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Lu L, Zhao H, Lu Y, Zhang Y, Wang X, Fan C, Li Z, Wu Z. Design and Control of the Magnetically Actuated Micro/Nanorobot Swarm toward Biomedical Applications. Adv Healthc Mater 2024; 13:e2400414. [PMID: 38412402 DOI: 10.1002/adhm.202400414] [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: 02/02/2024] [Revised: 02/22/2024] [Indexed: 02/29/2024]
Abstract
Recently, magnetically actuated micro/nanorobots hold extensive promises in biomedical applications due to their advantages of noninvasiveness, fuel-free operation, and programmable nature. While effectively promised in various fields such as targeted delivery, most past investigations are mainly displayed in magnetic control of individual micro/nanorobots. Facing practical medical use, the micro/nanorobots are required for the development of swarm control in a closed-loop control manner. This review outlines the recent developments in magnetic micro/nanorobot swarms, including their actuating fundamentals, designs, controls, and biomedical applications. The fundamental principles and interactions involved in the formation of magnetic micro/nanorobot swarms are discussed first. The recent advances in the design of artificial and biohybrid micro/nanorobot swarms, along with the control devices and methods used for swarm manipulation, are presented. Furthermore, biomedical applications that have the potential to achieve clinical application are introduced, such as imaging-guided therapy, targeted delivery, embolization, and biofilm eradication. By addressing the potential challenges discussed toward the end of this review, magnetic micro/nanorobot swarms hold promise for clinical treatments in the future.
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Affiliation(s)
- Lu Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Hongqiao Zhao
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yucong Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yuxuan Zhang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Xinran Wang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Chengjuan Fan
- The Second Affiliated Hospital of Harbin Medical University, Harbin, 150001, China
| | - Zesheng Li
- Laboratory for Space Environment and Physical Sciences, Harbin Institute of Technology, Harbin, 150001, China
| | - Zhiguang Wu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), Harbin Institute of Technology, Harbin, 150001, China
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2
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García‐Vázquez FA, Garrappa G, Luongo C, Hamze JG, Caballero M, Marco‐Jiménez F, Vicente Antón JS, Molina‐Cuberos GJ, Jiménez‐Movilla M. Magnetic-Assisted Control of Eggs and Embryos via Zona Pellucida-Linked Nanoparticles. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2306901. [PMID: 38447155 PMCID: PMC11095233 DOI: 10.1002/advs.202306901] [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: 09/20/2023] [Revised: 02/03/2024] [Indexed: 03/08/2024]
Abstract
Eggs and embryo manipulation is an important biotechnological challenge to enable positioning, entrapment, and selection of reproductive cells to advance into a new era of nature-like assisted reproductive technologies. Oviductin (OVGP1) is an abundant protein in the oviduct that binds reversibly to the zona pellucida, an extracellular matrix that surrounds eggs and embryos. Here, the study reports a new method coupling OVGP1 to magnetic nanoparticles (NP) forming a complex (NPOv). NPOv specifically surrounds eggs and embryos in a reversible manner. Eggs/embryos bound to NPOv can be moved or retained when subjected to a magnetic force, and interestingly only mature-competent eggs are attracted. This procedure is compatible with normal development following gametes function, in vitro fertilization, embryo development and resulting in the birth of healthy offspring. The results provide in vitro proof-of-concept that eggs and embryos can be precisely guided in the absence of physical contact by the use of magnets.
