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He T, Yang Y, Chen XB. Propulsion mechanisms of micro/nanorobots: a review. NANOSCALE 2024; 16:12696-12734. [PMID: 38940742 DOI: 10.1039/d4nr01776e] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/29/2024]
Abstract
Micro/nanomotors (MNMs) are intelligent, efficient and promising micro/nanorobots (MNR) that can respond to external stimuli (e.g., chemical energy, temperature, light, pH, ultrasound, magnetic, biosignals, ions) and perform specific tasks. The MNR can adapt to different external stimuli and transform into various functional forms to match different application scenarios. So far, MNR have found extensive application in targeted therapy, drug delivery, tissue engineering, environmental remediation, and other fields. Despite the promise of MNR, there are few reviews that focus on them. To shed new light on the further development of the field, it is necessary to provide an overview of the current state of development of these MNR. Therefore, this paper reviews the research progress of MNR in terms of propulsion mechanisms, and points out the pros and cons of different stimulus types. Finally, this paper highlights the current challenges faced by MNR and proposes possible solutions to facilitate the practical application of MNR.
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Affiliation(s)
- Tao He
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
| | - Yonghui Yang
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
| | - Xue-Bo Chen
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
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2
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Ussia M, Urso M, Oral CM, Peng X, Pumera M. Magnetic Microrobot Swarms with Polymeric Hands Catching Bacteria and Microplastics in Water. ACS NANO 2024; 18:13171-13183. [PMID: 38717036 PMCID: PMC11112980 DOI: 10.1021/acsnano.4c02115] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/13/2024] [Revised: 04/04/2024] [Accepted: 04/10/2024] [Indexed: 05/22/2024]
Abstract
The forefront of micro- and nanorobot research involves the development of smart swimming micromachines emulating the complexity of natural systems, such as the swarming and collective behaviors typically observed in animals and microorganisms, for efficient task execution. This study introduces magnetically controlled microrobots that possess polymeric sequestrant "hands" decorating a magnetic core. Under the influence of external magnetic fields, the functionalized magnetic beads dynamically self-assemble from individual microparticles into well-defined rotating planes of diverse dimensions, allowing modulation of their propulsion speed, and exhibiting a collective motion. These mobile microrobotic swarms can actively capture free-swimming bacteria and dispersed microplastics "on-the-fly", thereby cleaning aquatic environments. Unlike conventional methods, these microrobots can be collected from the complex media and can release the captured contaminants in a second vessel in a controllable manner, that is, using ultrasound, offering a sustainable solution for repeated use in decontamination processes. Additionally, the residual water is subjected to UV irradiation to eliminate any remaining bacteria, providing a comprehensive cleaning solution. In summary, this study shows a swarming microrobot design for water decontamination processes.
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Affiliation(s)
- Martina Ussia
- Future
Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno 61200, Czech Republic
| | - Mario Urso
- Future
Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno 61200, Czech Republic
| | - Cagatay M. Oral
- Future
Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno 61200, Czech Republic
| | - Xia Peng
- Future
Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno 61200, Czech Republic
| | - Martin Pumera
- Future
Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno 61200, Czech Republic
- Advanced
Nanorobots & Multiscale Robotics Laboratory, 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, Hsueh-Shih Road 91, Taichung 40402, Taiwan
- Department
of Chemical and Biomolecular Engineering, Yonsei University, Yonsei-ro
50, Seodaemun-gu, Seoul 03722, Republic of Korea
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3
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Wang Q, Wang Q, Ning Z, Chan KF, Jiang J, Wang Y, Su L, Jiang S, Wang B, Ip BYM, Ko H, Leung TWH, Chiu PWY, Yu SCH, Zhang L. Tracking and navigation of a microswarm under laser speckle contrast imaging for targeted delivery. Sci Robot 2024; 9:eadh1978. [PMID: 38381838 DOI: 10.1126/scirobotics.adh1978] [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: 02/16/2023] [Accepted: 01/26/2024] [Indexed: 02/23/2024]
Abstract
Micro/nanorobotic swarms consisting of numerous tiny building blocks show great potential in biomedical applications because of their collective active delivery ability, enhanced imaging contrast, and environment-adaptive capability. However, in vivo real-time imaging and tracking of micro/nanorobotic swarms remain a challenge, considering the limited imaging size and spatial-temporal resolution of current imaging modalities. Here, we propose a strategy that enables real-time tracking and navigation of a microswarm in stagnant and flowing blood environments by using laser speckle contrast imaging (LSCI), featuring full-field imaging, high temporal-spatial resolution, and noninvasiveness. The change in dynamic convection induced by the microswarm can be quantitatively investigated by analyzing the perfusion unit (PU) distribution, offering an alternative approach to investigate the swarm behavior and its interaction with various blood environments. Both the microswarm and surrounding environment were monitored and imaged by LSCI in real time, and the images were further analyzed for simultaneous swarm tracking and navigation in the complex vascular system. Moreover, our strategy realized real-time tracking and delivery of a microswarm in vivo, showing promising potential for LSCI-guided active delivery of microswarm in the vascular system.
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Affiliation(s)
- Qinglong Wang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, China
| | - Zhipeng Ning
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Yuqiong Wang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Lin Su
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Shuai Jiang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, China
| | - Bonaventure Yiu Ming Ip
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Ho Ko
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Thomas Wai Hong Leung
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Philip Wai Yan Chiu
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
- Department of Surgery, CUHK, Shatin, N.T., Hong Kong, China
| | - Simon Chun Ho Yu
- Department of Imaging and Interventional Radiology, CUHK, Shatin, N.T., Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
- Department of Surgery, CUHK, Shatin, N.T., Hong Kong, China
- CUHK T Stone Robotics Institute, CUHK, Shatin, N.T., Hong Kong, China
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4
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Del Campo Fonseca A, Ahmed D. Ultrasound robotics for precision therapy. Adv Drug Deliv Rev 2024; 205:115164. [PMID: 38145721 DOI: 10.1016/j.addr.2023.115164] [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: 09/30/2023] [Revised: 12/07/2023] [Accepted: 12/22/2023] [Indexed: 12/27/2023]
Abstract
In recent years, the application of microrobots in precision therapy has gained significant attention. The small size and maneuverability of these micromachines enable them to potentially access regions that are difficult to reach using traditional methods; thus, reducing off-target toxicities and maximizing treatment effectiveness. Specifically, acoustic actuation has emerged as a promising method to exert control. By harnessing the power of acoustic energy, these small machines potentially navigate the body, assemble at the desired sites, and deliver therapies with enhanced precision and effectiveness. Amidst the enthusiasm surrounding these miniature agents, their translation to clinical environments has proven difficult. The primary objectives of this review are threefold: firstly, to offer an overview of the fundamental acoustic principles employed in the field of microrobots; secondly, to assess their current applications in medical therapies, encompassing tissue targeting, drug delivery or even cell infiltration; and lastly, to delve into the continuous efforts aimed at integrating acoustic microrobots into in vivo applications.
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Affiliation(s)
- Alexia Del Campo Fonseca
- Department of Mechanical and Process Engineering, Acoustic Robotics Systems Lab, ETH Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland.
| | - Daniel Ahmed
- Department of Mechanical and Process Engineering, Acoustic Robotics Systems Lab, ETH Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland.
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Pu R, Yang X, Mu H, Xu Z, He J. Current status and future application of electrically controlled micro/nanorobots in biomedicine. Front Bioeng Biotechnol 2024; 12:1353660. [PMID: 38314349 PMCID: PMC10834684 DOI: 10.3389/fbioe.2024.1353660] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/11/2023] [Accepted: 01/09/2024] [Indexed: 02/06/2024] Open
Abstract
Using micro/nanorobots (MNRs) for targeted therapy within the human body is an emerging research direction in biomedical science. These nanoscale to microscale miniature robots possess specificity and precision that are lacking in most traditional treatment modalities. Currently, research on electrically controlled micro/nanorobots is still in its early stages, with researchers primarily focusing on the fabrication and manipulation of these robots to meet complex clinical demands. This review aims to compare the fabrication, powering, and locomotion of various electrically controlled micro/nanorobots, and explore their advantages, disadvantages, and potential applications.
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Affiliation(s)
- Ruochen Pu
- Jintan Hospital Affiliated to Jiangsu University, Changzhou, Jiangsu Province, China
- Shanghai Bone Tumor Institution, Shanghai, China
| | - Xiyu Yang
- Shanghai Bone Tumor Institution, Shanghai, China
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
| | - Haoran Mu
- Shanghai Bone Tumor Institution, Shanghai, China
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
| | - Zhonghua Xu
- Jintan Hospital Affiliated to Jiangsu University, Changzhou, Jiangsu Province, China
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
| | - Jin He
- Jintan Hospital Affiliated to Jiangsu University, Changzhou, Jiangsu Province, China
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
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6
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He T, Yang Y, Chen XB. Preparation, Stimulus-Response Mechanisms and Applications of Micro/Nanorobots. MICROMACHINES 2023; 14:2253. [PMID: 38138422 PMCID: PMC10745970 DOI: 10.3390/mi14122253] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/20/2023] [Revised: 12/10/2023] [Accepted: 12/13/2023] [Indexed: 12/24/2023]
Abstract
Micro- and nanorobots are highly intelligent and efficient. They can perform various complex tasks as per the external stimuli. These robots can adapt to the required functional form, depending on the different stimuli, thus being able to meet the requirements of various application scenarios. So far, microrobots have been widely used in the fields of targeted therapy, drug delivery, tissue engineering, environmental remediation and so on. Although microbots are promising in some fields, few reviews have yet focused on them. It is therefore necessary to outline the current status of these microbots' development to provide some new insights into the further evolution of this field. This paper critically assesses the research progress of microbots with respect to their preparation methods, stimulus-response mechanisms and applications. It highlights the suitability of different preparation methods and stimulus types, while outlining the challenges experienced by microbots. Viable solutions are also proposed for the promotion of their practical use.
