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He T, Yang Y, Chen XB. Propulsion mechanisms of micro/nanorobots: a review. NANOSCALE 2024; 16:12696-12734. [PMID: 38940742 DOI: 10.1039/d4nr01776e] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/29/2024]
Abstract
Micro/nanomotors (MNMs) are intelligent, efficient and promising micro/nanorobots (MNR) that can respond to external stimuli (e.g., chemical energy, temperature, light, pH, ultrasound, magnetic, biosignals, ions) and perform specific tasks. The MNR can adapt to different external stimuli and transform into various functional forms to match different application scenarios. So far, MNR have found extensive application in targeted therapy, drug delivery, tissue engineering, environmental remediation, and other fields. Despite the promise of MNR, there are few reviews that focus on them. To shed new light on the further development of the field, it is necessary to provide an overview of the current state of development of these MNR. Therefore, this paper reviews the research progress of MNR in terms of propulsion mechanisms, and points out the pros and cons of different stimulus types. Finally, this paper highlights the current challenges faced by MNR and proposes possible solutions to facilitate the practical application of MNR.
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Affiliation(s)
- Tao He
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
| | - Yonghui Yang
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
| | - Xue-Bo Chen
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
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2
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Teng X, Qiao Z, Yu S, Liu Y, Lou X, Zhang H, Ge Z, Yang W. Recent Advances in Microrobots Powered by Multi-Physics Field for Biomedical and Environmental Applications. MICROMACHINES 2024; 15:492. [PMID: 38675303 PMCID: PMC11051856 DOI: 10.3390/mi15040492] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/13/2024] [Revised: 04/01/2024] [Accepted: 04/01/2024] [Indexed: 04/28/2024]
Abstract
Microrobots powered by multi-physics fields are becoming a hotspot for micro-nano manufacturing. Due to the small size of microrobots, they can easily enter small spaces that are difficult for ordinary robots to reach and perform a variety of special tasks. This gives microrobots a broad application prospect in many fields. This paper describes the materials, structures, and driving principles of microrobots in detail and analyzes the advantages and limitations of their driving methods in depth. In addition, the paper discusses the detailed categorization of the action forms of microrobots and explores their diversified motion modes and their applicable scenarios. Finally, the article highlights the wide range of applications of microrobots in the fields of biomedicine and environmental protection, emphasizing their great potential for solving real-world problems and advancing scientific progress.
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Affiliation(s)
- Xiangyu Teng
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Zezheng Qiao
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Shuxuan Yu
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Yujie Liu
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Xinyu Lou
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Huanbin Zhang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Zhixing Ge
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
| | - Wenguang Yang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
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Wu B, Rivas DP, Das S. Upstream mobility and swarming of light activated micromotors. MATERIALS ADVANCES 2024; 5:1875-1879. [PMID: 38444934 PMCID: PMC10911229 DOI: 10.1039/d3ma00814b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/06/2023] [Accepted: 10/24/2023] [Indexed: 03/07/2024]
Abstract
Micromotors have been proposed for applications such as targeted drug delivery, thrombolysis, or sensing. However, single micrormotors are limited in the amount of payload they can deliver or force they can exert. Swarms of micromotors can overcome many of these challenges, however creating and controlling such swarms presents many challenges of its own. In particular, utilizing swarms in fluid flows is of significant importance for biomedical or lab-on-chip applications. Here, the upstream mobility and swarm formation of light driven micromotors in microchannel flows is demonstrated with maximum speeds around 0.1 mm s-1. Additionally, the light actuated microrobots operate in fairly low concentrations of hydrogen peroxide of approximately 1%. The micromotors form swarms at the boundary of the locally applied light pattern and the swarms can be moved by translating the light up or downstream.
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Affiliation(s)
- Bingzhi Wu
- Department of Mechanical Engineering, University of Delaware 210 South College Ave Newark DE 19716 USA
| | - David P Rivas
- Department of Mechanical Engineering, University of Delaware 210 South College Ave Newark DE 19716 USA
| | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware 210 South College Ave Newark DE 19716 USA
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He T, Yang Y, Chen XB. Preparation, Stimulus-Response Mechanisms and Applications of Micro/Nanorobots. MICROMACHINES 2023; 14:2253. [PMID: 38138422 PMCID: PMC10745970 DOI: 10.3390/mi14122253] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/20/2023] [Revised: 12/10/2023] [Accepted: 12/13/2023] [Indexed: 12/24/2023]
Abstract
Micro- and nanorobots are highly intelligent and efficient. They can perform various complex tasks as per the external stimuli. These robots can adapt to the required functional form, depending on the different stimuli, thus being able to meet the requirements of various application scenarios. So far, microrobots have been widely used in the fields of targeted therapy, drug delivery, tissue engineering, environmental remediation and so on. Although microbots are promising in some fields, few reviews have yet focused on them. It is therefore necessary to outline the current status of these microbots' development to provide some new insights into the further evolution of this field. This paper critically assesses the research progress of microbots with respect to their preparation methods, stimulus-response mechanisms and applications. It highlights the suitability of different preparation methods and stimulus types, while outlining the challenges experienced by microbots. Viable solutions are also proposed for the promotion of their practical use.