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Affiliation(s)
- Francisco Alberto García‐Vázquez
- Departamento de Fisiología, Facultad de Veterinaria, Campus de Excelencia Mare NostrumUniversidad de MurciaMurcia30100Spain
- Instituto Murciano de Investigación Biosanitaria (IMIB‐Arrixaca)Murcia30120Spain
| | - Gabriela Garrappa
- Departamento de Fisiología, Facultad de Veterinaria, Campus de Excelencia Mare NostrumUniversidad de MurciaMurcia30100Spain
- Departamento de Biología Celular e Histología, Facultad de Medicina y Enfermería, Campus de Excelencia Mare NostrumUniversidad de MurciaMurcia30120Spain
- Insitituto Nacional de Tecnología Agropecuaria (INTA)RafaelaSanta Fe2300Argentina
| | - Chiara Luongo
- Departamento de Fisiología, Facultad de Veterinaria, Campus de Excelencia Mare NostrumUniversidad de MurciaMurcia30100Spain
| | - Julieta Gabriela Hamze
- Instituto Murciano de Investigación Biosanitaria (IMIB‐Arrixaca)Murcia30120Spain
- Departamento de Biología Celular e Histología, Facultad de Medicina y Enfermería, Campus de Excelencia Mare NostrumUniversidad de MurciaMurcia30120Spain
| | - María Caballero
- Departamento de Fisiología, Facultad de Veterinaria, Campus de Excelencia Mare NostrumUniversidad de MurciaMurcia30100Spain
- Departamento de Biología Celular e Histología, Facultad de Medicina y Enfermería, Campus de Excelencia Mare NostrumUniversidad de MurciaMurcia30120Spain
| | - Francisco Marco‐Jiménez
- Instituto de Ciencia y Tecnología AnimalUniversitat Politècnica de ValènciaValencia46022Spain
| | | | - Gregorio J. Molina‐Cuberos
- Departamento de Electromagnetismo y Electrónica, Facultad de QuímicaUniversidad de MurciaMurcia30100Spain
| | - María Jiménez‐Movilla
- Instituto Murciano de Investigación Biosanitaria (IMIB‐Arrixaca)Murcia30120Spain
- Departamento de Biología Celular e Histología, Facultad de Medicina y Enfermería, Campus de Excelencia Mare NostrumUniversidad de MurciaMurcia30120Spain
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Zhang Q, Zeng Y, Zhao Y, Peng X, Ren E, Liu G. Bio-Hybrid Magnetic Robots: From Bioengineering to Targeted Therapy. Bioengineering (Basel) 2024; 11:311. [PMID: 38671732 PMCID: PMC11047666 DOI: 10.3390/bioengineering11040311] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/20/2024] [Revised: 03/19/2024] [Accepted: 03/21/2024] [Indexed: 04/28/2024] Open
Abstract
Magnetic robots possess an innate ability to navigate through hard-to-reach cavities in the human body, making them promising tools for diagnosing and treating diseases minimally invasively. Despite significant advances, the development of robots with desirable locomotion and full biocompatibility under harsh physiological conditions remains challenging, which put forward new requirements for magnetic robots' design and material synthesis. Compared to robots that are synthesized with inorganic materials, natural organisms like cells, bacteria or other microalgae exhibit ideal properties for in vivo applications, such as biocompatibility, deformability, auto-fluorescence, and self-propulsion, as well as easy for functional therapeutics engineering. In the process, these organisms can provide autonomous propulsion in biological fluids or external magnetic fields, while retaining their functionalities with integrating artificial robots, thus aiding targeted therapeutic delivery. This kind of robotics is named bio-hybrid magnetic robotics, and in this mini-review, recent progress including their design, engineering and potential for therapeutics delivery will be discussed. Additionally, the historical context and prominent examples will be introduced, and the complexities, potential pitfalls, and opportunities associated with bio-hybrid magnetic robotics will be discussed.
