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Cao C, Mou F, Yang M, Zhang S, Zhang D, Li L, Lan T, Xiao D, Luo W, Ma H, Guan J. Harnessing Disparities in Magnetic Microswarms: From Construction to Collaborative Tasks. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2401711. [PMID: 38868929 DOI: 10.1002/advs.202401711] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/01/2024] [Revised: 05/07/2024] [Indexed: 06/14/2024]
Abstract
Individual differences in size, experience, and task specialization in natural swarms often result in heterogeneity and hierarchy, facilitating efficient and coordinated task accomplishment. Drawing inspiration from this phenomenon, a general strategy is proposed for organizing magnetic micro/nanorobots (MNRs) with apparent differences in size, shape, and properties into cohesive microswarms with tunable heterogeneity, controlled spatial hierarchy, and collaborative tasking capability. In this strategy, disparate magnetic MNRs can be manipulated to show reversible transitions between synchronization and desynchronization by elaborately regulating parameter sets of the rotating magnetic field. Utilizing these transitions, alongside local robust hydrodynamic interactions, diverse heterospecific pairings of disparate magnetic MNRs can be organized into heterogeneous microswarms, and their spatial organization can be dynamically adjusted from egalitarian to leader-follower-like hierarchies on the fly, both in open space and complex microchannels. Furthermore, when specializing the disparate MNRs with distinct functions ("division of labor") such as sensing and drug carrying, they can execute precise drug delivery targeting unknown sites in a collaborative sensing-navigating-cargo dropping sequence, demonstrating significant potential for precise tumor treatment. These findings highlight the critical roles of attribute differences and hierarchical organization in designing efficient swarming micro/nanorobots for biomedical applications.
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Affiliation(s)
- Chuan Cao
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Fangzhi Mou
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
- Hubei Key Laboratory of Nanomedicine for Neurodegenerative Diseases, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Manyi Yang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Shuming Zhang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Di Zhang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Luolin Li
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Tong Lan
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Dunyi Xiao
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Wei Luo
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan, 430083, P. R. China
| | - Huiru Ma
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan, 430083, P. R. China
- School of Chemistry, Chemical Engineering and Life Science, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
| | - Jianguo Guan
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
- School of Chemistry, Chemical Engineering and Life Science, Wuhan University of Technology, 122 Luoshi Road, Wuhan, 430070, P. R. China
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Sun M, Yang S, Jiang J, Wang Q, Zhang L. Multiple Magneto-Optical Microrobotic Collectives with Selective Control in Three Dimensions Under Water. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2310769. [PMID: 38263803 DOI: 10.1002/smll.202310769] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/24/2023] [Revised: 12/29/2023] [Indexed: 01/25/2024]
Abstract
Inspired by natural swarms, various methods are developed to create artificial magnetic microrobotic collectives. However, these magnetic collectives typically receive identical control inputs from a common external magnetic field, limiting their ability to operate independently. And they often rely on interfaces or boundaries for controlled movement, posing challenges for independent, three-dimensional(3D) navigation of multiple magnetic collectives. To address this challenge, self-assembled microrobotic collectives are proposed that can be selectively actuated in a combination of external magnetic and optical fields. By harnessing both actuation methods, the constraints of single actuation approaches are overcome. The magnetic field excites the self-assembly of colloids and maintains the self-assembled microrobotic collectives without disassembly, while the optical field drives selected microrobotic collectives to perform different tasks. The proposed magnetic-photo microrobotic collectives can achieve independent position and path control in the two-dimensional (2D) plane and 3D space. With this selective control strategy, the microrobotic collectives can cooperate in convection and mixing the dye in a confined space. The results present a systematic approach for realizing selective control of multiple microrobotic collectives, which can address multitasking requirements in complex environments.