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Affiliation(s)
| | | | - Xue-Bo Chen
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China; (T.H.); (Y.Y.)
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Yang Y, Kirmizitas FC, Sokolich M, Valencia A, Rivas D, Karakan MÇ, White AE, Malikopoulos AA, Das S. Rolling Helical Microrobots for Cell Patterning. ... 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/marss58567.2023.10294113. [PMID: 38952455 PMCID: PMC11215787 DOI: 10.1109/marss58567.2023.10294113] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/03/2024]
Abstract
Microrobots, untethered miniature devices capable of performing tasks at the microscale, have gained significant attention in the fields of robotics and biomedicine. These devices hold immense potential for various industrial and scientific applications, including targeted drug delivery and cell manipulation. In this study, we present a novel magnetic rolling helical microrobot specifically designed for bio-compatible cell patterning. Our microrobot incorporates both open-loop and closed-loop control mechanisms, providing flexible, precise, and rapid control for various applications. Through experiments, we demonstrate the microrobot's ability to manipulate cells by pushing them while rolling and arranging cells into desired patterns. This result is particularly significant as it has implications for diverse biological applications such as tissue engineering and organoid development. Moreover, we showcase the effectiveness of our microrobot in a closed-loop control system, where it successfully follows a predetermined path from an origin to a destination. The combination of cellular manipulation capabilities and trajectory-tracking performance underlines the versatility and potential of our magnetic rolling helical microrobot. The ability to control and navigate the microrobot with high precision opens up new possibilities for advanced biomedical applications. These findings contribute to the growing body of knowledge in microbotics and pave the way for further research and development in the field.
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Affiliation(s)
- Yanda Yang
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Fatma Ceren Kirmizitas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
- Department of Animal and Food Sciences, University of Delaware, Newark, DE 19716 USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Alejandra Valencia
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - David Rivas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - M Çağatay Karakan
- Department of Biomedical Engineering, Boston University, Boston, MA 02215 USA
| | - Alice E White
- Department of Mechanical Engineering, and the departments of Biomedical Engineering and Materials Science and Engineering, Boston University, Boston, MA 02215 USA
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
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Cherukumilli S, Kirmizitas FC, Sokolich M, Valencia A, Karakan MÇ, White AE, Malikopoulos AA, Das S. Programmable Modular Acoustic 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/marss58567.2023.10294125. [PMID: 38952454 PMCID: PMC11215786 DOI: 10.1109/marss58567.2023.10294125] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/03/2024]
Abstract
Microrobots have emerged as promising tools for biomedical and in vivo applications, leveraging their untethered actuation capabilities and miniature size. Despite extensive research on diversifying multi-actuation modes for single types of robots, these tiny machines tend to have limited versatility while navigating different environments or performing specific tasks. To overcome such limitations, self-assembly microstructures with on-demand reconfiguration capabilities have gained recent attention as the future of biocompatible microrobotics, as they can address drug delivery, microsurgery, and organoid development processes. Reversible modular reconfiguration structures require specific arrangements of particles that can assume several shapes when external fields are applied. We show how magnetic interaction can be used to assemble cylindrical microrobots into modular microstructures with different shapes. The motion actuation of the formed microstructure happens due to an external acoustic field, which generates responsive forces in the air bubbles trapped in the inner cavity of the robots. An external magnetic field can also steer these structures. We illustrate these capabilities by assembling the robots into different shapes that can swim and be steered, showing the potential to perform biomedical applications. Furthermore, we confirm the biocompatibility of the cylindrical microrobot used as the building blocks of our microstructure. Exposing Chinese Hamster Ovary cells to our microrobots for 24 hours demonstrates cell viability when in contact with the microrobot.