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Affiliation(s)
- Qian Zhang
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
| | - Yun Zeng
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
| | - Yang Zhao
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
| | - Xuqi Peng
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
| | - En Ren
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- Key Laboratory of Advanced Drug Delivery Systems, Zhejiang Province College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Gang Liu
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
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Ji Y, Bai X, Sun H, Wang L, Gan C, Jia L, Xu J, Zhang W, Wang L, Xu Y, Hou Y, Wang Y, Hui H, Feng L. Biocompatible Ferrofluid-Based Millirobot for Tumor Photothermal Therapy in Near-Infrared-II Window. Adv Healthc Mater 2024; 13:e2302395. [PMID: 37947303 DOI: 10.1002/adhm.202302395] [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: 08/02/2023] [Revised: 10/25/2023] [Indexed: 11/12/2023]
Abstract
Ferrofluidic robots with excellent deformability and controllability have been intensively studied recently. However, most of these studies are in vitro and the use of ferrofluids for in vivo medicinal applications remains a big challenge. The application of ferrofluidic robots to the body requires the solution of many key problems. In this study, biocompatibility, controllability, and tumor-killing efficacy are considered when creating a ferrofluid-based millirobot for in vivo tumor-targeted therapy. For biocompatibility problems, corn oil is used specifically for the ferrofluid robot. In addition, a control system is built that enables a 3D magnetic drive to be implemented in complex biological media. Using the photothermal conversion property of 1064 nm, the ferrofluid robot can kill tumor cells in vitro; inhibit tumor volume, destroy the tumor interstitium, increase tumor cell apoptosis, and inhibit tumor cell proliferation in vivo. This study provides a reference for ferrofluid-based millirobots to achieve targeted therapies in vivo.
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Affiliation(s)
- Yiming Ji
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Xue Bai
- School of Biomedical Engineering, Capital Medical University, Beijing, 100069, China
| | - Hongyan Sun
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Luyao Wang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Chunyuan Gan
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Lina Jia
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Junjie Xu
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Wei Zhang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Liang Wang
- Department of Hematology, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yingchen Xu
- Department of General Surgery, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yaxin Hou
- Department of Diagnostic Ultrasound, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yinyan Wang
- Beijing Tiantan Hospital, Capital Medical University, Beijing, 100050, China
| | - Hui Hui
- CAS Key Laboratory of Molecular Imaging, The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, 100190, China
| | - Lin Feng
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, 100191, China
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5
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Chen B, Sun H, Zhang J, Xu J, Song Z, Zhan G, Bai X, Feng L. Cell-Based Micro/Nano-Robots for Biomedical Applications: A Review. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2304607. [PMID: 37653591 DOI: 10.1002/smll.202304607] [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: 06/01/2023] [Revised: 07/28/2023] [Indexed: 09/02/2023]
Abstract
Micro/nano-robots are powerful tools for biomedical applications and are applied in disease diagnosis, tumor imaging, drug delivery, and targeted therapy. Among the various types of micro-robots, cell-based micro-robots exhibit unique properties because of their different cell sources. In combination with various actuation methods, particularly externally propelled methods, cell-based microrobots have enormous potential for biomedical applications. This review introduces recent progress and applications of cell-based micro/nano-robots. Different actuation methods for micro/nano-robots are summarized, and cell-based micro-robots with different cell templates are introduced. Furthermore, the review focuses on the combination of cell-based micro/nano-robots with precise control using different external fields. Potential challenges, further prospects, and clinical translations are also discussed.
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Affiliation(s)
- Bo Chen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Hongyan Sun
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Jiaying Zhang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Junjie Xu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Zeyu Song
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Guangdong Zhan
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Xue Bai
- School of Biomedical Engineering, Capital Medical University, Beijing, 100069, China
| | - Lin Feng
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, 100191, China
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6
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Nguyen VD, Park JO, Choi E. Macrophage-Based Microrobots for Anticancer Therapy: Recent Progress and Future Perspectives. Biomimetics (Basel) 2023; 8:553. [PMID: 37999194 PMCID: PMC10669771 DOI: 10.3390/biomimetics8070553] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/22/2023] [Revised: 11/14/2023] [Accepted: 11/16/2023] [Indexed: 11/25/2023] Open
Abstract
Macrophages, which are part of the mononuclear phagocytic system, possess sensory receptors that enable them to target cancer cells. In addition, they are able to engulf large amounts of particles through phagocytosis, suggesting a potential "Trojan horse" drug delivery approach to tumors by facilitating the engulfment of drug-hidden particles by macrophages. Recent research has focused on the development of macrophage-based microrobots for anticancer therapy, showing promising results and potential for clinical applications. In this review, we summarize the recent development of macrophage-based microrobot research for anticancer therapy. First, we discuss the types of macrophage cells used in the development of these microrobots, the common payloads they carry, and various targeting strategies utilized to guide the microrobots to cancer sites, such as biological, chemical, acoustic, and magnetic actuations. Subsequently, we analyze the applications of these microrobots in different cancer treatment modalities, including photothermal therapy, chemotherapy, immunotherapy, and various synergistic combination therapies. Finally, we present future outlooks for the development of macrophage-based microrobots.