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Affiliation(s)
| | | | - Xue-Bo Chen
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China; (T.H.); (Y.Y.)
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7
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Li Y, Dong D, Qu Y, Li J, Chen S, Zhao H, Zhang Q, Jiao Y, Fan L, Sun D. A Multidrug Delivery Microrobot for the Synergistic Treatment of Cancer. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2301889. [PMID: 37423966 DOI: 10.1002/smll.202301889] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/04/2023] [Revised: 06/21/2023] [Indexed: 07/11/2023]
Abstract
Multidrug combination therapy provides an effective strategy for malignant tumor treatment. This paper presents the development of a biodegradable microrobot for on-demand multidrug delivery. By combining magnetic targeting transportation with tumor therapy, it is hypothesized that loading multiple drugs on different regions of a single magnetic microrobot can enhance a synergistic effect for cancer treatment. The synergistic effect of using two drugs together is greater than that of using each drug separately. Here, a 3D-printed microrobot inspired by the fish structure with three hydrogel components: skeleton, head, and body structures is demonstrated. Made of iron oxide (Fe3 O4 ) nanoparticles embedded in poly(ethylene glycol) diacrylate (PEGDA), the skeleton can respond to magnetic fields for microrobot actuation and drug-targeted delivery. The drug storage structures, head, and body, made by biodegradable gelatin methacryloyl (GelMA) exhibit enzyme-responsive cargo release. The multidrug delivery microrobots carrying acetylsalicylic acid (ASA) and doxorubicin (DOX) in drug storage structures, respectively, exhibit the excellent synergistic effects of ASA and DOX by accelerating HeLa cell apoptosis and inhibiting HeLa cell metastasis. In vivo studies indicate that the microrobots improve the efficiency of tumor inhibition and induce a response to anti-angiogenesis. The versatile multidrug delivery microrobot conceptualized here provides a way for developing effective combination therapy for cancer.
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Affiliation(s)
- Yanfang Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Dingran Dong
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Yun Qu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Junyang Li
- Center for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen, 518000, China
- Department of Electronic Engineering, Ocean University of China, Qingdao, 266000, China
| | - Shuxun Chen
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Han Zhao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Qi Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Yang Jiao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Lei Fan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
- Center for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen, 518000, China
| | - Dong Sun
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
- Center for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen, 518000, China
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8
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Liu X, Jing Y, Xu C, Wang X, Xie X, Zhu Y, Dai L, Wang H, Wang L, Yu S. Medical Imaging Technology for Micro/Nanorobots. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:2872. [PMID: 37947717 PMCID: PMC10648532 DOI: 10.3390/nano13212872] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/28/2023] [Revised: 10/23/2023] [Accepted: 10/26/2023] [Indexed: 11/12/2023]
Abstract
Due to their enormous potential to be navigated through complex biological media or narrow capillaries, microrobots have demonstrated their potential in a variety of biomedical applications, such as assisted fertilization, targeted drug delivery, tissue repair, and regeneration. Numerous initial studies have been conducted to demonstrate the biomedical applications in test tubes and in vitro environments. Microrobots can reach human areas that are difficult to reach by existing medical devices through precise navigation. Medical imaging technology is essential for locating and tracking this small treatment machine for evaluation. This article discusses the progress of imaging in tracking the imaging of micro and nano robots in vivo and analyzes the current status of imaging technology for microrobots. The working principle and imaging parameters (temporal resolution, spatial resolution, and penetration depth) of each imaging technology are discussed in depth.
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Affiliation(s)
- Xuejia Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Yizhan Jing
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Chengxin Xu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Xiaoxiao Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Xiaopeng Xie
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Yanhe Zhu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Lizhou Dai
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Haocheng Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Lin Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Shimin Yu
- College of Engineering, Ocean University of China, Qingdao 266100, China
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Zhou Y, Ye M, Hu C, Qian H, Nelson BJ, Wang X. Stimuli-Responsive Functional Micro-/Nanorobots: A Review. ACS NANO 2023; 17:15254-15276. [PMID: 37534824 DOI: 10.1021/acsnano.3c01942] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/04/2023]
Abstract
Stimuli-responsive functional micro-/nanorobots (srFM/Ns) are a class of intelligent, efficient, and promising microrobots that can react to external stimuli (such as temperature, light, ultrasound, pH, ion, and magnetic field) and perform designated tasks. Through adaptive transformation into the corresponding functional forms, they can perfectly match the demands depending on different applications, which manifest extremely important roles in targeted therapy, biological detection, tissue engineering, and other fields. Promising as srFM/Ns can be, few reviews have focused on them. It is therefore necessary to provide an overview of the current development of these intelligent srFM/Ns to provide clear inspiration for further development of this field. Hence, this review summarizes the current advances of stimuli-responsive functional microrobots regarding their response mechanism, the achieved functions, and their applications to highlight the pros and cons of different stimuli. Finally, we emphasize the existing challenges of srFM/Ns and propose possible strategies to help accelerate the study of this field and promote srFM/Ns toward actual applications.
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Affiliation(s)
- Yan Zhou
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Min Ye
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Chengzhi Hu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Huihuan Qian
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
- Chinese University of Hong Kong, Shenzhen, Shenzhen 518172, China
| | - Bradley J Nelson
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092 Zurich, Switzerland
| | - Xiaopu Wang
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
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Zheng L, Hart N, Zeng Y. Micro-/nanoscale robotics for chemical and biological sensing. LAB ON A CHIP 2023; 23:3741-3767. [PMID: 37496448 PMCID: PMC10530003 DOI: 10.1039/d3lc00404j] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/28/2023]
Abstract
The field of micro-/nanorobotics has attracted extensive interest from a variety of research communities and witnessed enormous progress in a broad array of applications ranging from basic research to global healthcare and to environmental remediation and protection. In particular, micro-/nanoscale robots provide an enabling platform for the development of next-generation chemical and biological sensing modalities, owing to their unique advantages as programmable, self-sustainable, and/or autonomous mobile carriers to accommodate and promote physical and chemical processes. In this review, we intend to provide an overview of the state-of-the-art development in this area and share our perspective in the future trend. This review starts with a general introduction of micro-/nanorobotics and the commonly used methods for propulsion of micro-/nanorobots in solution, along with the commonly used methods in their fabrication. Next, we comprehensively summarize the current status of the micro/nanorobotic research in relevance to chemical and biological sensing (e.g., motion-based sensing, optical sensing, and electrochemical sensing). Following that, we provide an overview of the primary challenges currently faced in the micro-/nanorobotic research. Finally, we conclude this review by providing our perspective detailing the future application of soft robotics in chemical and biological sensing.
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Affiliation(s)
- Liuzheng Zheng
- Department of Chemistry, University of Florida, Gainesville, Florida, 32611, USA.
| | - Nathan Hart
- Department of Chemistry, University of Florida, Gainesville, Florida, 32611, USA.
| | - Yong Zeng
- Department of Chemistry, University of Florida, Gainesville, Florida, 32611, USA.
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11
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Huaroto JJ, Capuano L, Kaya M, Hlukhau I, Assayag F, Mohanty S, Römer GW, Misra S. Two-photon microscopy for microrobotics: Visualization of micro-agents below fixed tissue. PLoS One 2023; 18:e0289725. [PMID: 37561749 PMCID: PMC10414647 DOI: 10.1371/journal.pone.0289725] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2023] [Accepted: 07/25/2023] [Indexed: 08/12/2023] Open
Abstract
Optical microscopy is frequently used to visualize microrobotic agents (i.e., micro-agents) and physical surroundings with a relatively high spatio-temporal resolution. However, the limited penetration depth of optical microscopy techniques used in microrobotics (in the order of 100 μm) reduces the capability of visualizing micro-agents below biological tissue. Two-photon microscopy is a technique that exploits the principle of two-photon absorption, permitting live tissue imaging with sub-micron resolution and optical penetration depths (over 500 μm). The two-photon absorption principle has been widely applied to fabricate sub-millimeter scale components via direct laser writing (DLW). Yet, its use as an imaging tool for microrobotics remains unexplored in the state-of-the-art. This study introduces and reports on two-photon microscopy as an alternative technique for visualizing micro-agents below biological tissue. In order to validate two-photon image acquisition for microrobotics, two-type micro-agents are fabricated and employed: (1) electrospun fibers stained with an exogenous fluorophore and (2) bio-inspired structure printed with autofluorescent resin via DLW. The experiments are devised and conducted to obtain three-dimensional reconstructions of both micro-agents, perform a qualitative study of laser-tissue interaction, and visualize micro-agents along with tissue using second-harmonic generation. We experimentally demonstrate two-photon microscopy of micro-agents below formalin-fixed tissue with a maximum penetration depth of 800 μm and continuous imaging of magnetic electrospun fibers with one frame per second acquisition rate (in a field of view of 135 × 135 μm2). Our results show that two-photon microscopy can be an alternative imaging technique for microrobotics by enabling visualization of micro-agents under in vitro and ex ovo conditions. Furthermore, bridging the gap between two-photon microscopy and the microrobotics field has the potential to facilitate in vivo visualization of micro-agents.
