Patrick Garrigue
- Bordeaux INP, ISM, UMR 5255, University of Bordeaux, CNRS, F-33607 Pessac, France
| | - Neso Sojic
- Bordeaux INP, ISM, UMR 5255, University of Bordeaux, CNRS, F-33607 Pessac, France
| | - Laurent Bouffier
- Bordeaux INP, ISM, UMR 5255, University of Bordeaux, CNRS, F-33607 Pessac, France
| | - Alexander Kuhn
- Bordeaux INP, ISM, UMR 5255, University of Bordeaux, CNRS, F-33607 Pessac, France
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