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Affiliation(s)
- Van Du Nguyen
- Robot Research Initiative, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju 61186, Republic of Korea
- Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro 208-beon-gil, Buk-gu, Gwangju 61011, Republic of Korea
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro 208-beon-gil, Buk-gu, Gwangju 61011, Republic of Korea
| | - Eunpyo Choi
- Robot Research Initiative, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju 61186, Republic of Korea
- Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro 208-beon-gil, Buk-gu, Gwangju 61011, Republic of Korea
- School of Mechanical Engineering, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju 61186, Republic of Korea
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7
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Niu J, Liu C, Yang X, Liang W, Wang Y. Construction of micro-nano robots: living cells and functionalized biological cell membranes. Front Bioeng Biotechnol 2023; 11:1277964. [PMID: 37781535 PMCID: PMC10539914 DOI: 10.3389/fbioe.2023.1277964] [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: 08/15/2023] [Accepted: 08/31/2023] [Indexed: 10/03/2023] Open
Abstract
Micro-nano robots have emerged as a promising research field with vast potential applications in biomedicine. The motor is the key component of micro-nano robot research, and the design of the motor is crucial. Among the most commonly used motors are those derived from living cells such as bacteria with flagella, sperm, and algal cells. Additionally, scientists have developed numerous self-adaptive biomimetic motors with biological functions, primarily cell membrane functionalized micromotors. This novel type of motor exhibits remarkable performance in complex media. This paper provides a comprehensive review of the structure and performance of micro-nano robots that utilize living cells and functionalized biological cell membranes. We also discuss potential practical applications of these mirco-nano robots as well as potential challenges that may arise in future development.
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Affiliation(s)
- Jiawen Niu
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Chenlu Liu
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Xiaopeng Yang
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Wenlong Liang
- Department of Breast Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Yufu Wang
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
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Tao Y, Lin L, Ren X, Wang X, Cao X, Gu H, Ye Y, Ren Y, Zhang Z. Four-Dimensional Micro/Nanorobots via Laser Photochemical Synthesis towards the Molecular Scale. MICROMACHINES 2023; 14:1656. [PMID: 37763819 PMCID: PMC10537291 DOI: 10.3390/mi14091656] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 08/11/2023] [Accepted: 08/19/2023] [Indexed: 09/29/2023]
Abstract
Miniaturized four-dimensional (4D) micro/nanorobots denote a forerunning technique associated with interdisciplinary applications, such as in embeddable labs-on-chip, metamaterials, tissue engineering, cell manipulation, and tiny robotics. With emerging smart interactive materials, static micro/nanoscale architectures have upgraded to the fourth dimension, evincing time-dependent shape/property mutation. Molecular-level 4D robotics promises complex sensing, self-adaption, transformation, and responsiveness to stimuli for highly valued functionalities. To precisely control 4D behaviors, current-laser-induced photochemical additive manufacturing, such as digital light projection, stereolithography, and two-photon polymerization, is pursuing high-freeform shape-reconfigurable capacities and high-resolution spatiotemporal programming strategies, which challenge multi-field sciences while offering new opportunities. Herein, this review summarizes the recent development of micro/nano 4D laser photochemical manufacturing, incorporating active materials and shape-programming strategies to provide an envisioning of these miniaturized 4D micro/nanorobots. A comparison with other chemical/physical fabricated micro/nanorobots further explains the advantages and potential usage of laser-synthesized micro/nanorobots.