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Affiliation(s)
- Juan J. Huaroto
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Luigi Capuano
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Mert Kaya
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University Medical Centre Groningen and University of Groningen, Groningen, The Netherlands
| | - Ihar Hlukhau
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Franck Assayag
- Animal Facility, Technical Medical Centre (TechMed Centre) Infrastructure, Faculty of Science and Technology, University of Twente, Enschede, The Netherlands
| | - Sumit Mohanty
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- Autonomous Matter Department, AMOLF, Amsterdam, The Netherlands
| | - Gert-willem Römer
- Chair of Laser Processing, Department of Mechanics of Solids, Surfaces & Systems (MS3), Faculty of Engineering Technology, University of Twente, Enschede, The Netherlands
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University Medical Centre Groningen and University of Groningen, Groningen, The Netherlands
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12
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Aziz A, Nauber R, Iglesias AS, Tang M, Ma L, Liz-Marzán LM, Schmidt OG, Medina-Sánchez M. Nanomaterial-decorated micromotors for enhanced photoacoustic imaging. JOURNAL OF MICRO-BIO ROBOTICS 2023; 19:37-45. [PMID: 38161388 PMCID: PMC10756870 DOI: 10.1007/s12213-023-00156-7] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/17/2023] [Revised: 03/07/2023] [Accepted: 04/12/2023] [Indexed: 01/03/2024]
Abstract
Micro-and nanorobots have the potential to perform non-invasive drug delivery, sensing, and surgery in living organisms, with the aid of diverse medical imaging techniques. To perform such actions, microrobots require high spatiotemporal resolution tracking with real-time closed-loop feedback. To that end, photoacoustic imaging has appeared as a promising technique for imaging microrobots in deep tissue with higher molecular specificity and contrast. Here, we present different strategies to track magnetically-driven micromotors with improved contrast and specificity using dedicated contrast agents (Au nanorods and nanostars). Furthermore, we discuss the possibility of improving the light absorption properties of the employed nanomaterials considering possible light scattering and coupling to the underlying metal-oxide layers on the micromotor's surface. For that, 2D COMSOL simulation and experimental results were correlated, confirming that an increased spacing between the Au-nanostructures and the increase of thickness of the underlying oxide layer lead to enhanced light absorption and preservation of the characteristic absorption peak. These characteristics are important when visualizing the micromotors in a complex in vivo environment, to distinguish them from the light absorption properties of the surrounding natural chromophores. Supplementary Information The online version contains supplementary material available at 10.1007/s12213-023-00156-7.
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Affiliation(s)
- Azaam Aziz
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Richard Nauber
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Ana Sánchez Iglesias
- CIC biomaGUNE, Basque Research and Technology Alliance (BRTA), Paseo de Miramon 182, 20014 Donostia-San Sebastián, Spain
- Biomedical Research Networking Center for Bioengineering, Biomaterials and Nanomedicine, CIBER-BBN, 20014 Donostia-San Sebastián, Spain
| | - Min Tang
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Libo Ma
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Luis M. Liz-Marzán
- CIC biomaGUNE, Basque Research and Technology Alliance (BRTA), Paseo de Miramon 182, 20014 Donostia-San Sebastián, Spain
- Biomedical Research Networking Center for Bioengineering, Biomaterials and Nanomedicine, CIBER-BBN, 20014 Donostia-San Sebastián, Spain
- Ikerbasque, Basque Foundation for Science, 48009 Bilbao, Spain
| | - Oliver G. Schmidt
- Center for Materials, Architectures and Integration of Nanomembranes (MAIN), TU Chemnitz, Reichenhainer Strasse 10, 09107 Chemnitz, Saxony Germany
- School of Science, TU Dresden, 01062 Dresden, Saxony Germany
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
- Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, Tatzberg 41, 01062 Dresden, Germany
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13
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Oral CM, Ussia M, Urso M, Salat J, Novobilsky A, Stefanik M, Ruzek D, Pumera M. Radiopaque Nanorobots as Magnetically Navigable Contrast Agents for Localized In Vivo Imaging of the Gastrointestinal Tract. Adv Healthc Mater 2023; 12:e2202682. [PMID: 36502367 DOI: 10.1002/adhm.202202682] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/17/2022] [Revised: 11/29/2022] [Indexed: 12/14/2022]
Abstract
Magnetic nanorobots offer wireless navigation capability in hard-to-reach areas of the human body for targeted therapy and diagnosis. Though in vivo imaging is required for guidance of the magnetic nanorobots toward the target areas, most of the imaging techniques are inadequate to reveal the potential locomotion routes. This work proposes the use of radiopaque magnetic nanorobots along with microcomputed tomography (microCT) for localized in vivo imaging applications. The nanorobots consist of a contrast agent, barium sulfate (BaSO4 ), magnetized by the decoration of magnetite (Fe3 O4 ) particles. The magnetic features lead to actuation under rotating magnetic fields and enable precise navigation in a microfluidic channel used to simulate confined spaces of the body. In this channel, the intrinsic radiopacity of the nanorobots also provides the possibility to reveal the internal structures by X-ray contrast. Furthermore, in vitro analysis indicates nontoxicity of the nanorobots. In vivo experiments demonstrate localization of the nanorobots in a specific part of the gastrointestinal (GI) tract upon the influence of the magnetic field, indicating the efficient control even in the presence of natural peristaltic movements. The nanorobots reported here highlight that smart nanorobotic contrast agents can improve the current imaging-based diagnosis techniques by providing untethered controllability in vivo.
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Affiliation(s)
- Cagatay M Oral
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkynova 123, Brno, CZ-61200, Czech Republic
| | - Martina Ussia
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkynova 123, Brno, CZ-61200, Czech Republic
| | - Mario Urso
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkynova 123, Brno, CZ-61200, Czech Republic
| | - Jiri Salat
- Laboratory of Emerging Viral Infections, Veterinary Research Institute, Hudcova 296/70, Brno, CZ-62100, Czech Republic
- Institute of Parasitology, Biology Centre of the Czech Academy of Sciences, Branisovska 31, Ceske Budejovice, CZ-37005, Czech Republic
| | - Adam Novobilsky
- Department of Pharmacology and Toxicology, Veterinary Research Institute, Hudcova 296/70, Brno, CZ-62100, Czech Republic
| | - Michal Stefanik
- Laboratory of Emerging Viral Infections, Veterinary Research Institute, Hudcova 296/70, Brno, CZ-62100, Czech Republic
- Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1665/1, Brno, CZ-61300, Czech Republic
| | - Daniel Ruzek
- Laboratory of Emerging Viral Infections, Veterinary Research Institute, Hudcova 296/70, Brno, CZ-62100, Czech Republic
- Institute of Parasitology, Biology Centre of the Czech Academy of Sciences, Branisovska 31, Ceske Budejovice, CZ-37005, Czech Republic
- Department of Experimental Biology, Faculty of Science, Masaryk University, Kamenice 735/5, Brno, CZ-62500, Czech Republic
| | - Martin Pumera
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkynova 123, Brno, CZ-61200, Czech Republic
- Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung, TW-40402, Taiwan
- Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, CZ-70800, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul, KR-03722, Korea
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14
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Medical micro- and nanomotors in the body. Acta Pharm Sin B 2023; 13:517-541. [PMID: 36873176 PMCID: PMC9979267 DOI: 10.1016/j.apsb.2022.10.010] [Citation(s) in RCA: 20] [Impact Index Per Article: 20.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/24/2022] [Revised: 08/24/2022] [Accepted: 09/14/2022] [Indexed: 11/20/2022] Open
Abstract
Attributed to the miniaturized body size and active mobility, micro- and nanomotors (MNMs) have demonstrated tremendous potential for medical applications. However, from bench to bedside, massive efforts are needed to address critical issues, such as cost-effective fabrication, on-demand integration of multiple functions, biocompatibility, biodegradability, controlled propulsion and in vivo navigation. Herein, we summarize the advances of biomedical MNMs reported in the past two decades, with particular emphasis on the design, fabrication, propulsion, navigation, and the abilities of biological barriers penetration, biosensing, diagnosis, minimally invasive surgery and targeted cargo delivery. Future perspectives and challenges are discussed as well. This review can lay the foundation for the future direction of medical MNMs, pushing one step forward on the road to achieving practical theranostics using MNMs.
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15
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Abstract
Micro-/nanorobots (MNRs) can be autonomously propelled on demand in complex biological environments and thus may bring revolutionary changes to biomedicines. Fluorescence has been widely used in real-time imaging, chemo-/biosensing, and photo-(chemo-) therapy. The integration of MNRs with fluorescence generates fluorescent MNRs with unique advantages of optical trackability, on-the-fly environmental sensitivity, and targeting chemo-/photon-induced cytotoxicity. This review provides an up-to-date overview of fluorescent MNRs. After the highlighted elucidation about MNRs of various propulsion mechanisms and the introductory information on fluorescence with emphasis on the fluorescent mechanisms and materials, we systematically illustrate the design and preparation strategies to integrate MNRs with fluorescent substances and their biomedical applications in imaging-guided drug delivery, intelligent on-the-fly sensing and photo-(chemo-) therapy. In the end, we summarize the main challenges and provide an outlook on the future directions of fluorescent MNRs. This work is expected to attract and inspire researchers from different communities to advance the creation and practical application of fluorescent MNRs on a broad horizon.