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Affiliation(s)
- Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Qianqian Wang
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- School of Mechanical Engineering, Southeast University, Nanjing, 211189, China
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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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Song W, Li L, Liu X, Zhu Y, Yu S, Wang H, Wang L. Hydrogel microrobots for biomedical applications. Front Chem 2024; 12:1416314. [PMID: 38841335 PMCID: PMC11150770 DOI: 10.3389/fchem.2024.1416314] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/12/2024] [Accepted: 04/30/2024] [Indexed: 06/07/2024] Open
Abstract
Recent years have witnessed a surge in the application of microrobots within the medical sector, with hydrogel microrobots standing out due to their distinctive advantages. These microrobots, characterized by their exceptional biocompatibility, adjustable physico-mechanical attributes, and acute sensitivity to biological environments, have emerged as pivotal tools in advancing medical applications such as targeted drug delivery, wound healing enhancement, bio-imaging, and precise surgical interventions. The capability of hydrogel microrobots to navigate and perform tasks within complex biological systems significantly enhances the precision, efficiency, and safety of therapeutic procedures. Firstly, this paper delves into the material classification and properties of hydrogel microrobots and compares the advantages of different hydrogel materials. Furthermore, it offers a comprehensive review of the principal categories and recent innovations in the synthesis, actuation mechanisms, and biomedical application of hydrogel-based microrobots. Finally, the manuscript identifies prevailing obstacles and future directions in hydrogel microrobot research, aiming to furnish insights that could propel advancements in this field.
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Affiliation(s)
- Wenping Song
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
- Chongqing Research Institute of HIT, Chongqing, China
| | - Leike Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Xuejia Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
- Department of Medical Imaging, The Fourth Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Yanhe Zhu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Shimin Yu
- College of Engineering, Ocean University of China, Qingdao, China
| | - Haocheng Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Lin Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
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Zhang S, Mou F, Yu Z, Li L, Yang M, Zhang D, Ma H, Luo W, Li T, Guan J. Heterogeneous Sensor-Carrier Microswarms for Collaborative Precise Drug Delivery toward Unknown Targets with Localized Acidosis. NANO LETTERS 2024; 24:5958-5967. [PMID: 38738749 DOI: 10.1021/acs.nanolett.4c00162] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/14/2024]
Abstract
Micro/nanorobots hold the potential to revolutionize biomedicine by executing diverse tasks in hard-to-reach biological environments. Nevertheless, achieving precise drug delivery to unknown disease sites using swarming micro/nanorobots remains a significant challenge. Here we develop a heterogeneous swarm comprising sensing microrobots (sensor-bots) and drug-carrying microrobots (carrier-bots) with collaborative tasking capabilities for precise drug delivery toward unknown sites. Leveraging robust interspecific hydrodynamic interactions, the sensor-bots and carrier-bots spontaneously synchronize and self-organize into stable heterogeneous microswarms. Given that the sensor-bots can create real-time pH maps employing pH-responsive structural-color changes and the doxorubicin-loaded carrier-bots exhibit selective adhesion to acidic targets via pH-responsive charge reversal, the sensor-carrier microswarm, when exploring unknown environments, can detect and localize uncharted acidic targets, guide itself to cover the area, and finally deploy therapeutic carrier-bots precisely there. This versatile platform holds promise for treating diseases with localized acidosis and inspires future theranostic microsystems with expandability, task flexibility, and high efficiency.
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Affiliation(s)
- Shuming Zhang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Fangzhi Mou
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Zheng Yu
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Luolin Li
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Manyi Yang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Di Zhang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
| | - Huiru Ma
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, People's Republic of China
| | - Wei Luo
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, People's Republic of China
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, People's Republic of China
| | - Jianguo Guan
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, People's Republic of China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, People's Republic of China
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Ye C, Zhao L, Yang S, Li X. Recent Research on Preparation and Application of Smart Joule Heating Fabrics. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2309027. [PMID: 38072784 DOI: 10.1002/smll.202309027] [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: 10/08/2023] [Revised: 11/10/2023] [Indexed: 05/03/2024]
Abstract
Multifunctional wearable heaters have attracted much attention for their effective applications in personal thermal management and medical therapy. Compared to passive heating, Joule heating offers significant advantages in terms of reusability, reliable temperature control, and versatile coupling. Joule-heated fabrics make wearable electronics smarter. This review critically discusses recent advances in Joule-heated smart fabrics, focusing on various fabrication strategies based on material-structure synergy. Specifically, various applicable conductive materials with Joule heating effect are first summarized. Subsequently, different preparation methods for Joule heating fabrics are compared, and then their various applications in smart clothing, healthcare, and visual indication are discussed. Finally, the challenges faced in developing these smart Joule heating fabrics and their possible solutions are discussed.
