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Xu F, Liu Y, Chen M, Luo J, Bai L. Continuous motion of particles attached to cavitation bubbles. ULTRASONICS SONOCHEMISTRY 2024; 107:106888. [PMID: 38697875 PMCID: PMC11179259 DOI: 10.1016/j.ultsonch.2024.106888] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/24/2024] [Revised: 04/17/2024] [Accepted: 04/26/2024] [Indexed: 05/05/2024]
Abstract
Microbubble-mediated therapeutic gene or drug delivery is a promising strategy for various cardiovascular diseases (CVDs), but the efficiency and precision need to be improved. Here, we propose a cavitation bubble-driven drug delivery strategy that can be applied to CVDs. A bubble-pulse-driving theory was proposed, and the formula of time-averaged thrust driven by bubble pulses was derived. The continuous motion of particles propelled by cavitation bubbles in the ultrasonic field is investigated experimentally by high-speed photography. The cavitation bubbles grow and collapse continuously, and generate periodic pulse thrust to drive the particles to move in the liquid. Particles attached to bubbles will move in various ways, such as ejection, collision, translation, rotation, attitude variation, and circular motion. The cavity attached to the particle is a relatively large cavitation bubble, which does not collapse to the particle surface, but to the axis of the bubble perpendicular to the particle surface. The cavitation bubble expands spherically and collapses asymmetrically, which makes the push on the particle generated by the bubble expansion greater than the pull on the particle generated by the bubble collapse. The time-averaged force of the cavitation bubble during its growth and collapse is the cavitation-bubble-driven force that propels the particle. Both the cavitation-bubble-driven force and the primary Bjerknes force act in the same position on the particle surface, but in different directions. In addition to the above two forces, particles are also affected by the mass force acting on the center of mass and the motion resistance acting on the surface, so the complex motion of particles can be explained.
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Affiliation(s)
- Fei Xu
- Department of Cardiology, Laboratory of Cardiac Structure and Function, Institute of Cardiovascular Diseases, West China Hospital, Sichuan University, Chengdu, China
| | - Yanyang Liu
- Center for Obesity and Hernia Surgery, Department of General Surgery, Huashan Hospital, Fudan University, Shanghai, China
| | - Mao Chen
- Department of Cardiology, Laboratory of Cardiac Structure and Function, Institute of Cardiovascular Diseases, West China Hospital, Sichuan University, Chengdu, China
| | - Jing Luo
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu, China
| | - Lixin Bai
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu, China.
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2
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Wang L, Sheng M, Chen L, Yang F, Li C, Li H, Nie P, Lv X, Guo Z, Cao J, Wang X, Li L, Hu AL, Guan D, Du J, Cui H, Zheng X. Sub-Nanogram Resolution Measurement of Inertial Mass and Density Using Magnetic-Field-Guided Bubble Microthruster. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2403867. [PMID: 38773950 DOI: 10.1002/advs.202403867] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/12/2024] [Revised: 05/12/2024] [Indexed: 05/24/2024]
Abstract
Artificial micro/nanomotors using active particles hold vast potential in applications such as drug delivery and microfabrication. However, upgrading them to micro/nanorobots capable of performing precise tasks with sophisticated functions remains challenging. Bubble microthruster (BMT) is introduced, a variation of the bubble-driven microrobot, which focuses the energy from a collapsing microbubble to create an inertial impact on nearby target microparticles. Utilizing ultra-high-speed imaging, the microparticle mass and density is determined with sub-nanogram resolution based on the relaxation time characterizing the microparticle's transient response. Master curves of the BMT method are shown to be dependent on the viscosity of the solution. The BMT, controlled by a gamepad with magnetic-field guidance, precisely manipulates target microparticles, including bioparticles. Validation involves measuring the polystyrene microparticle mass and hollow glass microsphere density, and assessing the mouse embryo mass densities. The BMT technique presents a promising chip-free, real-time, highly maneuverable strategy that integrates bubble microrobot-based manipulation with precise bioparticle mass and density detection, which can facilitate microscale bioparticle characterizations such as embryo growth monitoring.
