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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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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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Liu W, Yang X, Yan G, Wang L, Lai J, Li Z, Zhao C, Xiang D, Li H, Wu Y. Super-Flexible Water-Proof Actuators. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2400482. [PMID: 38534165 DOI: 10.1002/smll.202400482] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/21/2024] [Revised: 03/07/2024] [Indexed: 03/28/2024]
Abstract
Humidity-responsive materials hold broad application prospects in sensing, energy production, and other fields. Particularly, humidity-sensitive, flexibility, and water resistance are pivotal factors in the development of optimized humidity-responsive materials. In this study, hydrophobic linear polyurethane and hydrophilic 4-vinylphenylboronic acid (4-VPBA) form a semi-intercross cross-linking network. This copolymer of polyurethane exhibits excellent humidity-sensitive, mechanical properties, and water resistance. Its maximum tensile strength and maximum elongation can reach 40.56 MPa and 543.47%, respectively. After being immersed in water at various temperatures for 15 days, it exhibited a swelling ratio of only 3.28% in water at 5 °C and 9.58% in water at 70 °C. While the presence of 4-VPBA network imparts humidity-sensitive, reversible, and multidirectional bending abilities, under the stimulus of water vapor, it can bend 43° within 1.4 s. The demonstrated material surpasses current bidirectional humidity actuators in actuating ability. Based on these characteristics, automatically opening waterproof umbrellas and windows, as well as bionic-arms, crawling robots, and self-propelled boats, are successfully developed.
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Affiliation(s)
- Wei Liu
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Xi Yang
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Guilong Yan
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Li Wang
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Jingjuan Lai
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Zhenyu Li
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Chunxia Zhao
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Dong Xiang
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Hui Li
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
| | - Yuanpeng Wu
- The Center of Functional Materials for Working Fluids of Oil and Gas Field, School of New Energy and Materials, Southwest Petroleum University, Chengdu, 610500, China
- State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation, Southwest Petroleum University, Chengdu, 610500, China
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Hu X, Chen W, Lin J, Nie D, Zhu Z, Lin P. The motion of micro-swimmers over a cavity in a micro-channel. SOFT MATTER 2024; 20:2789-2803. [PMID: 38445957 DOI: 10.1039/d3sm01589k] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/07/2024]
Abstract
This article combines the lattice Boltzmann method (LBM) with the squirmer model to investigate the motion of micro-swimmers in a channel-cavity system. The study analyses various influential factors, including the value of the squirmer-type factor (β), the swimming Reynolds number (Rep), the size of the cavity, initial position and particle size on the movement of micro-swimmers within the channel-cavity system. We simultaneously studied three types of squirmer models, Puller (β > 0), Pusher (β < 0), and Neutral (β = 0) swimmers. The findings reveal that the motion of micro-swimmers is determined by the value of β and Rep, which can be classified into six distinct motion modes. For Puller and Pusher, when the β value is constant, an increase in Rep will lead to transition in the motion mode. Moreover, the appropriate depth of cavity within the channel-cavity system plays a crucial role in capturing and separating Neutral swimmers. This study, for the first time, explores the effect of complex channel-cavity systems on the behaviour of micro-swimmers and highlights their separation and capture ability. These findings offer novel insights for the design and enhancement of micro-channel structures in achieving efficient separation and capture of micro-swimmers.
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Affiliation(s)
- Xiao Hu
- Key Laboratory of Fluid Transmission Technology of Zhejiang Province, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
| | - Weijin Chen
- Key Laboratory of Fluid Transmission Technology of Zhejiang Province, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
| | - Jianzhong Lin
- Zhejiang Provincial Engineering Research Center for the Safety of Pressure Vessel and Pipeline, Ningbo University, Ningbo, Zhejiang 315211, PR China
| | - Deming Nie
- Institute of Fluid Mechanics, China Jiliang University, Hangzhou, Zhejiang 310018, China.
| | - Zuchao Zhu
- Key Laboratory of Fluid Transmission Technology of Zhejiang Province, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
| | - Peifeng Lin
- Key Laboratory of Fluid Transmission Technology of Zhejiang Province, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
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Ali A, Kim H, Torati SR, Kang Y, Reddy V, Kim K, Yoon J, Lim B, Kim C. Magnetic Lateral Ladder for Unidirectional Transport of Microrobots: Design Principles and Potential Applications of Cells-on-Chip. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305528. [PMID: 37845030 DOI: 10.1002/smll.202305528] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/03/2023] [Revised: 08/23/2023] [Indexed: 10/18/2023]
Abstract
Functionalized microrobots, which are directionally manipulated in a controlled and precise manner for specific tasks, face challenges. However, magnetic field-based controls constrain all microrobots to move in a coordinated manner, limiting their functions and independent behaviors. This article presents a design principle for achieving unidirectional microrobot transport using an asymmetric magnetic texture in the shape of a lateral ladder, which the authors call the "railway track." An asymmetric magnetic energy distribution along the axis allows for the continuous movement of microrobots in a fixed direction regardless of the direction of the magnetic field rotation. The authors demonstrated precise control and simple utilization of this method. Specifically, by placing magnetic textures with different directionalities, an integrated cell/particle collector can collect microrobots distributed in a large area and move them along a complex trajectory to a predetermined location. The authors can leverage the versatile capabilities offered by this texture concept, including hierarchical isolation, switchable collection, programmable pairing, selective drug-response test, and local fluid mixing for target objects. The results demonstrate the importance of microrobot directionality in achieving complex individual control. This novel concept represents significant advancement over conventional magnetic field-based control technology and paves the way for further research in biofunctionalized microrobotics.