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Affiliation(s)
- Chunfa Ye
- School of Materials and Chemistry, University of Shanghai for Science and Technology, Shanghai, 200093, China
| | - Longqi Zhao
- School of Materials and Chemistry, University of Shanghai for Science and Technology, Shanghai, 200093, China
| | - Sihui Yang
- School of Materials and Chemistry, University of Shanghai for Science and Technology, Shanghai, 200093, China
| | - Xiaoyan Li
- School of Materials and Chemistry, University of Shanghai for Science and Technology, Shanghai, 200093, China
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Wang Y, Chen H, Xie L, Liu J, Zhang L, Yu J. Swarm Autonomy: From Agent Functionalization to Machine Intelligence. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2312956. [PMID: 38653192 DOI: 10.1002/adma.202312956] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/30/2023] [Revised: 04/17/2024] [Indexed: 04/25/2024]
Abstract
Swarm behaviors are common in nature, where individual organisms collaborate via perception, communication, and adaptation. Emulating these dynamics, large groups of active agents can self-organize through localized interactions, giving rise to complex swarm behaviors, which exhibit potential for applications across various domains. This review presents a comprehensive summary and perspective of synthetic swarms, to bridge the gap between the microscale individual agents and potential applications of synthetic swarms. It is begun by examining active agents, the fundamental units of synthetic swarms, to understand the origins of their motility and functionality in the presence of external stimuli. Then inter-agent communications and agent-environment communications that contribute to the swarm generation are summarized. Furthermore, the swarm behaviors reported to date and the emergence of machine intelligence within these behaviors are reviewed. Eventually, the applications enabled by distinct synthetic swarms are summarized. By discussing the emergent machine intelligence in swarm behaviors, insights are offered into the design and deployment of autonomous synthetic swarms for real-world applications.
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Affiliation(s)
- Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Leiming Xie
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Jinbo Liu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - 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, Shenzhen, 518172, China
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Chen Q, Liu FW, Cho SK, Kim K. 3-D real-time ultrasound tracking of acoustically actuated swimming microdrone. Sci Rep 2024; 14:1547. [PMID: 38233589 PMCID: PMC10794230 DOI: 10.1038/s41598-024-52044-0] [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: 07/14/2023] [Accepted: 01/12/2024] [Indexed: 01/19/2024] Open
Abstract
Maneuverable microswimmers/microdrones that navigate in hard-to-reach spaces inside human bodies hold a great potential for various biomedical applications. Acoustically actuated microswimmers have already demonstrated feasibility. However, for eventual translation of this technology, a robust 3-D tracking strategy for the microswimmer is particularly required. This paper presents our lab-designed 3-D ultrasound tracking system for real-time tracking of an acoustically actuated 3-D swimming microdrone. The ultrasound tracking system utilizing two ultrasound probes, a step motor and a host controller, was built to track the 3-D arbitrary motion of the microdrone in real-time. The performance of tracking was evaluated in the benchtop experiments by comparing the reconstructed trajectories with synchronized camera recordings. The ultrasound tracking system showed high reliability, with an average error of less than 0.3 mm across six different trials when compared to camera tracking. The results demonstrated the capability of our lab-designed 3-D ultrasound tracking system in accurately tracking the undetermined motion of the acoustic actuated 3-D swimming microdrone in real-time. The developed tracking system holds promise as a potential approach for biomedical applications and could pave the way for future clinical translation of the microswimmer technology.