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Affiliation(s)
- Manyi Yang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Xia Guo
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Fangzhi Mou
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Jianguo Guan
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
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16
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Pane S, Zhang M, Iacovacci V, Zhang L, Menciassi A. Contrast-enhanced ultrasound tracking of helical propellers with acoustic phase analysis and comparison with color Doppler. APL Bioeng 2022; 6:036102. [PMID: 35935094 PMCID: PMC9348897 DOI: 10.1063/5.0097145] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2022] [Accepted: 07/05/2022] [Indexed: 11/14/2022] Open
Abstract
Medical microrobots (MRs) hold the potential to radically transform several interventional procedures. However, to guarantee therapy success when operating in hard-to-reach body districts, a precise and robust imaging strategy is required for monitoring and controlling MRs in real-time. Ultrasound (US) may represent a powerful technology, but MRs' visibility with US needs to be improved, especially when targeting echogenic tissues. In this context, motions of MRs have been exploited to enhance their contrast, e.g., by Doppler imaging. To exploit a more selective contrast-enhancement mechanism, in this study, we analyze in detail the characteristic motions of one of the most widely adopted MR concepts, i.e., the helical propeller, with a particular focus on its interactions with the backscattered US waves. We combine a kinematic analysis of the propeller 3D motion with an US acoustic phase analysis (APA) performed on the raw radio frequency US data in order to improve imaging and tracking in bio-mimicking environments. We validated our US-APA approach in diverse scenarios, aimed at simulating realistic in vivo conditions, and compared the results to those obtained with standard US Doppler. Overall, our technique provided a precise and stable feedback to visualize and track helical propellers in echogenic tissues (chicken breast), tissue-mimicking phantoms with bifurcated lumina, and in the presence of different motion disturbances (e.g., physiological flows and tissue motions), where standard Doppler showed poor performance. Furthermore, the proposed US-APA technique allowed for real-time estimation of MR velocity, where standard Doppler failed.
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Affiliation(s)
| | - M Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | | | - L Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
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17
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Kaya M, Stein F, Padmanaban P, Zhang Z, Rouwkema J, Khalil ISM, Misra S. Visualization of micro-agents and surroundings by real-time multicolor fluorescence microscopy. Sci Rep 2022; 12:13375. [PMID: 35927294 PMCID: PMC9352757 DOI: 10.1038/s41598-022-17297-7] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/22/2022] [Accepted: 07/22/2022] [Indexed: 11/09/2022] Open
Abstract
Optical microscopy techniques are a popular choice for visualizing micro-agents. They generate images with relatively high spatiotemporal resolution but do not reveal encoded information for distinguishing micro-agents and surroundings. This study presents multicolor fluorescence microscopy for rendering color-coded identification of mobile micro-agents and dynamic surroundings by spectral unmixing. We report multicolor microscopy performance by visualizing the attachment of single and cluster micro-agents to cancer spheroids formed with HeLa cells as a proof-of-concept for targeted drug delivery demonstration. A microfluidic chip is developed to immobilize a single spheroid for the attachment, provide a stable environment for multicolor microscopy, and create a 3D tumor model. In order to confirm that multicolor microscopy is able to visualize micro-agents in vascularized environments, in vitro vasculature network formed with endothelial cells and ex ovo chicken chorioallantoic membrane are employed as experimental models. Full visualization of our models is achieved by sequential excitation of the fluorophores in a round-robin manner and synchronous individual image acquisition from three-different spectrum bands. We experimentally demonstrate that multicolor microscopy spectrally decomposes micro-agents, organic bodies (cancer spheroids and vasculatures), and surrounding media utilizing fluorophores with well-separated spectrum characteristics and allows image acquisition with 1280 [Formula: see text] 1024 pixels up to 15 frames per second. Our results display that real-time multicolor microscopy provides increased understanding by color-coded visualization regarding the tracking of micro-agents, morphology of organic bodies, and clear distinction of surrounding media.
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Affiliation(s)
- Mert Kaya
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB, Enschede, The Netherlands. .,Surgical Robotics Laboratory, Department of Biomedical Engineering and University Medical Centre Groningen, University of Groningen, 9713 AV, Groningen, The Netherlands.
| | - Fabian Stein
- Vascularization Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB, Enschede, The Netherlands
| | - Prasanna Padmanaban
- Vascularization Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB, Enschede, The Netherlands
| | - Zhengya Zhang
- Surgical Robotics Laboratory, Department of Biomedical Engineering and University Medical Centre Groningen, University of Groningen, 9713 AV, Groningen, The Netherlands
| | - Jeroen Rouwkema
- Vascularization Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB, Enschede, The Netherlands
| | - Islam S M Khalil
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB, Enschede, The Netherlands
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB, Enschede, The Netherlands.,Surgical Robotics Laboratory, Department of Biomedical Engineering and University Medical Centre Groningen, University of Groningen, 9713 AV, Groningen, The Netherlands
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18
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Das SS, Erez S, Karshalev E, Wu Y, Wang J, Yossifon G. Switching from Chemical to Electrical Micromotor Propulsion across a Gradient of Gastric Fluid via Magnetic Rolling. ACS APPLIED MATERIALS & INTERFACES 2022; 14:30290-30298. [PMID: 35748802 DOI: 10.1021/acsami.2c02605] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
To address and extend the finite lifetime of Mg-based micromotors due to the depletion of the engine (Mg-core), we examine electric fields, along with previously studied magnetic fields, to create a triple-engine hybrid micromotor for driving these micromotors. Electric fields are a facile energy source that is not limited in its operation time and can dynamically tune the micromotor mobility by simply changing the frequency and amplitude of the field. Moreover, the same electrical fields can be used for cell trapping and transport as well as drug delivery. However, the limitations of these propulsion mechanisms are the low pH (and high conductivity) environment required for Mg dissolution, while the electrical propulsion is quenched at these conditions as it requires low conductivity mediums. In order to translate the micromotor between these two extreme medium conditions, we use magnetic rolling as means of self-propulsion along with magnetic steering. Interestingly, electrical propulsion also necessitates at least the partial consumption of the Mg, resulting in a sufficient geometrical asymmetry of the micromotor. We have successfully demonstrated the rapid propulsion switching capability of the micromotor, from chemical to electrical motions, via magnetic rolling within a microfluidic device with the concentration gradient of the simulated gastric fluid. Such triple-engine micromotor propulsion holds considerable promise for in vitro studies mimicking gastric conditions and performing various bioassay tasks.
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Affiliation(s)
- Sankha Shuvra Das
- Faculty of Mechanical Engineering, Micro- and Nanofluidics Laboratory, Technion─Israel Institute of Technology, Technion City 3200000, Israel
| | - Shahar Erez
- Faculty of Mechanical Engineering, Micro- and Nanofluidics Laboratory, Technion─Israel Institute of Technology, Technion City 3200000, Israel
- Department of Nanoengineering, University of California San Diego, La Jolla, California 92093, United States
| | - Emil Karshalev
- Department of Nanoengineering, University of California San Diego, La Jolla, California 92093, United States
| | - Yue Wu
- Faculty of Mechanical Engineering, Micro- and Nanofluidics Laboratory, Technion─Israel Institute of Technology, Technion City 3200000, Israel
| | - Joseph Wang
- Department of Nanoengineering, University of California San Diego, La Jolla, California 92093, United States
| | - Gilad Yossifon
- Faculty of Mechanical Engineering, Micro- and Nanofluidics Laboratory, Technion─Israel Institute of Technology, Technion City 3200000, Israel
- School of Mechanical Engineering, Tel Aviv University, Ramat Aviv 6997801, Israel
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19
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Zhang Y, Zhang Y, Han Y, Gong X. Micro/Nanorobots for Medical Diagnosis and Disease Treatment. MICROMACHINES 2022; 13:mi13050648. [PMID: 35630115 PMCID: PMC9146405 DOI: 10.3390/mi13050648] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/03/2022] [Revised: 01/21/2022] [Accepted: 01/22/2022] [Indexed: 02/01/2023]
Abstract
Micro/nanorobots are functional devices in microns, at nanoscale, which enable efficient propulsion through chemical reactions or external physical field, including ultrasonic, optical, magnetic, and other external fields, as well as microorganisms. Compared with traditional robots, micro/nanorobots can perform various tasks on the micro/nanoscale, which has the advantages of high precision, strong flexibility, and wide adaptability. In addition, such robots can also perform tasks in a cluster manner. The design and development of micro/nanorobots and the integration of surface functionalization, remote drive system, and imaging tracking technology will become a key step for their medical applications in organisms. Thus, micro/nanorobots are expected to achieve more efficient and accurate local diagnosis and treatment, and they have broad application prospects in the biomedical field. This paper aims to introduce relevant driving methods of micro/nanorobots preparation in detail, summarizes the progress of research in medical applications, and discusses the challenges it faces in clinical applications and the future direction of development.