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Affiliation(s)
- Yufeng Tao
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
- Postdoctoral Workstation, Zhejiang Chuangge Technology Co., Ltd., Zhuji 311899, China
| | - Liansheng Lin
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Xudong Ren
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Xuejiao Wang
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Xia Cao
- School of Pharmacy, Jiangsu University, Zhenjiang 212013, China
| | - Heng Gu
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Yunxia Ye
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Yunpeng Ren
- Institute of Micro-Nano Optoelectronics and Terahertz Technology, Jiangsu University, Zhenjiang 212013, China
| | - Zhiming Zhang
- Postdoctoral Workstation, Zhejiang Chuangge Technology Co., Ltd., Zhuji 311899, China
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Li Z, Wang K, Hou C, Li C, Zhang F, Ren W, Dong L, Zhao J. Self-sensing intelligent microrobots for noninvasive and wireless monitoring systems. MICROSYSTEMS & NANOENGINEERING 2023; 9:102. [PMID: 37565051 PMCID: PMC10409863 DOI: 10.1038/s41378-023-00574-4] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/31/2023] [Revised: 06/01/2023] [Accepted: 07/10/2023] [Indexed: 08/12/2023]
Abstract
Microrobots have garnered tremendous attention due to their small size, flexible movement, and potential for various in situ treatments. However, functional modification of microrobots has become crucial for their interaction with the environment, except for precise motion control. Here, a novel artificial intelligence (AI) microrobot is designed that can respond to changes in the external environment without an onboard energy supply and transmit signals wirelessly in real time. The AI microrobot can cooperate with external electromagnetic imaging equipment and enhance the local radiofrequency (RF) magnetic field to achieve a large penetration sensing depth and a high spatial resolution. The working ranges are determined by the structure of the sensor circuit, and the corresponding enhancement effect can be modulated by the conductivity and permittivity of the surrounding environment, reaching ~560 times at most. Under the control of an external magnetic field, the magnetic tail can actuate the microrobotic agent to move accurately, with great potential to realize in situ monitoring in different places in the human body, almost noninvasively, especially around potential diseases, which is of great significance for early disease discovery and accurate diagnosis. In addition, the compatible fabrication process can produce swarms of functional microrobots. The findings highlight the feasibility of the self-sensing AI microrobots for the development of in situ diagnosis or even treatment according to sensing signals.
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Affiliation(s)
- Zhongyi Li
- School of Mechatronical Engineering, Beijing Institute of Technology, 100081 Beijing, China
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, 100081 Beijing, China
| | - Kun Wang
- Department of Biomedical Engineering, City University of Hong Kong, 999077 Kowloon Tong, Hong Kong China
| | - Chaojian Hou
- Department of Biomedical Engineering, City University of Hong Kong, 999077 Kowloon Tong, Hong Kong China
| | - Chunyang Li
- School of Mechatronical Engineering, Beijing Institute of Technology, 100081 Beijing, China
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, 100081 Beijing, China
| | - Fanqing Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, 100081 Beijing, China
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, 100081 Beijing, China
| | - Wu Ren
- School of Integrated Circuits and Electronics, Beijing Institute of Technology, 100081 Beijing, China
| | - Lixin Dong
- Department of Biomedical Engineering, City University of Hong Kong, 999077 Kowloon Tong, Hong Kong China
| | - Jing Zhao