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Affiliation(s)
- Leilei Wang
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
| | - Minjia Sheng
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Li Chen
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Fengchang Yang
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
| | - Chenlu Li
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Hangyu Li
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Pengcheng Nie
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Xinxin Lv
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing, 100083, China
| | - Zheng Guo
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing, 100083, China
| | - Jialing Cao
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing, 100083, China
| | - Xiaohuan Wang
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
| | - Long Li
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
| | - Anthony L Hu
- The High School Affiliated to Renmin University of China, Beijing, 100080, China
| | - Dongshi Guan
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Jing Du
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing, 100083, China
| | - Haihang Cui
- School of Building Services Science and Engineering, Xi'an University of Architecture and Technology, Xi'an, 710055, China
| | - Xu Zheng
- State Key Laboratory of Nonlinear Mechanics, Beijing Key Laboratory of Engineered Construction and Mechanobiology, Institute of Mechanics, Chinese Academy of Sciences, Beijing, 100190, China
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3
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Zhou Y, Cheng W, Dai L, Guo S, Wu J, Wang X, Wu A, Liu L, Jiao N. Novel Operation Mechanism and Multifunctional Applications of Bubble Microrobots. Adv Healthc Mater 2024; 13:e2303767. [PMID: 38230855 DOI: 10.1002/adhm.202303767] [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: 11/27/2023] [Indexed: 01/18/2024]
Abstract
Microrobots have emerged as powerful tools for manipulating particles, cells, and assembling biological tissue structures at the microscale. However, achieving precise and flexible operation of arbitrary-shaped microstructures in 3D space remains a challenge. In this study, three novel operation methods based on bubble microrobots are proposed to enable delicate and multifunctional manipulation of various microstructures. These methods include 3D turnover, fixed-point rotation, and 3D ejection. By harnessing the combined principles of the effect of the heat flow field and surface tension of an optothermally generated bubble, the bubble microrobot can perform tasks such as flipping an SIA humanoid structure, rotating a bird-like structure, and launching a hollow rocket-like structure. The proposed multi-mode operation of bubble microrobots enables diverse attitude adjustments of microstructures with different sizes and shapes in both 2D and 3D spaces. As a demonstration, a biological microenvironment of brain glioblastoma is constructed by the bubble microrobot. The simplicity, versatility, and flexibility of this proposed method hold great promise for applications in micromanipulation, assembly, and tissue engineering.
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Affiliation(s)
- Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Wen Cheng
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Liguo Dai
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou, 450002, China
| | - Songyi Guo
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Junfeng Wu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Xiaodong Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Anhua Wu
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
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Meng C, Lu F, Zhang NQ, Zhou J, Yu P, Zhong MC. Optothermal Microparticle Oscillator Induced by Marangoni and Thermal Convection. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2024; 40:7463-7470. [PMID: 38551336 DOI: 10.1021/acs.langmuir.3c03936] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 04/10/2024]
Abstract
The light-fueled microparticle oscillator, exemplifying sustained driving in a static light source, potentially holds applications in fundamental physics, cellular manipulation, fluid dynamics, and various other soft-matter systems. The challenges of photodamage due to laser focusing on particles and the control of the oscillation direction have always been two major issues for microparticle oscillators. Here, we present an optical-thermal method for achieving a 3D microparticle oscillator with a fixed direction by employing laser heating of the gold film surface. First, the microparticle oscillation without direction limitation is studied. The photothermal conversion originates from the laser heating of a gold film. The oscillation mechanism is the coordination of the forces exerted on the particles, including the thermal convective force, thermophoresis force, and gravity. Subsequently, the additional Marangoni convection force, generated by the temperature gradient on the surface of a microbubble, is utilized to control the oscillation direction of the microparticle. Finally, a dual-channel oscillation mode is achieved by utilizing two microbubbles. During the oscillation process, the microparticle is influenced by flow field forces and temperature gradient force, completely avoiding optical damage to the oscillating microparticle.