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Affiliation(s)
- Yinglei Zhang
- College of Light Industry, Harbin University of Commerce, Harbin 150028, China;
- Correspondence:
| | - Yuepeng Zhang
- Clinical Medical College, Harbin Medical University, Harbin 150081, China;
| | - Yaqian Han
- School of Instumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China;
| | - Xue Gong
- College of Light Industry, Harbin University of Commerce, Harbin 150028, China;
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20
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Ramos‐Sebastian A, Gwak S, Kim SH. Multimodal Locomotion and Active Targeted Thermal Control of Magnetic Agents for Biomedical Applications. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2103863. [PMID: 35060366 PMCID: PMC8895130 DOI: 10.1002/advs.202103863] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/02/2021] [Revised: 12/07/2021] [Indexed: 05/27/2023]
Abstract
Magnetic microrobots can be miniaturized to a nanometric scale owing to their wireless actuation, thereby rendering them ideal for numerous biomedical applications. As a result, nowadays, there exist several mechano-electromagnetic systems for their actuation. However, magnetic actuation is not sufficient for implementation in biomedical applications, and further functionalities such as imaging and heating are required. This study proposes a multimodal electromagnetic system comprised of three pairs of Helmholtz coils, a pair of Maxwell coils, and a high-frequency solenoid to realize multimodal locomotion and heating control of magnetic microrobots. The system produces different configurations of magnetic fields that can generate magnetic forces and torques for the multimodal locomotion of magnetic microrobots, as well as generate magnetic traps that can control the locomotion of magnetic swarms. Furthermore, these magnetic fields are employed to control the magnetization of magnetic nanoparticles, affecting their magnetic relaxation mechanisms and diminishing their thermal properties. Thus, the system enables the control of the temperature increase of soft-magnetic materials and selective heating of magnetic microrobots at different positions, while suppressing the heating properties of magnetic nanoparticles located at undesired areas.
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Affiliation(s)
- Armando Ramos‐Sebastian
- Department of Electronics Convergence EngineeringWonkwang UniversityIksan54538Republic of Korea
- Present address:
Department of Convergence Technology EngineeringJeonbuk National UniversityJeonju54896Republic of Korea
| | - So‐Jung Gwak
- Department of Chemical EngineeringWonkwang UniversityIksan54538Republic of Korea
| | - Sung Hoon Kim
- Department of Electronics Convergence EngineeringWonkwang UniversityIksan54538Republic of Korea
- Wonkwang Institute of Materials Science and TechnologyWonkwang UniversityIksan54538Republic of Korea
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21
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Li N, Tous C, Dimov IP, Cadoret D, Fei P, Majedi Y, Lessard S, Nosrati Z, Saatchi K, Hafeli UO, Tang A, Kadoury S, Martel S, Soulez G. Quantification and 3D localization of magnetically navigated superparamagnetic particles using MRI in phantom and swine chemoembolization models. IEEE Trans Biomed Eng 2022; 69:2616-2627. [PMID: 35167442 DOI: 10.1109/tbme.2022.3151819] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
OBJECTIVE Superparamagnetic nanoparticles (SPIONs) can be combined with tumor chemoembolization agents to form magnetic drug-eluting beads (MDEBs), which are navigated magnetically in the MRI scanner through the vascular system. We aim to develop a method to accurately quantify and localize these particles and to validate the method in phantoms and swine models. METHODS MDEBs were made of Fe3O4 SPIONs. After injected known numbers of MDEBs, susceptibility artifacts in three-dimensional (3D) volumetric interpolated breath-hold examination (VIBE) sequences were acquired in glass and Polyvinyl alcohol (PVA) phantoms, and two living swine. Image processing of VIBE images provided the volume relationship between MDEBs and their artifact at different VIBE acquisitions and post-processing parameters. Simulated hepatic-artery embolization was performed in vivo with an MRI-conditional magnetic-injection system, using the volume relationship to locate and quantify MDEB distribution. RESULTS Individual MDEBs were spatially identified, and their artifacts quantified, showing no correlation with magnetic-field orientation or sequence bandwidth, but exhibiting a relationship with echo time and providing a linear volume relationship. Two MDEB aggregates were magnetically steered into desired liver regions while the other 19 had no steering, and 25 aggregates were injected into another swine without steering. The MDEBs were spatially identified and the volume relationship showed accuracy in assessing the number of the MDEBs, with small errors (8.8%). CONCLUSION AND SIGNIFICANCE MDEBs were able to be steered into desired body regions and then localized using 3D VIBE sequences. The resulting volume relationship was linear, robust, and allowed for quantitative analysis of the MDEB distribution.
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22
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Pane S, Faoro G, Sinibaldi E, Iacovacci V, Menciassi A. Ultrasound Acoustic Phase Analysis Enables Robotic Visual-Servoing of Magnetic Microrobots. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2022.3143072] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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23
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Dynamic tracking of a magnetic micro-roller using ultrasound phase analysis. Sci Rep 2021; 11:23239. [PMID: 34853369 PMCID: PMC8636564 DOI: 10.1038/s41598-021-02553-z] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/26/2021] [Accepted: 11/18/2021] [Indexed: 12/30/2022] Open
Abstract
Microrobots (MRs) have attracted significant interest for their potentialities in diagnosis and non-invasive intervention in hard-to-reach body areas. Fine control of biomedical MRs requires real-time feedback on their position and configuration. Ultrasound (US) imaging stands as a mature and advantageous technology for MRs tracking, but it suffers from disturbances due to low contrast resolution. To overcome these limitations and make US imaging suitable for monitoring and tracking MRs, we propose a US contrast enhancement mechanism for MR visualization in echogenic backgrounds (e.g., tissue). Our technique exploits the specific acoustic phase modulation produced by the MR characteristic motions. By applying this principle, we performed real-time visualization and position tracking of a magnetic MR rolling on a lumen boundary, both in static flow and opposing flow conditions, with an average error of 0.25 body-lengths. Overall, the reported results unveil countless possibilities to exploit the proposed approach as a robust feedback strategy for monitoring and tracking biomedical MRs in-vivo.
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24
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Aziz A, Holthof J, Meyer S, Schmidt OG, Medina‐Sánchez M. Dual Ultrasound and Photoacoustic Tracking of Magnetically Driven Micromotors: From In Vitro to In Vivo. Adv Healthc Mater 2021; 10:e2101077. [PMID: 34382354 DOI: 10.1002/adhm.202101077] [Citation(s) in RCA: 26] [Impact Index Per Article: 8.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/05/2021] [Revised: 07/29/2021] [Indexed: 12/17/2022]
Abstract
The fast evolution of medical micro- and nanorobots in the endeavor to perform non-invasive medical operations in living organisms has boosted the use of diverse medical imaging techniques in the last years. Among those techniques, photoacoustic imaging (PAI), considered a functional technique, has shown to be promising for the visualization of micromotors in deep tissue with high spatiotemporal resolution as it possesses the molecular specificity of optical methods and the penetration depth of ultrasound. However, the precise maneuvering and function's control of medical micromotors, in particular in living organisms, require both anatomical and functional imaging feedback. Therefore, herein, the use of high-frequency ultrasound and PAI is reported to obtain anatomical and molecular information, respectively, of magnetically-driven micromotors in vitro and under ex vivo tissues. Furthermore, the steerability of the micromotors is demonstrated by the action of an external magnetic field into the uterus and bladder of living mice in real-time, being able to discriminate the micromotors' signal from one of the endogenous chromophores by multispectral analysis. Finally, the successful loading and release of a model cargo by the micromotors toward non-invasive in vivo medical interventions is demonstrated.
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Affiliation(s)
- Azaam Aziz
- Institute for Integrative Nanosciences Leibniz IFW Dresden Helmholtzstrasse 20 01069 Dresden Germany
| | - Joost Holthof
- FUJIFILM VisualSonics Inc. Amsterdam 1114 AB The Netherlands
| | - Sandra Meyer
- FUJIFILM VisualSonics Inc. Amsterdam 1114 AB The Netherlands
| | - Oliver G. Schmidt
- Institute for Integrative Nanosciences Leibniz IFW Dresden Helmholtzstrasse 20 01069 Dresden Germany
- Center for Materials, Architectures and Integration of Nanomembranes (MAIN) TU Chemnitz Reichenhainer Strasse 10 09107 Chemnitz Germany
- School of Science TU Dresden 01062 Dresden Germany
| | - Mariana Medina‐Sánchez
- Institute for Integrative Nanosciences Leibniz IFW Dresden Helmholtzstrasse 20 01069 Dresden Germany
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25
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Su L, Jin DD, Pan CF, Xia N, Chan KF, Iacovacci V, Xu T, Du X, Zhang L. A mobile magnetic pad with fast light-switchable adhesion capabilities. BIOINSPIRATION & BIOMIMETICS 2021; 16:055005. [PMID: 34225261 DOI: 10.1088/1748-3190/ac114a] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/13/2021] [Accepted: 07/05/2021] [Indexed: 06/13/2023]
Abstract
Octopus suckers that possess the ability to actively control adhesion through muscle actuation have inspired artificial adhesives for safe manipulation of thin and delicate objects. However, the design of adhesives with fast adhesion switching speed to transport cargoes in confined spaces remains an open challenge. Here, we present an untethered magnetic adhesive pad combining the functionality of fast adhesion switching and remotely controlled locomotion. The adhesive pad can be activated from low-adhesion state to high-adhesion state by near infrared laser within 30 s, allowing to fulfill a high-throughput task of retrieving and releasing objects. Moreover, under the guidance of external magnetic field, the proposed pad is demonstrated to transport thin and fragile electronic components across a tortuous path, thus indicating its potential for dexterous delivery in complex working environments.