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Affiliation(s)
- Qiyang Chen
- Department of Medicine, University of Pittsburgh, 623A Scaife Hall, 3550 Terrace Street, Pittsburgh, PA, 15261, USA
- Center for Ultrasound Molecular Imaging and Therapeutics, Department of Medicine & Heart and Vascular Institute, University of Pittsburgh School of Medicine and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15261, USA
| | - Fang-Wei Liu
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA
| | - Sung Kwon Cho
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA
| | - Kang Kim
- Department of Medicine, University of Pittsburgh, 623A Scaife Hall, 3550 Terrace Street, Pittsburgh, PA, 15261, USA.
- Center for Ultrasound Molecular Imaging and Therapeutics, Department of Medicine & Heart and Vascular Institute, University of Pittsburgh School of Medicine and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15261, USA.
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA.
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA, 15261, USA.
- Division of Cardiology, Department of Medicine, University of Pittsburgh School of Medicine, Pittsburgh, PA, 15261, USA.
- McGowan Institute of Regenerative Medicine, University of Pittsburgh and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15219, USA.
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Zheng J, Huang R, Lin Z, Chen S, Yuan K. Nano/Micromotors for Cancer Diagnosis and Therapy: Innovative Designs to Improve Biocompatibility. Pharmaceutics 2023; 16:44. [PMID: 38258055 PMCID: PMC10821023 DOI: 10.3390/pharmaceutics16010044] [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: 11/07/2023] [Revised: 12/18/2023] [Accepted: 12/21/2023] [Indexed: 01/24/2024] Open
Abstract
Nano/micromotors are artificial robots at the nano/microscale that are capable of transforming energy into mechanical movement. In cancer diagnosis or therapy, such "tiny robots" show great promise for targeted drug delivery, cell removal/killing, and even related biomarker sensing. Yet biocompatibility is still the most critical challenge that restricts such techniques from transitioning from the laboratory to clinical applications. In this review, we emphasize the biocompatibility aspect of nano/micromotors to show the great efforts made by researchers to promote their clinical application, mainly including non-toxic fuel propulsion (inorganic catalysts, enzyme, etc.), bio-hybrid designs, ultrasound propulsion, light-triggered propulsion, magnetic propulsion, dual propulsion, and, in particular, the cooperative swarm-based strategy for increasing therapeutic effects. Future challenges in translating nano/micromotors into real applications and the potential directions for increasing biocompatibility are also described.
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Affiliation(s)
- Jiahuan Zheng
- Department of Chemistry, Shantou University Medical College, Shantou 515041, China;
| | - Rui Huang
- Bio-Analytical Laboratory, Shantou University Medical College, Shantou 515041, China; (R.H.); (Z.L.)
| | - Zhexuan Lin
- Bio-Analytical Laboratory, Shantou University Medical College, Shantou 515041, China; (R.H.); (Z.L.)
| | - Shaoqi Chen
- Department of Ultrasound, First Affiliated Hospital of Shantou University Medical College, Shantou 515041, China
| | - Kaisong Yuan
- Bio-Analytical Laboratory, Shantou University Medical College, Shantou 515041, China; (R.H.); (Z.L.)
- Department of Ultrasound, First Affiliated Hospital of Shantou University Medical College, Shantou 515041, China
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Yang M, Zhang Y, Mou F, Cao C, Yu L, Li Z, Guan J. Swarming magnetic nanorobots bio-interfaced by heparinoid-polymer brushes for in vivo safe synergistic thrombolysis. SCIENCE ADVANCES 2023; 9:eadk7251. [PMID: 38019908 PMCID: PMC10686566 DOI: 10.1126/sciadv.adk7251] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/07/2023] [Accepted: 10/30/2023] [Indexed: 12/01/2023]
Abstract
Biocompatible swarming magnetic nanorobots that work in blood vessels for safe and efficient targeted thrombolytic therapy in vivo are demonstrated. This is achieved by using magnetic beads elaborately grafted with heparinoid-polymer brushes (HPBs) upon the application of an alternating magnetic field B(t). Because of the dense surface charges bestowed by HPBs, the swarming nanorobots demonstrate reversible agglomeration-free reconfigurations, low hemolysis, anti-bioadhesion, and self-anticoagulation in high-ionic-strength blood environments. They are confirmed in vitro and in vivo to perform synergistic thrombolysis efficiently by "motile-targeting" drug delivery and mechanical destruction. Moreover, upon the completion of thrombolysis and removal of B(t), the nanorobots disassemble into dispersed particles in blood, allowing them to safely participate in circulation and be phagocytized by immune cells without apparent organ damage or inflammatory lesion. This work provides a rational multifaceted HPB biointerfacing design strategy for biomedical nanorobots and a general motile platform to deliver drugs for targeted therapies.