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Affiliation(s)
- Chun Meng
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Scienceand Optoelectronics Engineering, Hefei University of Technology, Hefei, Anhui 230009, China
| | - Fengya Lu
- School of Biomedical Engineering, Anhui Medical University, Hefei 230032, China
| | - Nan-Qing Zhang
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Scienceand Optoelectronics Engineering, Hefei University of Technology, Hefei, Anhui 230009, China
| | - Jinhua Zhou
- School of Biomedical Engineering, Anhui Medical University, Hefei 230032, China
| | - Panpan Yu
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Scienceand Optoelectronics Engineering, Hefei University of Technology, Hefei, Anhui 230009, China
| | - Min-Cheng Zhong
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Scienceand Optoelectronics Engineering, Hefei University of Technology, Hefei, Anhui 230009, China
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Dai L, Liu L, Zhou Y, Yan A, Zhao M, Jin S, Ye G, Wang C. Three-Dimensional Manipulation of Micromodules Using Twin Optothermally Actuated Bubble Robots. MICROMACHINES 2024; 15:230. [PMID: 38398959 PMCID: PMC10892707 DOI: 10.3390/mi15020230] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/03/2023] [Revised: 12/24/2023] [Accepted: 12/28/2023] [Indexed: 02/25/2024]
Abstract
A 3D manipulation technique based on two optothermally generated and actuated surface-bubble robots is proposed. A single laser beam can be divided into two parallel beams and used for the generation and motion control of twin bubbles. The movement and spacing control of the lasers and bubbles can be varied directly and rapidly. Both 2D and 3D operations of micromodules were carried out successfully using twin bubble robots. The cooperative manipulation of twin bubble robots is superior to that of a single robot in terms of stability, speed, and efficiency. The operational technique proposed in this study is expected to play an important role in tissue engineering, drug screening, and other fields.
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Affiliation(s)
- Liguo Dai
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Lichao Liu
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Aofei Yan
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Mengran Zhao
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Shaobo Jin
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Guoyong Ye
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Caidong Wang
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
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Huang H, Yang S, Ying Y, Chen X, Puigmartí-Luis J, Zhang L, Pané S. 3D Motion Manipulation for Micro- and Nanomachines: Progress and Future Directions. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2305925. [PMID: 37801654 DOI: 10.1002/adma.202305925] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/19/2023] [Revised: 09/08/2023] [Indexed: 10/08/2023]
Abstract
In the past decade, micro- and nanomachines (MNMs) have made outstanding achievements in the fields of targeted drug delivery, tumor therapy, microsurgery, biological detection, and environmental monitoring and remediation. Researchers have made significant efforts to accelerate the rapid development of MNMs capable of moving through fluids by means of different energy sources (chemical reactions, ultrasound, light, electricity, magnetism, heat, or their combinations). However, the motion of MNMs is primarily investigated in confined two-dimensional (2D) horizontal setups. Furthermore, three-dimensional (3D) motion control remains challenging, especially for vertical movement and control, significantly limiting its potential applications in cargo transportation, environmental remediation, and biotherapy. Hence, an urgent need is to develop MNMs that can overcome self-gravity and controllably move in 3D spaces. This review delves into the latest progress made in MNMs with 3D motion capabilities under different manipulation approaches, discusses the underlying motion mechanisms, explores potential design concepts inspired by nature for controllable 3D motion in MNMs, and presents the available 3D observation and tracking systems.
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Affiliation(s)
- Hai Huang
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Yulong Ying
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
| | - Xiangzhong Chen
- Institute of Optoelectronics, State Key Laboratory of Photovoltaic Science and Technology, Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, 200433, China
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona (UB), Barcelona, 08028, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Li Zhang
- Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zürich, Tannenstrasse 3, Zürich, CH-8092, Switzerland
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Zhan H, Yuan Z, Li Y, Zhang L, Liang H, Zhao Y, Wang Z, Zhao L, Feng S, Liu Y. Versatile bubble maneuvering on photopyroelectric slippery surfaces. Nat Commun 2023; 14:6158. [PMID: 37789018 PMCID: PMC10547833 DOI: 10.1038/s41467-023-41918-y] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/05/2023] [Accepted: 09/18/2023] [Indexed: 10/05/2023] Open
Abstract
Contactless bubble manipulation with a high spatiotemporal resolution brings a qualitative leap forward in a variety of applications. Despite considerable advances, light-induced bubble maneuvering remains challenging in terms of robust transportation, splitting and detachment. Here, a photopyroelectric slippery surface (PESS) with a sandwich structure is constructed to achieve the versatile bubble manipulation. Due to the generated dielectric wetting and nonuniform electric field under the irradiation of near infrared (NIR) light, a bubble is subject to both the Laplace force and dielectrophoresis force, enabling a high-efficiency bubble steering. We demonstrate that the splitting, merging and detachment of underwater bubbles can be achieved with high flexibility and precision, high velocity and agile direction maneuverability. We further extend the capability of bubble control to microrobots for cargo transportation, micropart assembly and transmission of gear structures. We envision this robust bubble manipulation strategy on the PESS would provide a valuable platform for various bubble-involved processes, ranging from microfluidic devices to soft robotics.