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Affiliation(s)
- Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, People's Republic of China
| | - Dong Dong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, People's Republic of China
| | - Cheng Feng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, People's Republic of China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, People's Republic of China
| | - Kai Fung Chan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, People's Republic of China
| | - Veronica Iacovacci
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, People's Republic of China
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy
| | - Tiantian Xu
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
| | - Xuemin Du
- Institute of Biomedical and Health Engineering (IBHE), Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, People's Republic of China
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Wan M, Li T, Chen H, Mao C, Shen J. Biosafety, Functionalities, and Applications of Biomedical Micro/nanomotors. Angew Chem Int Ed Engl 2021; 60:13158-13176. [PMID: 33145879 DOI: 10.1002/anie.202013689] [Citation(s) in RCA: 49] [Impact Index Per Article: 16.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/11/2020] [Indexed: 12/23/2022]
Abstract
Due to their unique ability to actively move, micro/nanomotors offer the possibility of breaking through the limitations of traditional passive drug delivery systems for the treatment of many diseases, and have attracted the increasing attention of researchers. However, at present, the realization of many advantages of micro/nanomotors in disease treatment in vivo is still in its infancy, because of the complexity and particularity of diseases in different parts of human body. In this Minireview, we first focus on the biosafety and functionality of micro/nanomotors as a biomedical treatment system. Then, we address the treatment difficulties of various diseases in vivo (such as ophthalmic disease, orthopedic disease, gastrointestinal disease, cardiovascular disease, and cancer), and then review the research progress of biomedical micro/nanomotors in the past 20 years, Finally, we propose the challenges in this field and possible future development directions.
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Affiliation(s)
- Mimi Wan
- National and Local Joint Engineering Research Center of Biomedical Functional Materials, School of Chemistry and Materials Science, Nanjing Normal University, Nanjing, 210023, China
| | - Ting Li
- National and Local Joint Engineering Research Center of Biomedical Functional Materials, School of Chemistry and Materials Science, Nanjing Normal University, Nanjing, 210023, China
| | - Huan Chen
- National and Local Joint Engineering Research Center of Biomedical Functional Materials, School of Chemistry and Materials Science, Nanjing Normal University, Nanjing, 210023, China
| | - Chun Mao
- National and Local Joint Engineering Research Center of Biomedical Functional Materials, School of Chemistry and Materials Science, Nanjing Normal University, Nanjing, 210023, China
| | - Jian Shen
- National and Local Joint Engineering Research Center of Biomedical Functional Materials, School of Chemistry and Materials Science, Nanjing Normal University, Nanjing, 210023, China
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27
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Mundaca‐Uribe R, Karshalev E, Esteban‐Fernández de Ávila B, Wei X, Nguyen B, Litvan I, Fang RH, Zhang L, Wang J. A Microstirring Pill Enhances Bioavailability of Orally Administered Drugs. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:2100389. [PMID: 34194949 PMCID: PMC8224427 DOI: 10.1002/advs.202100389] [Citation(s) in RCA: 16] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/29/2021] [Revised: 03/10/2021] [Indexed: 05/15/2023]
Abstract
Majority of drugs are administered orally, yet their efficient absorption is often difficult to achieve, with a low dose fraction reaching the blood compartment. Here, a microstirring pill technology is reported with built-in mixing capability for oral drug delivery that greatly enhances bioavailability of its therapeutic payload. Embedding microscopic stirrers into a pill matrix enables faster disintegration and dissolution, leading to improved release profiles of three widely used model drugs, aspirin, levodopa, and acetaminophen, without compromising their loading. Unlike recently developed drug-carrying nanomotors, drug molecules are not associated with the microstirrers, and hence there is no limitation on the loading capacity. These embedded microstirrers are fabricated through the asymmetric coating of titanium dioxide thin film onto magnesium microparticles. In vitro tests illustrate that the embedded microstirrers lead to substantial enhancement of local fluid transport. In vivo studies using murine and porcine models demonstrate that the localized stirring capability of microstirrers leads to enhanced bioavailability of drug payloads. Such improvements are of considerable importance in clinical scenarios where fast absorption and high bioavailability of therapeutics are critical. The encouraging results obtained in porcine model suggest that the microstirring pill technology has translational potential and can be developed toward practical biomedical applications.
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Affiliation(s)
- Rodolfo Mundaca‐Uribe
- Department of Nanoengineering and Chemical Engineering ProgramUniversity of California San DiegoLa JollaCA92093USA
| | - Emil Karshalev
- Department of Nanoengineering and Chemical Engineering ProgramUniversity of California San DiegoLa JollaCA92093USA
| | | | - Xiaoli Wei
- Department of Nanoengineering and Chemical Engineering ProgramUniversity of California San DiegoLa JollaCA92093USA
| | - Bryan Nguyen
- Department of Nanoengineering and Chemical Engineering ProgramUniversity of California San DiegoLa JollaCA92093USA
| | - Irene Litvan
- Department of NeurosciencesUniversity of California San DiegoLa JollaCA92093USA
| | - Ronnie H. Fang
- Department of Nanoengineering and Chemical Engineering ProgramUniversity of California San DiegoLa JollaCA92093USA
| | - Liangfang Zhang
- Department of Nanoengineering and Chemical Engineering ProgramUniversity of California San DiegoLa JollaCA92093USA
| | - Joseph Wang
- Department of Nanoengineering and Chemical Engineering ProgramUniversity of California San DiegoLa JollaCA92093USA
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28
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Abstract
![]()
Manipulation and navigation of micro
and nanoswimmers in different
fluid environments can be achieved by chemicals, external fields,
or even motile cells. Many researchers have selected magnetic fields
as the active external actuation source based on the advantageous
features of this actuation strategy such as remote and spatiotemporal
control, fuel-free, high degree of reconfigurability, programmability,
recyclability, and versatility. This review introduces fundamental
concepts and advantages of magnetic micro/nanorobots (termed here
as “MagRobots”) as well as basic knowledge of magnetic
fields and magnetic materials, setups for magnetic manipulation, magnetic
field configurations, and symmetry-breaking strategies for effective
movement. These concepts are discussed to describe the interactions
between micro/nanorobots and magnetic fields. Actuation mechanisms
of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave
locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted
motion), applications of magnetic fields in other propulsion approaches,
and magnetic stimulation of micro/nanorobots beyond motion are provided
followed by fabrication techniques for (quasi-)spherical, helical,
flexible, wire-like, and biohybrid MagRobots. Applications of MagRobots
in targeted drug/gene delivery, cell manipulation, minimally invasive
surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery,
pollution removal for environmental remediation, and (bio)sensing
are also reviewed. Finally, current challenges and future perspectives
for the development of magnetically powered miniaturized motors are
discussed.
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Affiliation(s)
- Huaijuan Zhou
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Tannenstrasse 3, 8092 Zurich, Switzerland
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Martin Pumera
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic.,Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung 40402, Taiwan.,Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, CZ-613 00 Brno, Czech Republic.,Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea.,Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, Brno CZ-612 00, Czech Republic
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29
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Wan M, Li T, Chen H, Mao C, Shen J. Biosafety, Functionalities, and Applications of Biomedical Micro/nanomotors. Angew Chem Int Ed Engl 2021. [DOI: 10.1002/ange.202013689] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/11/2022]
Affiliation(s)
- Mimi Wan
- National and Local Joint Engineering Research Center of Biomedical Functional Materials School of Chemistry and Materials Science Nanjing Normal University Nanjing 210023 China
| | - Ting Li
- National and Local Joint Engineering Research Center of Biomedical Functional Materials School of Chemistry and Materials Science Nanjing Normal University Nanjing 210023 China
| | - Huan Chen
- National and Local Joint Engineering Research Center of Biomedical Functional Materials School of Chemistry and Materials Science Nanjing Normal University Nanjing 210023 China
| | - Chun Mao
- National and Local Joint Engineering Research Center of Biomedical Functional Materials School of Chemistry and Materials Science Nanjing Normal University Nanjing 210023 China
| | - Jian Shen
- National and Local Joint Engineering Research Center of Biomedical Functional Materials School of Chemistry and Materials Science Nanjing Normal University Nanjing 210023 China
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30
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Soto F, Karshalev E, Zhang F, Esteban Fernandez de Avila B, Nourhani A, Wang J. Smart Materials for Microrobots. Chem Rev 2021; 122:5365-5403. [DOI: 10.1021/acs.chemrev.0c00999] [Citation(s) in RCA: 69] [Impact Index Per Article: 23.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Affiliation(s)
- Fernando Soto
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
| | - Emil Karshalev
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
| | - Fangyu Zhang
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
| | - Berta Esteban Fernandez de Avila
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
| | - Amir Nourhani
- Department of Mechanical Engineering, Department of Mathematics, Biology, Biomimicry Research and Innovation Center, University of Akron, Akron, Ohio 44325, United States
| | - Joseph Wang
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
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32
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Schmidt CK, Medina-Sánchez M, Edmondson RJ, Schmidt OG. Engineering microrobots for targeted cancer therapies from a medical perspective. Nat Commun 2020; 11:5618. [PMID: 33154372 PMCID: PMC7645678 DOI: 10.1038/s41467-020-19322-7] [Citation(s) in RCA: 173] [Impact Index Per Article: 43.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/18/2020] [Accepted: 10/09/2020] [Indexed: 02/07/2023] Open
Abstract
Systemic chemotherapy remains the backbone of many cancer treatments. Due to its untargeted nature and the severe side effects it can cause, numerous nanomedicine approaches have been developed to overcome these issues. However, targeted delivery of therapeutics remains challenging. Engineering microrobots is increasingly receiving attention in this regard. Their functionalities, particularly their motility, allow microrobots to penetrate tissues and reach cancers more efficiently. Here, we highlight how different microrobots, ranging from tailor-made motile bacteria and tiny bubble-propelled microengines to hybrid spermbots, can be engineered to integrate sophisticated features optimised for precision-targeting of a wide range of cancers. Towards this, we highlight the importance of integrating clinicians, the public and cancer patients early on in the development of these novel technologies.