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Affiliation(s)
- Abbas Ali
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Hyeonseol Kim
- 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
- Center for Bioelectronics, Old Dominion University, Norfolk, VA, 23508, USA
| | - Yumin Kang
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Venu Reddy
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- Nanotechnology Research Center, SRKR Engineering College, Bhimavaram, Andhra Pradesh, 534204, India
| | - 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
| | - Byeonghwa Lim
- 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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Yang Y, Rivas D, Sokolich M, Das S. Closed Loop Control of Bubble-Propelled Microrobots. ... INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES (MARSS). INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES 2023; 2023:10.1109/marss58567.2023.10294166. [PMID: 38962675 PMCID: PMC11221291 DOI: 10.1109/marss58567.2023.10294166] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/05/2024]
Abstract
Bubble-propelled microrobots have an advantage of relatively swift movement compared to most other types of microrobots, which makes them well suited for applications such as micromanipulation or movement in flows, but their high speed also poses challenges in precisely controlling their motion. This study proposes automated control of the microrobots using visual feedback and steering with uniform magnetic fields to constrain the microrobot's moving direction. The implementation of a closed-loop control mechanism ensures precise autonomous navigation along prescribed trajectories. Experimental results demonstrate that this approach achieves satisfactory tracking performance, with an average error of 6. 7 μm for a microrobot with a diameter of 24 μm.
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Affiliation(s)
- Yanda Yang
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
| | - David Rivas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
| | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
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Feng Y, Jia D, Yue H, Wang J, Song W, Li L, Zhang AM, Li S, Chang X, Zhou D. Breaking through Barriers: Ultrafast Microbullet Based on Cavitation Bubble. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2207565. [PMID: 36732889 DOI: 10.1002/smll.202207565] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Revised: 01/12/2023] [Indexed: 05/04/2023]
Abstract
Micromotors hold great promise for extensive practical applications such as those in biomedical domains and reservoir exploration. However, insufficient propulsion of the micromotor limits its application in crossing biological barriers and breaking reservoir boundaries. In this study, an ultrafast microbullet based on laser cavitation that can utilize the energy of a cavitation bubble and realize its own hurtling motion is reported. The experiments are performed using high-speed photography. A boundary integral method is adopted to reveal the motion mechanism of a polystyrene (PS)/magnetic nanoparticle (MNP) microbullet under the action of laser cavitation. Furthermore, the influence of certain factors (including laser intensity, microbullet size, and ambient temperature) on the motion of the microbullet was explored. For the PS/MNP microbullet driven by laser cavitation, the instantaneous velocity obtained can reach 5.23 m s-1 . This strategy of driving the PS/MNP microbullet provides strong penetration ability and targeted motion. It is believed that the reported propulsion mechanism opens up new possibilities for micromotors in a wide range of engineering applications.
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Affiliation(s)
- Yiwen Feng
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
| | - Deli Jia
- Research Institute of Petroleum Exploration & Development, PetroChina Company Limited, Beijing, 100083, China
| | - Honger Yue
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
| | - Jie Wang
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, 150001, China
| | - Wenping Song
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
- Chongqing Research Institute of Harbin Institute of Technology, Chongqing, 401151, China
| | - Longqiu Li
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
| | - A-Man Zhang
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, 150001, China
| | - Shuai Li
- College of Shipbuilding Engineering, Harbin Engineering University, Harbin, 150001, China
| | - Xiaocong Chang
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
- Chongqing Research Institute of Harbin Institute of Technology, Chongqing, 401151, China
| | - Dekai Zhou
- Key Laboratory of Microsystems and Microstructures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin, 150001, China
- Chongqing Research Institute of Harbin Institute of Technology, Chongqing, 401151, China
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Ariga K. Molecular Machines and Microrobots: Nanoarchitectonics Developments and On-Water Performances. MICROMACHINES 2022; 14:mi14010025. [PMID: 36677086 PMCID: PMC9860627 DOI: 10.3390/mi14010025] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/17/2022] [Revised: 12/16/2022] [Accepted: 12/21/2022] [Indexed: 05/14/2023]
Abstract
This review will focus on micromachines and microrobots, which are objects at the micro-level with similar machine functions, as well as nano-level objects such as molecular machines and nanomachines. The paper will initially review recent examples of molecular machines and microrobots that are not limited to interfaces, noting the diversity of their functions. Next, examples of molecular machines and micromachines/micro-robots functioning at the air-water interface will be discussed. The behaviors of molecular machines are influenced significantly by the specific characteristics of the air-water interface. By placing molecular machines at the air-water interface, the scientific horizon and depth of molecular machine research will increase dramatically. On the other hand, for microrobotics, more practical and advanced systems have been reported, such as the development of microrobots and microswimmers for environmental remediations and biomedical applications. The research currently being conducted on the surface of water may provide significant basic knowledge for future practical uses of molecular machines and microrobots.
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Affiliation(s)
- Katsuhiko Ariga
- International Center for Materials Nanoarchitectonics (WPI-MANA), National Institute for Materials Science (NIMS), 1-1 Namiki, Tsukuba, Ibaraki 305-0044, Japan;
- Department of Advanced Materials Science, Graduate School of Frontier Sciences, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8561, Japan
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