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Affiliation(s)
| | - Fatma Ceren Kirmizitas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
- Department of Animal and Food Sciences, University of Delaware, Newark, DE 19716 USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Alejandra Valencia
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - M Çağatay Karakan
- Department of Biomedical Engineering, Boston University, Boston, MA 02215 USA
| | - Alice E White
- Department of Mechanical Engineering, and the departments of Biomedical Engineering and Materials Science and Engineering, Boston University, Boston, MA 02215 USA
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
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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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Zhou Y, Ye M, Hu C, Qian H, Nelson BJ, Wang X. Stimuli-Responsive Functional Micro-/Nanorobots: A Review. ACS NANO 2023; 17:15254-15276. [PMID: 37534824 DOI: 10.1021/acsnano.3c01942] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/04/2023]
Abstract
Stimuli-responsive functional micro-/nanorobots (srFM/Ns) are a class of intelligent, efficient, and promising microrobots that can react to external stimuli (such as temperature, light, ultrasound, pH, ion, and magnetic field) and perform designated tasks. Through adaptive transformation into the corresponding functional forms, they can perfectly match the demands depending on different applications, which manifest extremely important roles in targeted therapy, biological detection, tissue engineering, and other fields. Promising as srFM/Ns can be, few reviews have focused on them. It is therefore necessary to provide an overview of the current development of these intelligent srFM/Ns to provide clear inspiration for further development of this field. Hence, this review summarizes the current advances of stimuli-responsive functional microrobots regarding their response mechanism, the achieved functions, and their applications to highlight the pros and cons of different stimuli. Finally, we emphasize the existing challenges of srFM/Ns and propose possible strategies to help accelerate the study of this field and promote srFM/Ns toward actual applications.
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Affiliation(s)
- Yan Zhou
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Min Ye
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Chengzhi Hu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Huihuan Qian
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
- Chinese University of Hong Kong, Shenzhen, Shenzhen 518172, China
| | - Bradley J Nelson
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092 Zurich, Switzerland
| | - Xiaopu Wang
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
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Gao Y, Wei F, Chao Y, Yao L. Bioinspired soft microrobots actuated by magnetic field. Biomed Microdevices 2021; 23:52. [PMID: 34599405 DOI: 10.1007/s10544-021-00590-z] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 09/20/2021] [Indexed: 12/16/2022]
Abstract
In contrast to traditional large-scale robots, which require complicated mechanical joints and material rigidity, microrobots made of soft materials have exhibited amazing features and great potential for extensive applications, such as minimally invasive surgery. However, microrobots are faced with energy supply and control issues due to the miniaturization. Magnetic field actuation emerges as an appropriate approach to tackle with these issues. This review summarizes the latest progress of biomimetic soft microrobots actuated by magnetic field. Starting with an overview of the soft material and magnetic material adopted in the magnetic field actuated soft microrobots, the various fabrication methods and design structures of soft microrobots are summarized. Subsequently, practical and potential applications, such as targeted therapy, surgical operation, and the transportation of microscopic objects, in the fields of biomedicine and environmental remediation are presented. In the end, some current challenges, and the future development trends of magnetic soft microrobots are briefly discussed. This review is expected to offer a helpful guidance for the new researchers of biomimetic soft microrobots actuated by magnetic field.
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Affiliation(s)
- Yuwen Gao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Fanan Wei
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
| | - Yin Chao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Ligang Yao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
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Abstract
3D printing (also called "additive manufacturing" or "rapid prototyping") is able to translate computer-aided and designed virtual 3D models into 3D tangible constructs/objects through a layer-by-layer deposition approach. Since its introduction, 3D printing has aroused enormous interest among researchers and engineers to understand the fabrication process and composition-structure-property correlation of printed 3D objects and unleash its great potential for application in a variety of industrial sectors. Because of its unique technological advantages, 3D printing can definitely benefit the field of microrobotics and advance the design and development of functional microrobots in a customized manner. This review aims to present a generic overview of 3D printing for functional microrobots. The most applicable 3D printing techniques, with a focus on laser-based printing, are introduced for the 3D microfabrication of microrobots. 3D-printable materials for fabricating microrobots are reviewed in detail, including photopolymers, photo-crosslinkable hydrogels, and cell-laden hydrogels. The representative applications of 3D-printed microrobots with rational designs heretofore give evidence of how these printed microrobots are being exploited in the medical, environmental, and other relevant fields. A future outlook on the 3D printing of microrobots is also provided.
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Affiliation(s)
- Jinhua Li
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technická 5, Prague 6, 16628, Czech Republic.
| | - Martin Pumera
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technická 5, Prague 6, 16628, Czech Republic. and Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, Brno, CZ-61600, Czech Republic and Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, CZ-613 00, Brno, Czech Republic and Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea
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