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Affiliation(s)
- Manyi Yang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Yaoyu Zhang
- School of Medicine, Wuhan University of Science and Technology, Wuhan 430081, P. R. China
- Department of Orthopedics, General Hospital of Chinese PLA Central Theater Command, Wuhan 430070, P. R. China
| | - Fangzhi Mou
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Chuan Cao
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Lingxia Yu
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
| | - Zhi Li
- Department of Orthopedics, General Hospital of Chinese PLA Central Theater Command, Wuhan 430070, P. R. China
| | - Jianguo Guan
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, P. R. China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, P. R. China
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Feng K, Chen L, Zhang X, Gong J, Qu J, Niu R. Collective Behaviors of Isotropic Micromotors: From Assembly to Reconstruction and Motion Control under External Fields. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:2900. [PMID: 37947744 PMCID: PMC10650937 DOI: 10.3390/nano13212900] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/26/2023] [Revised: 10/27/2023] [Accepted: 10/30/2023] [Indexed: 11/12/2023]
Abstract
Swarms of self-propelled micromotors can mimic the processes of natural systems and construct artificial intelligent materials to perform complex collective behaviors. Compared to self-propelled Janus micromotors, the isotropic colloid motors, also called micromotors or microswimmers, have advantages in self-assembly to form micromotor swarms, which are efficient in resistance to external disturbance and the delivery of large quantity of cargos. In this minireview, we summarize the fundamental principles and interactions for the assembly of isotropic active particles to generate micromotor swarms. Recent discoveries based on either catalytic or external physical field-stimulated micromotor swarms are also presented. Then, the strategy for the reconstruction and motion control of micromotor swarms in complex environments, including narrow channels, maze, raised obstacles, and high steps/low gaps, is summarized. Finally, we outline the future directions of micromotor swarms and the remaining challenges and opportunities.
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Affiliation(s)
- Kai Feng
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Ministry of Education, Wuhan 430074, China; (K.F.); (L.C.); (X.Z.); (J.Q.)
| | - Ling Chen
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Ministry of Education, Wuhan 430074, China; (K.F.); (L.C.); (X.Z.); (J.Q.)
| | - Xinle Zhang
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Ministry of Education, Wuhan 430074, China; (K.F.); (L.C.); (X.Z.); (J.Q.)
| | - Jiang Gong
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Ministry of Education, Wuhan 430074, China; (K.F.); (L.C.); (X.Z.); (J.Q.)
| | - Jinping Qu
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Ministry of Education, Wuhan 430074, China; (K.F.); (L.C.); (X.Z.); (J.Q.)
- Key Laboratory of Polymer Processing Engineering, Ministry of Education, Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, National Engineering Research Center of Novel Equipment for Polymer Processing, School of Mechanical and Automotive Engineering, South China University of Technology, Ministry of Education, Guangzhou 510641, China
| | - Ran Niu
- Key Laboratory of Material Chemistry for Energy Conversion and Storage, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, Hubei Engineering Research Center for Biomaterials and Medical Protective Materials, Semiconductor Chemistry Center, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Ministry of Education, Wuhan 430074, China; (K.F.); (L.C.); (X.Z.); (J.Q.)