- School of Mechatronical Engineering, Beijing Institute of Technology, 100081 Beijing, China
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, 100081 Beijing, China
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10
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Lv Y, Pu R, Tao Y, Yang X, Mu H, Wang H, Sun W. Applications and Future Prospects of Micro/Nanorobots Utilizing Diverse Biological Carriers. MICROMACHINES 2023; 14:mi14050983. [PMID: 37241607 DOI: 10.3390/mi14050983] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/28/2023] [Revised: 04/21/2023] [Accepted: 04/26/2023] [Indexed: 05/28/2023]
Abstract
Targeted drug delivery using micro-nano robots (MNRs) is a rapidly advancing and promising field in biomedical research. MNRs enable precise delivery of drugs, addressing a wide range of healthcare needs. However, the application of MNRs in vivo is limited by power issues and specificity in different scenarios. Additionally, the controllability and biological safety of MNRs must be considered. To overcome these challenges, researchers have developed bio-hybrid micro-nano motors that offer improved accuracy, effectiveness, and safety for targeted therapies. These bio-hybrid micro-nano motors/robots (BMNRs) use a variety of biological carriers, blending the benefits of artificial materials with the unique features of different biological carriers to create tailored functions for specific needs. This review aims to give an overview of the current progress and application of MNRs with various biocarriers, while exploring the characteristics, advantages, and potential hurdles for future development of these bio-carrier MNRs.
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Affiliation(s)
- Yu Lv
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Ruochen Pu
- College of Health Science and Technology, Shanghai Jiao Tong University School of Medicine, Shanghai 200025, China
| | - Yining Tao
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Xiyu Yang
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Haoran Mu
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Hongsheng Wang
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
| | - Wei Sun
- Department of Orthopedics, Shanghai Bone Tumor Institution, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China
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11
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Wang Y, Chen H, Law J, Du X, Yu J. Ultrafast Miniature Robotic Swimmers with Upstream Motility. CYBORG AND BIONIC SYSTEMS 2023; 4:0015. [PMID: 36939416 PMCID: PMC10019906 DOI: 10.34133/cbsystems.0015] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/11/2022] [Accepted: 02/10/2023] [Indexed: 02/16/2023] Open
Abstract
With the development of materials science and micro-nano fabrication techniques, miniature soft robots at millimeter or submillimeter size can be manufactured and actuated remotely. The small-scaled robots have the unique capability to access hard-to-reach regions in the human body in a noninvasive manner. To date, it is still challenging for miniature robots to accurately move in the diverse and dynamic environments in the human body (e.g., in blood flow). To effectively locomote in the vascular system, miniature swimmers with upstream swimming capability are required. Herein, we design and fabricate a miniature robotic swimmer capable of performing ultrafast swimming in a fluidic environment. The maximum velocity of the swimmer in water is 30 cm/s, which is 60 body lengths. Moreover, in a tubular environment, the swimmer can still obtain a swimming velocity of 17 cm/s. The swimmer can also perform upstream swimming in a tubular environment with a velocity of 5 cm/s when the flow speed is 10 cm/s. The ultrasound-guided navigation of the swimmer in a phantom mimicking a blood vessel is also realized. This work gives insight into the design of agile undulatory milliswimmers for future biomedical applications.