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Affiliation(s)
- Haiyang Zhan
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Zichao Yuan
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Yu Li
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Liang Zhang
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Hui Liang
- Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
| | - Yuhui Zhao
- Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
| | - Zhiguo Wang
- Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
| | - Lei Zhao
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Shile Feng
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Yahua Liu
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China.
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Hou Y, Wang H, Fu R, Wang X, Yu J, Zhang S, Huang Q, Sun Y, Fukuda T. A review on microrobots driven by optical and magnetic fields. LAB ON A CHIP 2023; 23:848-868. [PMID: 36629004 DOI: 10.1039/d2lc00573e] [Citation(s) in RCA: 15] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Due to their small sizes, microrobots are advantageous for accessing hard-to-reach spaces for delivery and measurement. However, their small sizes also bring challenges in on-board powering, thus usually requiring actuation by external energy. Microrobots actuated by external energy have been applied to the fields of physics, biology, medical science, and engineering. Among these actuation sources, light and magnetic fields show advantages in high precision and high biocompatibility. This paper reviews the recent advances in the design, actuation, and applications of microrobots driven by light and magnetic fields. For light-driven microrobots, we summarized the uses of optical tweezers, optoelectronic tweezers, and heat-mediated optical manipulation techniques. For magnetically driven microrobots, we summarized the uses of torque-driven microrobots, force-driven microrobots, and shape-deformable microrobots. Then, we compared the two types of field-driven microrobots and reviewed their advantages and disadvantages. The paper concludes with an outlook for the joint use of optical and magnetic field actuation in microrobots.
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Affiliation(s)
- Yaozhen Hou
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
| | - Huaping Wang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Rongxin Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Xian Wang
- Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto, ONT, M5G 1X8, Canada
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
| | - Shuailong Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Qiang Huang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto, ON, M5S 3G9, Canada
| | - Toshio Fukuda
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
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Ding H, Chen Z, Ponce C, Zheng Y. Optothermal rotation of micro-/nano-objects. Chem Commun (Camb) 2023; 59:2208-2221. [PMID: 36723196 PMCID: PMC10189788 DOI: 10.1039/d2cc06955e] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/22/2022] [Accepted: 01/25/2023] [Indexed: 01/27/2023]
Abstract
Due to its contactless and fuel-free operation, optical rotation of micro-/nano-objects provides tremendous opportunities for cellular biology, three-dimensional (3D) imaging, and micro/nanorobotics. However, complex optics, extremely high operational power, and the applicability to limited objects restrict the broader use of optical rotation techniques. This Feature Article focuses on a rapidly emerging class of optical rotation techniques, termed optothermal rotation. Based on light-mediated thermal phenomena, optothermal rotation techniques overcome the bottlenecks of conventional optical rotation by enabling versatile rotary control of arbitrary objects with simpler optics using lower powers. We start with the fundamental thermal phenomena and concepts: thermophoresis, thermoelectricity, thermo-electrokinetics, thermo-osmosis, thermal convection, thermo-capillarity, and photophoresis. Then, we highlight various optothermal rotation techniques, categorizing them based on their rotation modes (i.e., in-plane and out-of-plane rotation) and the thermal phenomena involved. Next, we explore the potential applications of these optothermal manipulation techniques in areas such as single-cell mechanics, 3D bio-imaging, and micro/nanomotors. We conclude the Feature Article with our insights on the operating guidelines, existing challenges, and future directions of optothermal rotation.