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12
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Fu Y, Wu Z, Zhan S, Yang J, Gardi G, Kishore V, Malgaretti P, Wang W. Entropy by Neighbor Distance as a New Measure for Characterizing Spatiotemporal Orders in Microscopic Collective Systems. MICROMACHINES 2023; 14:1503. [PMID: 37630039 PMCID: PMC10456758 DOI: 10.3390/mi14081503] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2023] [Revised: 07/21/2023] [Accepted: 07/24/2023] [Indexed: 08/27/2023]
Abstract
Collective systems self-organize to form globally ordered spatiotemporal patterns. Finding appropriate measures to characterize the order in these patterns will contribute to our understanding of the principles of self-organization in all collective systems. Here we examine a new measure based on the entropy of the neighbor distance distributions in the characterization of collective patterns. We study three types of systems: a simulated self-propelled boid system, two active colloidal systems, and one centimeter-scale robotic swarm system. In all these systems, the new measure proves sensitive in revealing active phase transitions and in distinguishing steady states. We envision that the entropy by neighbor distance could be useful for characterizing biological swarms such as bird flocks and for designing robotic swarms.
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Affiliation(s)
- Yulei Fu
- University of Michigan—Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Zongyuan Wu
- University of Michigan—Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China
- Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, USA
| | - Sirui Zhan
- University of Michigan—Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China
- College of Engineering, University of Michigan, Ann Arbor, MI 48109, USA
| | - Jiacheng Yang
- The Academy for Engineering and Technology, Fudan University, Shanghai 200433, China
| | - Gaurav Gardi
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Department of Physics, University of Stuttgart, 70569 Stuttgart, Germany
| | - Vimal Kishore
- Department of Physics, Banaras Hindu University, Varanasi 221005, India
| | - Paolo Malgaretti
- Helmholtz Institute Erlangen-Nürnberg for Renewable Energy (IEK-11), Forschungszentrum Jülich, 52425 Jülich, Germany
| | - Wendong Wang
- University of Michigan—Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China
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13
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Li J, Yu J. Biodegradable Microrobots and Their Biomedical Applications: A Review. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:nano13101590. [PMID: 37242005 DOI: 10.3390/nano13101590] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/11/2023] [Revised: 05/04/2023] [Accepted: 05/04/2023] [Indexed: 05/28/2023]
Abstract
During recent years, microrobots have drawn extensive attention owing to their good controllability and great potential in biomedicine. Powered by external physical fields or chemical reactions, these untethered microdevices are promising candidates for in vivo complex tasks, such as targeted delivery, imaging and sensing, tissue engineering, hyperthermia, and assisted fertilization, among others. However, in clinical use, the biodegradability of microrobots is significant for avoiding toxic residue in the human body. The selection of biodegradable materials and the corresponding in vivo environment needed for degradation are increasingly receiving attention in this regard. This review aims at analyzing different types of biodegradable microrobots by critically discussing their advantages and limitations. The chemical degradation mechanisms behind biodegradable microrobots and their typical applications are also thoroughly investigated. Furthermore, we examine their feasibility and deal with the in vivo suitability of different biodegradable microrobots in terms of their degradation mechanisms; pathological environments; and corresponding biomedical applications, especially targeted delivery. Ultimately, we highlight the prevailing obstacles and perspective solutions, ranging from their manufacturing methods, control of movement, and degradation rate to insufficient and limited in vivo tests, that could be of benefit to forthcoming clinical applications.