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Affiliation(s)
- Yibin Wang
- School of Science and Engineering,
The Chinese University of Hong Kong, Shenzhen, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China
| | - Hui Chen
- School of Science and Engineering,
The Chinese University of Hong Kong, Shenzhen, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China
| | - Junhui Law
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada
| | - Xingzhou Du
- School of Science and Engineering,
The Chinese University of Hong Kong, Shenzhen, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China
| | - Jiangfan Yu
- School of Science and Engineering,
The Chinese University of Hong Kong, Shenzhen, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China
- Address correspondence to:
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12
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Wang B, Liu D, Liao Y, Huang Y, Ni M, Wang M, Ma Z, Wu Z, Lu Y. Spatiotemporally Actuated Hydrogel by Magnetic Swarm Nanorobotics. ACS NANO 2022; 16:20985-21001. [PMID: 36469837 DOI: 10.1021/acsnano.2c08626] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Magnetic nanorobotic swarms can mimic collective functions of organisms in nature and be programmed for flexible spatiotemporal control. In this work, different assemblies of magnetic nanoparticle (MNP) swarms were constructed. Temperature-sensitive hydrogels were used as carriers to fix the distribution and ensure the stability of the swarm structure and the biocompatibility of the microrobot. Under three different outfield assembly strategies (gravitational field, gradient magnetic field, and uniform magnetic field), six different assembly modes of MNP are encapsulated (three unilateral unfolding assemblies with different microsphere profiles, unilateral chain assembly, and two symmetric chain assemblies with different magnetic chain positions). Their differences in the execution of motion, magnetothermal effects, and release of loaded DOX drugs were explored. The results showed that the symmetrical chain assembly with the magnetic chain distributed on the outside showed the best performance due to the advantage of the magnetic moment. It has a speed of up to 600 μm/s and a temperature rise rate of up to 1.5 °C/min. The present work provides an excellent solution to the poor MNP cluster distribution stability problem and enriches the assembly control scheme of microrobots in medical, catalytic, and three-dimensional-printing fields.
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Affiliation(s)
- Bin Wang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Dong Liu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Yuting Liao
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
- College of Light Industry and Food Engineering, Guangxi University, Nanning530004, China
| | - Yanjie Huang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
- Tianjin Industrial Microbiology Key Laboratory, College of Biotechnology, Tianjin University of Science and Technology, Tianjin300457, China
| | - Miao Ni
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Mengchen Wang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Zhanpeng Ma
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Zijian Wu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Yuan Lu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
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13
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Kim H, Kang Y, Lim B, Kim K, Yoon J, Ali A, Torati SR, Kim C. Tailoring matter orbitals mediated using a nanoscale topographic interface for versatile colloidal current devices. MATERIALS HORIZONS 2022; 9:2353-2363. [PMID: 35792087 DOI: 10.1039/d2mh00523a] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Conventional micro-particle manipulation technologies have been used for various biomedical applications using dynamics on a plane without vertical movement. In this case, irregular topographic structures on surfaces could be a factor that causes the failure of the intended control. Here, we demonstrated a novel colloidal particle manipulation mediated by the topographic effect generated by the "micro hill" and "surface gradient" around a micro-magnet. The magnetic landscape, matter orbital, created by periodically arranged circular micro-magnets, induces a symmetric orbit of magnetic particle flow under a rotating magnetic field. The topographic effect can break this symmetry of the energy distribution by controlling the distance between the source of the driving force and target particles by several nanometers on the surface morphology. The origin symmetric orbit of colloidal flow can be distorted by modifying the symmetry in the energy landscape at the switching point without changing the driving force. The enhancement of the magnetic effect of the micro-magnet array can lead to the recovery of the symmetry of the orbit. Also, this effect on the surfaces of on-chip-based devices configured by symmetry control was demonstrated for selective manipulation, trapping, recovery, and altering the direction using a time-dependent magnetic field. Hence, the developed technique could be used in various precise lab-on-a-chip applications, including where the topographic effect is required as an additional variable without affecting the existing control method.
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Affiliation(s)
- Hyeonseol Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Yumin Kang
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Byeonghwa Lim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Keonmok Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Jonghwan Yoon
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Abbas Ali
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - Sri Ramulu Torati
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
| | - CheolGi Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea.
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Ji Y, Bai X, Sun H, Wang L, Xu J, Gan C, Dai Y, Hui H, Feng L. Biocompatible Ferrofluid Robot With Photothermal Property for Targeted Tumor Therapy. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3201696] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Yiming Ji
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Xue Bai
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Hongyan Sun
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Luyao Wang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Junjie Xu
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Chunyuan Gan
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Yuguo Dai
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Hui Hui
- CAS Key Laboratory of Molecular Imaging, The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China
| | - Lin Feng
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
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