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Affiliation(s)
- Christine K Schmidt
- Manchester Cancer Research Centre, Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, University of Manchester, 555 Wilmslow Road, Manchester, M20 4GJ, UK.
| | - Mariana Medina-Sánchez
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069, Dresden, Germany.
| | - Richard J Edmondson
- Gynaecological Oncology, Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, Manchester Academic Health Science Centre, University of Manchester, Manchester, UK
- St. Mary's Hospital, Central Manchester NHS Foundation Trust, Manchester Academic Health Science Centre, Level 5, Research Floor, Oxford Road, Manchester, M13 9WL, UK
| | - Oliver G Schmidt
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069, Dresden, Germany.
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33
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Soto F, Wang J, Ahmed R, Demirci U. Medical Micro/Nanorobots in Precision Medicine. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2020; 7:2002203. [PMID: 33173743 PMCID: PMC7610261 DOI: 10.1002/advs.202002203] [Citation(s) in RCA: 130] [Impact Index Per Article: 32.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/11/2020] [Revised: 08/09/2020] [Indexed: 05/15/2023]
Abstract
Advances in medical robots promise to improve modern medicine and the quality of life. Miniaturization of these robotic platforms has led to numerous applications that leverages precision medicine. In this review, the current trends of medical micro and nanorobotics for therapy, surgery, diagnosis, and medical imaging are discussed. The use of micro and nanorobots in precision medicine still faces technical, regulatory, and market challenges for their widespread use in clinical settings. Nevertheless, recent translations from proof of concept to in vivo studies demonstrate their potential toward precision medicine.
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Affiliation(s)
- Fernando Soto
- Bio‐Acoustic MEMS in Medicine (BAMM) LaboratoryCanary Center at Stanford for Cancer Early DetectionDepartment of RadiologySchool of Medicine Stanford UniversityPalo AltoCA94304‐5427USA
- Canary Center at Stanford for Cancer Early DetectionDepartment of RadiologySchool of MedicineStanford UniversityPalo AltoCA94304‐5427USA
| | - Jie Wang
- Bio‐Acoustic MEMS in Medicine (BAMM) LaboratoryCanary Center at Stanford for Cancer Early DetectionDepartment of RadiologySchool of Medicine Stanford UniversityPalo AltoCA94304‐5427USA
- Canary Center at Stanford for Cancer Early DetectionDepartment of RadiologySchool of MedicineStanford UniversityPalo AltoCA94304‐5427USA
| | - Rajib Ahmed
- Bio‐Acoustic MEMS in Medicine (BAMM) LaboratoryCanary Center at Stanford for Cancer Early DetectionDepartment of RadiologySchool of Medicine Stanford UniversityPalo AltoCA94304‐5427USA
- Canary Center at Stanford for Cancer Early DetectionDepartment of RadiologySchool of MedicineStanford UniversityPalo AltoCA94304‐5427USA
| | - Utkan Demirci
- Bio‐Acoustic MEMS in Medicine (BAMM) LaboratoryCanary Center at Stanford for Cancer Early DetectionDepartment of RadiologySchool of Medicine Stanford UniversityPalo AltoCA94304‐5427USA
- Canary Center at Stanford for Cancer Early DetectionDepartment of RadiologySchool of MedicineStanford UniversityPalo AltoCA94304‐5427USA
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34
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Xu H, Medina-Sánchez M, Zhang W, Seaton MPH, Brison DR, Edmondson RJ, Taylor SS, Nelson L, Zeng K, Bagley S, Ribeiro C, Restrepo LP, Lucena E, Schmidt CK, Schmidt OG. Human spermbots for patient-representative 3D ovarian cancer cell treatment. NANOSCALE 2020; 12:20467-20481. [PMID: 33026016 DOI: 10.1039/d0nr04488a] [Citation(s) in RCA: 18] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Cellular micromotors are attractive for locally delivering high concentrations of drug, and targeting hard-to-reach disease sites such as cervical cancer and early ovarian cancer lesions by non-invasive means. Spermatozoa are highly efficient micromotors perfectly adapted to traveling up the female reproductive system. Indeed, bovine sperm-based micromotors have shown potential to carry drugs toward gynecological cancers. However, due to major differences in the molecular make-up of bovine and human sperm, a key translational bottleneck for bringing this technology closer to the clinic is to transfer this concept to human material. Here, we successfully load human sperm with Doxorubicin (DOX) and perform treatment of 3D cervical cancer and patient-representative ovarian cancer cell cultures, resulting in strong anticancer cell effects. Additionally, we define the subcellular localization of the chemotherapeutic drug within human sperm, using high-resolution optical microscopy. We also assess drug effects on sperm motility and viability over time, employing sperm samples from healthy donors as well as assisted reproduction patients. Finally, we demonstrate guidance and release of human drug-loaded sperm onto cancer tissues using magnetic microcaps, and show the sperm microcap loaded with a second anticancer drug, camptothecin (CPT), which unlike DOX is not suitable for directly loading into sperm due to its hydrophobic nature. This co-drug delivery approach opens up novel targeted combinatorial drug therapies for future applications.
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Affiliation(s)
- Haifeng Xu
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069 Dresden, Germany. and Research Centre for Materials, Architectures and Integration of Nanomembranes (MAIN), Rosenbergstraße 6, TU Chemnitz, 09126 Chemnitz, Germany
| | - Mariana Medina-Sánchez
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069 Dresden, Germany.
| | - Wunan Zhang
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069 Dresden, Germany.
| | - Melanie P H Seaton
- Manchester Cancer Research Centre, Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, University of Manchester, 555 Wilmslow Road, Manchester, M20 4GJ, UK.
| | - Daniel R Brison
- Maternal and Fetal Health Research Centre, Division of Developmental Biology and Medicine, School of Medical Sciences, Faculty of Biology, Medicine and Health, University of Manchester, Manchester Academic Health Sciences Centre, St Mary's Hospital, Manchester, M13 9WL, UK and Department of Reproductive Medicine, St Mary's Hospital, Manchester University NHS Foundation Trust, Manchester Academic Health Sciences Centre, Manchester, M13 9WL, UK
| | - Richard J Edmondson
- Gynaecological Oncology, Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, Manchester Academic Health Science Centre, University of Manchester, Manchester, UK and St Mary's Hospital, Central Manchester NHS Foundation Trust, Manchester Academic Health Science Centre, Level 5, Research Floor, Oxford Road, Manchester M13 9WL, UK
| | - Stephen S Taylor
- Manchester Cancer Research Centre, Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, University of Manchester, 555 Wilmslow Road, Manchester, M20 4GJ, UK.
| | - Louisa Nelson
- Manchester Cancer Research Centre, Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, University of Manchester, 555 Wilmslow Road, Manchester, M20 4GJ, UK.
| | - Kang Zeng
- Advanced Imaging and Flow Cytometry, Cancer Research UK Manchester Institute, University of Manchester, Alderley Park, SK10 4TG, UK
| | - Steven Bagley
- Advanced Imaging and Flow Cytometry, Cancer Research UK Manchester Institute, University of Manchester, Alderley Park, SK10 4TG, UK
| | - Carla Ribeiro
- Colombian Center of Fertiliy and Sterility (CECOLFES), Bogotá, Colombia
| | - Lina P Restrepo
- Colombian Center of Fertiliy and Sterility (CECOLFES), Bogotá, Colombia
| | - Elkin Lucena
- Colombian Center of Fertiliy and Sterility (CECOLFES), Bogotá, Colombia
| | - Christine K Schmidt
- Manchester Cancer Research Centre, Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, University of Manchester, 555 Wilmslow Road, Manchester, M20 4GJ, UK.
| | - Oliver G Schmidt
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069 Dresden, Germany. and Research Centre for Materials, Architectures and Integration of Nanomembranes (MAIN), Rosenbergstraße 6, TU Chemnitz, 09126 Chemnitz, Germany and Material Systems for Nanoelectronics, TU Chemnitz, Reichenhainer Straße 70, 09126 Chemnitz, Germany and School of Science, TU Dresden, 01062 Dresden, Germany.
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35
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Wei T, Liu J, Li D, Chen S, Zhang Y, Li J, Fan L, Guan Z, Lo CM, Wang L, Man K, Sun D. Development of Magnet-Driven and Image-Guided Degradable Microrobots for the Precise Delivery of Engineered Stem Cells for Cancer Therapy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2020; 16:e1906908. [PMID: 32954642 DOI: 10.1002/smll.201906908] [Citation(s) in RCA: 50] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/26/2019] [Revised: 07/03/2020] [Indexed: 06/11/2023]
Abstract
Precise delivery of therapeutic cells to the desired site in vivo is an emerging and promising cellular therapy in precision medicine. This paper presents the development of a magnet-driven and image-guided degradable microrobot that can precisely deliver engineered stem cells for orthotopic liver tumor treatment. The microrobot employs a burr-like porous sphere structure and is made with a synthesized composite to fulfill degradability, mechanical strength, and magnetic actuation capability simultaneously. The cells can be spontaneously released from the microrobots on the basis of the optimized microrobot structure. The microrobot is actuated by a gradient magnetic field and guided by a unique photoacoustic imaging technology. In preclinical experiments on nude mice, microrobots carrying cells are injected via the portal vein and the released cells from the microrobots can inhibit the tumor growth greatly. This paper reveals for the first time of using degradable microrobots for precise delivery of therapeutic cells in vascular tissue and demonstrates its therapeutic effect in preclinical test.