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Affiliation(s)
- Hongru Ding
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712, USA
| | - Zhihan Chen
- Materials Science & Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, TX 78712, USA.
| | - Carolina Ponce
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712, USA
| | - Yuebing Zheng
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712, USA
- Materials Science & Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, TX 78712, USA.
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10
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Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly. MICROMACHINES 2022; 13:mi13071068. [PMID: 35888885 PMCID: PMC9324494 DOI: 10.3390/mi13071068] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/07/2022] [Revised: 06/30/2022] [Accepted: 07/01/2022] [Indexed: 02/01/2023]
Abstract
In recent years, microbubbles have been widely used in the field of microrobots due to their unique properties. Microbubbles can be easily produced and used as power sources or tools of microrobots, and the bubbles can even serve as microrobots themselves. As a power source, bubbles can propel microrobots to swim in liquid under low-Reynolds-number conditions. As a manipulation tool, microbubbles can act as the micromanipulators of microrobots, allowing them to operate upon particles, cells, and organisms. As a microrobot, microbubbles can operate and assemble complex microparts in two- or three-dimensional spaces. This review provides a comprehensive overview of bubble applications in microrobotics including propulsion, micromanipulation, and microassembly. First, we introduce the diverse bubble generation and control methods. Then, we review and discuss how bubbles can play a role in microrobotics via three functions: propulsion, manipulation, and assembly. Finally, by highlighting the advantages and current challenges of this progress, we discuss the prospects of microbubbles in microrobotics.
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Abstract
Progress in optical manipulation has stimulated remarkable advances in a wide range of fields, including materials science, robotics, medical engineering, and nanotechnology. This Review focuses on an emerging class of optical manipulation techniques, termed heat-mediated optical manipulation. In comparison to conventional optical tweezers that rely on a tightly focused laser beam to trap objects, heat-mediated optical manipulation techniques exploit tailorable optothermo-matter interactions and rich mass transport dynamics to enable versatile control of matter of various compositions, shapes, and sizes. In addition to conventional tweezing, more distinct manipulation modes, including optothermal pulling, nudging, rotating, swimming, oscillating, and walking, have been demonstrated to enhance the functionalities using simple and low-power optics. We start with an introduction to basic physics involved in heat-mediated optical manipulation, highlighting major working mechanisms underpinning a variety of manipulation techniques. Next, we categorize the heat-mediated optical manipulation techniques based on different working mechanisms and discuss working modes, capabilities, and applications for each technique. We conclude this Review with our outlook on current challenges and future opportunities in this rapidly evolving field of heat-mediated optical manipulation.
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Affiliation(s)
- Zhihan Chen
- Materials Science & Engineering Program, Texas Materials Institute, and Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Jingang Li
- Materials Science & Engineering Program, Texas Materials Institute, and Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Yuebing Zheng
- Materials Science & Engineering Program, Texas Materials Institute, and Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712, United States
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Li BW, He JW, Bai W, Wang HD, Ji F, Zhong MC. An approach of bubble generation and manipulation by using the photothermal effects of laser irradiation on light absorbing particles. THE REVIEW OF SCIENTIFIC INSTRUMENTS 2021; 92:114902. [PMID: 34852507 DOI: 10.1063/5.0063024] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/11/2021] [Accepted: 10/30/2021] [Indexed: 06/13/2023]
Abstract
The photothermal effects have shown the possibilities for applications in optical manipulation. In this paper, an approach is demonstrated to generate and manipulate a bubble using the photothermal effects. First, a high-power laser is used to irradiate the light absorbing particles for creating a microbubble. The bubble grows up to a diameter of a few hundred micrometers in several seconds due to the diffusion of dissolved gases. The bubble does not float up and is confined at the lower boundary of the sample cell by the thermocapillary force. The force is induced by laser heating of the particles at the bubble base. Second, the bubble can be manipulated following the laser focal spot. The bubble is dragged by the horizontal component of thermocapillary force. The bubble re-grows as it moves because it absorbs the dissolved gases in its migration path. The bubble floats up finally when it grows up to the maximum size. The perpendicular component of thermocapillary force can be estimated equal to the buoyancy of the floated bubble and is about 38 nN at the laser power of 130 mW. Furthermore, we show the generation and manipulation of the bubbles in a capillary. The reason for the decrease in movement velocity in the capillaries has been studied and discussed. The approach of bubble manipulation shows a potential application in transporting the microparticles.