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Affiliation(s)
- Jinxin Li
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
| | - 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, Shenzhen 518172, China
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14
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Wang B, Handschuh-Wang S, Shen J, Zhou X, Guo Z, Liu W, Pumera M, Zhang L. Small-Scale Robotics with Tailored Wettability. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2205732. [PMID: 36113864 DOI: 10.1002/adma.202205732] [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: 06/23/2022] [Revised: 09/01/2022] [Indexed: 05/05/2023]
Abstract
Small-scale robots (SSRs) have emerged as promising and versatile tools in various biomedical, sensing, decontamination, and manipulation applications, as they are uniquely capable of performing tasks at small length scales. With the miniaturization of robots from the macroscale to millimeter-, micrometer-, and nanometer-scales, the viscous and surface forces, namely adhesive forces and surface tension have become dominant. These forces significantly impact motion efficiency. Surface engineering of robots with both hydrophilic and hydrophobic functionalization presents a brand-new pathway to overcome motion resistance and enhance the ability to target and regulate robots for various tasks. This review focuses on the current progress and future perspectives of SSRs with hydrophilic and hydrophobic modifications (including both tethered and untethered robots). The study emphasizes the distinct advantages of SSRs, such as improved maneuverability and reduced drag forces, and outlines their potential applications. With continued innovation, rational surface engineering is expected to endow SSRs with exceptional mobility and functionality, which can broaden their applications, enhance their penetration depth, reduce surface fouling, and inhibit bacterial adhesion.
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Affiliation(s)
- Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Stephan Handschuh-Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Jie Shen
- Shenzhen Key Laboratory of Spine Surgery, Department of Spine Surgery, Peking University Shenzhen Hospital, Shenzhen, 518036, China
| | - Xuechang Zhou
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Zhiguang Guo
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Science, Lanzhou, 730000, China
- Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials, Hubei University, Wuhan, 430062, China
| | - Weimin Liu
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Science, Lanzhou, 730000, China
| | - Martin Pumera
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno, 61200, Czech Republic
- Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-Gu, Seoul, 03722, South Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, 999077, China
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15
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Zhu Y, Song Y, Cao Z, Dong L, Shen S, Lu Y, Yang X. A Magnetically Driven Amoeba-Like Nanorobot for Whole-Process Active Drug Transport. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2204793. [PMID: 36698293 PMCID: PMC9982561 DOI: 10.1002/advs.202204793] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/19/2022] [Revised: 12/24/2022] [Indexed: 05/20/2023]
Abstract
The passive diffusion performance of nanocarriers results in inefficient drug transport across multiple biological barriers and consequently cancer therapy failure. Here, a magnetically driven amoeba-like nanorobot (amNR) is presented for whole-process active drug transport. The amNR is actively extravasated from blood vessels and penetrated into deep tumor tissue through a magnetically driven deformation effect. Moreover, the acidic microenvironment of deep tumor tissue uncovers the masked targeting ligand of amNR to achieve active tumor cell uptake. Furthermore, the amNR rapidly releases the encapsulated doxorubicin (DOX) after alternating magnetic field application. The amNRs eventually deliver DOX into ≈92.3% of tumor cells and completely delay tumor growth with an inhibition rate of 96.1%. The deformable amNRs, with the assistance of magnetic field application, provide a facile strategy for whole-process active drug transport.
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Affiliation(s)
- Yueqiang Zhu
- Guangzhou First People's HospitalSchool of Biomedical Sciences and EngineeringSouth China University of TechnologyGuangzhou International CampusGuangzhou511442P.R. China
- National Engineering Research Center for Tissue Restoration and Reconstructionand Guangdong Province Key Laboratory of Biomedical EngineeringSouth China University of TechnologyGuangzhouGuangdong510006P. R. China
| | - Yonghong Song
- Anhui Province Key Laboratory of Advanced Catalytic Materials and Reaction EngineeringSchool of Chemistry and Chemical EngineeringIntelligent Interconnected Systems Laboratory of Anhui ProvinceHefei University of TechnologyHefei230009P.R. China