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Affiliation(s)
- Tanyong Wei
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Jiang Liu
- Department of Surgery, The University of Hong Kong, Hong Kong SAR, 999077, China
| | - Dongfang Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Shuxun Chen
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Yachao Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Junyang Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Lei Fan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Zhangyan Guan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Chung-Mau Lo
- Department of Surgery, The University of Hong Kong, Hong Kong SAR, 999077, China
| | - Lidai Wang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Kwan Man
- Department of Surgery, The University of Hong Kong, Hong Kong SAR, 999077, China
| | - Dong Sun
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
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36
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Aziz A, Pane S, Iacovacci V, Koukourakis N, Czarske J, Menciassi A, Medina-Sánchez M, Schmidt OG. Medical Imaging of Microrobots: Toward In Vivo Applications. ACS NANO 2020; 14:10865-10893. [PMID: 32869971 DOI: 10.1021/acsnano.0c05530] [Citation(s) in RCA: 103] [Impact Index Per Article: 25.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Medical microrobots (MRs) have been demonstrated for a variety of non-invasive biomedical applications, such as tissue engineering, drug delivery, and assisted fertilization, among others. However, most of these demonstrations have been carried out in in vitro settings and under optical microscopy, being significantly different from the clinical practice. Thus, medical imaging techniques are required for localizing and tracking such tiny therapeutic machines when used in medical-relevant applications. This review aims at analyzing the state of the art of microrobots imaging by critically discussing the potentialities and limitations of the techniques employed in this field. Moreover, the physics and the working principle behind each analyzed imaging strategy, the spatiotemporal resolution, and the penetration depth are thoroughly discussed. The paper deals with the suitability of each imaging technique for tracking single or swarms of MRs and discusses the scenarios where contrast or imaging agent's inclusion is required, either to absorb, emit, or reflect a determined physical signal detected by an external system. Finally, the review highlights the existing challenges and perspective solutions which could be promising for future in vivo applications.
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Affiliation(s)
- Azaam Aziz
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstrasse 20, 01069 Dresden, Germany
| | - Stefano Pane
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - Veronica Iacovacci
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - Nektarios Koukourakis
- Chair of Measurement and Sensor System Technique, School of Engineering, TU Dresden, Helmholtzstrasse 18, 01069 Dresden, Germany
- Center for Biomedical Computational Laser Systems, TU Dresden, 01062 Dresden, Germany
| | - Jürgen Czarske
- Chair of Measurement and Sensor System Technique, School of Engineering, TU Dresden, Helmholtzstrasse 18, 01069 Dresden, Germany
- Cluster of Excellence Physics of Life, TU Dresden, 01307 Dresden, Germany
- Center for Biomedical Computational Laser Systems, TU Dresden, 01062 Dresden, Germany
| | - Arianna Menciassi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - Mariana Medina-Sánchez
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstrasse 20, 01069 Dresden, Germany
| | - Oliver G Schmidt
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstrasse 20, 01069 Dresden, Germany
- Center for Materials, Architectures, and Integration of Nanomembranes (MAIN), TU Chemnitz, Reichenhainer Strasse 10, 09107 Chemnitz, Germany
- School of Science, TU Dresden, 01062 Dresden, Germany
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Koleoso M, Feng X, Xue Y, Li Q, Munshi T, Chen X. Micro/nanoscale magnetic robots for biomedical applications. Mater Today Bio 2020; 8:100085. [PMID: 33299981 PMCID: PMC7702192 DOI: 10.1016/j.mtbio.2020.100085] [Citation(s) in RCA: 40] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/29/2020] [Revised: 10/21/2020] [Accepted: 10/25/2020] [Indexed: 12/15/2022] Open
Abstract
Magnetic small-scale robots are devices of great potential for the biomedical field because of the several benefits of this method of actuation. Recent work on the development of these devices has seen tremendous innovation and refinement toward improved performance for potential clinical applications. This review briefly details recent advancements in small-scale robots used for biomedical applications, covering their design, fabrication, applications, and demonstration of ability, and identifies the gap in studies and the difficulties that have persisted in the optimization of the use of these devices. In addition, alternative biomedical applications are also suggested for some of the technologies that show potential for other functions. This study concludes that although the field of small-scale robot research is highly innovative there is need for more concerted efforts to improve functionality and reliability of these devices particularly in clinical applications. Finally, further suggestions are made toward the achievement of commercialization for these devices.
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Affiliation(s)
- M. Koleoso
- School of Engineering, Institute for Bioengineering, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
| | - X. Feng
- School of Engineering, Institute for Bioengineering, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
| | - Y. Xue
- School of Engineering, Institute for Bioengineering, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
| | - Q. Li
- School of Engineering, Institute for Energy Systems, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
| | - T. Munshi
- School of Chemistry, University of Lincoln, Brayford Pool, Lincoln, Lincolnshire, LN6 7TS, UK
| | - X. Chen
- School of Engineering, Institute for Bioengineering, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
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Singh AV, Ansari MHD, Mahajan M, Srivastava S, Kashyap S, Dwivedi P, Pandit V, Katha U. Sperm Cell Driven Microrobots-Emerging Opportunities and Challenges for Biologically Inspired Robotic Design. MICROMACHINES 2020; 11:E448. [PMID: 32340402 PMCID: PMC7231336 DOI: 10.3390/mi11040448] [Citation(s) in RCA: 56] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/25/2020] [Revised: 04/14/2020] [Accepted: 04/22/2020] [Indexed: 12/12/2022]
Abstract
With the advent of small-scale robotics, several exciting new applications like Targeted Drug Delivery, single cell manipulation and so forth, are being discussed. However, some challenges remain to be overcome before any such technology becomes medically usable; among which propulsion and biocompatibility are the main challenges. Propulsion at micro-scale where the Reynolds number is very low is difficult. To overcome this, nature has developed flagella which have evolved over millions of years to work as a micromotor. Among the microscopic cells that exhibit this mode of propulsion, sperm cells are considered to be fast paced. Here, we give a brief review of the state-of-the-art of Spermbots - a new class of microrobots created by coupling sperm cells to mechanical loads. Spermbots utilize the flagellar movement of the sperm cells for propulsion and as such do not require any toxic fuel in their environment. They are also naturally biocompatible and show considerable speed of motion thereby giving us an option to overcome the two challenges of propulsion and biocompatibility. The coupling mechanisms of physical load to the sperm cells are discussed along with the advantages and challenges associated with the spermbot. A few most promising applications of spermbots are also discussed in detail. A brief discussion of the future outlook of this extremely promising category of microrobots is given at the end.
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Affiliation(s)
- Ajay Vikram Singh
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Department of Chemical and Product Safety, German Federal Institute for Risk Assessment (BfR), Max-Dohrn-Strasse 8-10, 10589 Berlin, Germany
| | - Mohammad Hasan Dad Ansari
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Via Rinaldo Piaggio 34, 56025 Pontedera, Italy;
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Via Rinaldo Piaggio 34, 56025 Pontedera, Italy
| | - Mihir Mahajan
- Königin-Olga-Stift Gymnasium, Johannesstraße 18, 70176 Stuttgart, Germany;
| | - Shubhangi Srivastava
- Department of Zoology, Institute of Science, Banaras Hindu University, Varanasi 221005, India;
| | - Shubham Kashyap
- Dr. A.P.J. Abdul Kalam Technical University, Lucknow 226031, India;
| | - Prajjwal Dwivedi
- Department of Physics, Shri Ramswaroop Memorial University, Lucknow 226007, India;
| | - Vaibhav Pandit
- Dynex Technologies, 14340 Sullyfield Circle, Chantilly, VA 20151-1621 USA;
| | - Uma Katha
- BioPharma Division, GALAB Laboratories GmbH, 21029 Hamburg, Germany;
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Sonntag L, Simmchen J, Magdanz V. Nano-and Micromotors Designed for Cancer Therapy. Molecules 2019; 24:E3410. [PMID: 31546857 PMCID: PMC6767050 DOI: 10.3390/molecules24183410] [Citation(s) in RCA: 38] [Impact Index Per Article: 7.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2019] [Revised: 08/30/2019] [Accepted: 09/05/2019] [Indexed: 12/18/2022] Open
Abstract
Research on nano- and micromotors has evolved into a frequently cited research area with innovative technology envisioned for one of current humanities' most deadly problems: cancer. The development of cancer targeting drug delivery strategies involving nano-and micromotors has been a vibrant field of study over the past few years. This review aims at categorizing recent significant results, classifying them according to the employed propulsion mechanisms starting from chemically driven micromotors, to field driven and biohybrid approaches. In concluding remarks of section 2, we give an insight into shape changing micromotors that are envisioned to have a significant contribution. Finally, we critically discuss which important aspects still have to be addressed and which challenges still lie ahead of us.
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Affiliation(s)
- Luisa Sonntag
- Chair of Physical Chemistry, TU Dresden, 01062 Dresden, Germany.
| | - Juliane Simmchen
- Chair of Physical Chemistry, TU Dresden, 01062 Dresden, Germany.
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