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Affiliation(s)
- Bo-Wei Li
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Science and Optoelectronics Engineering, Hefei University of Technology, Hefei 230009, Anhui, China
| | - Jia-Wen He
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Science and Optoelectronics Engineering, Hefei University of Technology, Hefei 230009, Anhui, China
| | - Wen Bai
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Science and Optoelectronics Engineering, Hefei University of Technology, Hefei 230009, Anhui, China
| | - Hao-Dong Wang
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Science and Optoelectronics Engineering, Hefei University of Technology, Hefei 230009, Anhui, China
| | - Feng Ji
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Science and Optoelectronics Engineering, Hefei University of Technology, Hefei 230009, Anhui, China
| | - Min-Cheng Zhong
- Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Science and Optoelectronics Engineering, Hefei University of Technology, Hefei 230009, Anhui, China
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Li Y, Liu X, Huang Q, Ohta AT, Arai T. Bubbles in microfluidics: an all-purpose tool for micromanipulation. LAB ON A CHIP 2021; 21:1016-1035. [PMID: 33538756 DOI: 10.1039/d0lc01173h] [Citation(s) in RCA: 19] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/25/2023]
Abstract
In recent decades, the integration of microfluidic devices and multiple actuation technologies at the microscale has greatly contributed to the progress of related fields. In particular, microbubbles are playing an increasingly important role in microfluidics because of their unique characteristics that lead to specific responses to different energy sources and gas-liquid interactions. Many effective and functional bubble-based micromanipulation strategies have been developed and improved, enabling various non-invasive, selective, and precise operations at the microscale. This review begins with a brief introduction of the morphological characteristics and formation of microbubbles. The theoretical foundations and working mechanisms of typical micromanipulations based on acoustic, thermodynamic, and chemical microbubbles in fluids are described. We critically review the extensive applications and the frontline advances of bubbles in microfluidics, including microflow patterns, position and orientation control, biomedical applications, and development of bubble-based microrobots. We lastly present an outlook to provide directions for the design and application of microbubble-based micromanipulation tools and attract the attention of relevant researchers to the enormous potential of microbubbles in microfluidics.
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Affiliation(s)
- Yuyang Li
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
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Dai L, Lin D, Wang X, Jiao N, Liu L. Integrated Assembly and Flexible Movement of Microparts Using Multifunctional Bubble Microrobots. ACS APPLIED MATERIALS & INTERFACES 2020; 12:57587-57597. [PMID: 33301292 DOI: 10.1021/acsami.0c17518] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Industrial robots have been widely used for manufacturing and assembly in factories. However, at the microscale, most assembly technologies can only pattern the micromodules together loosely and can hardly combine the micromodules to directly form an entity that cannot be easily dispersed. In this study, surface bubbles are made to function as microrobots on a chip. These microrobots can move, fix, lift, and drop microparts and integratively assemble them into a tightly connected entity. As an example, the assembly of a pair of microparts with dovetails is considered. A jacklike bubble robot is used to lift and drop a micropart with a tail, whereas a mobile microrobot is used to push the other micropart with the corresponding socket to the proper position so that the tail can be inserted into the socket. The assembled microparts with the tail-socket joint can move as an entity without separation. Similarly, different types of parts are integratively assembled to form various structures such as gears, snake-shaped chains, and vehicles, which are then driven by bubble microrobots to perform different forms of movement. This assembly technology is simple and efficient and is expected to play an important role in micro-operation, modular assembly, and tissue engineering.
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Affiliation(s)
- Liguo Dai
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of the Chinese Academy of Sciences, Beijing 100049, China
| | - Daojing Lin
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of the Chinese Academy of Sciences, Beijing 100049, China
| | - Xiaodong Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of the Chinese Academy of Sciences, Beijing 100049, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
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