| | - Ziyang Cao
- Guangzhou First People's HospitalSchool of Biomedical Sciences and EngineeringSouth China University of TechnologyGuangzhou International CampusGuangzhou511442P.R. China
- Key Laboratory of Biomedical Materials and Engineering of the Ministry of EducationSouth China University of TechnologyGuangzhou510006P. R. China
| | - Liang Dong
- Anhui Province Key Laboratory of Advanced Catalytic Materials and Reaction EngineeringSchool of Chemistry and Chemical EngineeringIntelligent Interconnected Systems Laboratory of Anhui ProvinceHefei University of TechnologyHefei230009P.R. China
| | - Song Shen
- Guangzhou First People's HospitalSchool of Biomedical Sciences and EngineeringSouth China University of TechnologyGuangzhou International CampusGuangzhou511442P.R. China
| | - Yang Lu
- Anhui Province Key Laboratory of Advanced Catalytic Materials and Reaction EngineeringSchool of Chemistry and Chemical EngineeringIntelligent Interconnected Systems Laboratory of Anhui ProvinceHefei University of TechnologyHefei230009P.R. China
| | - Xianzhu Yang
- Guangzhou First People's HospitalSchool of Biomedical Sciences and EngineeringSouth China University of TechnologyGuangzhou International CampusGuangzhou511442P.R. China
- National Engineering Research Center for Tissue Restoration and Reconstructionand Guangdong Province Key Laboratory of Biomedical EngineeringSouth China University of TechnologyGuangzhouGuangdong510006P. R. China
- Anhui Province Key Laboratory of Advanced Catalytic Materials and Reaction EngineeringSchool of Chemistry and Chemical EngineeringIntelligent Interconnected Systems Laboratory of Anhui ProvinceHefei University of TechnologyHefei230009P.R. China
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16
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Sun Y, Pan R, Chen Y, Wang Y, Sun L, Wang N, Ma X, Wang GP. Efficient Preparation of a Magnetic Helical Carbon Nanomotor for Targeted Anticancer Drug Delivery. ACS NANOSCIENCE AU 2023; 3:94-102. [PMID: 37101464 PMCID: PMC10125355 DOI: 10.1021/acsnanoscienceau.2c00042] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/30/2022] [Revised: 11/04/2022] [Accepted: 11/08/2022] [Indexed: 04/28/2023]
Abstract
The applications of nanomotors in the biomedical field have been attracting extensive attention. However, it remains a challenge to fabricate nanomotors in a facile way and effectively load drugs for active targeted therapy. In this work, we combine the microwave heating method and chemical vapor deposition (CVD) to fabricate magnetic helical nanomotors efficiently. The microwave heating method can accelerate intermolecular movement, which converts kinetic energy into heat energy and shortens the preparation time of the catalyst used for carbon nanocoil (CNC) synthesis by 15 times. Fe3O4 nanoparticles are in situ nucleated on the CNC surface by the microwave heating method to fabricate magnetically driven CNC/Fe3O4 nanomotors. In addition, we achieved precise control of the magnetically driven CNC/Fe3O4 nanomotors through remote manipulation of magnetic fields. Anticancer drug doxorubicin (DOX) is then efficiently loaded onto the nanomotors via π-π stacking interactions. Finally, the drug-loaded CNC/Fe3O4@DOX nanomotor can accurately accomplish cell targeting under external magnetic field control. Under short-time irradiation of near-infrared light, DOX can be quickly released onto target cells to effectively kill the cells. More importantly, CNC/Fe3O4@DOX nanomotors allow for single-cell or cell-cluster-targeted anticancer drug delivery, providing a dexterous platform to potentially perform many medically relevant tasks in vivo. The efficient preparation method and application in drug delivery are beneficial for future industrial production and provide inspiration for advanced micro/nanorobotic systems using the CNC as a carrier for a wide range of biomedical applications.
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Affiliation(s)
- Yanming Sun
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
| | - Renjie Pan
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
| | - Yuduo Chen
- School
of Materials Science and Engineering, Harbin
Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
- Sauvage
Laboratory for Smart Materials, Harbin Institute
of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yong Wang
- School
of Materials Science and Engineering, Harbin
Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
- Sauvage
Laboratory for Smart Materials, Harbin Institute
of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Lei Sun
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
| | - Neng Wang
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
| | - Xing Ma
- School
of Materials Science and Engineering, Harbin
Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
- Sauvage
Laboratory for Smart Materials, Harbin Institute
of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Guo Ping Wang
- College
of Electronics and Information Engineering, Shenzhen University, 3688 Nanhai Boulevard, Shenzhen 518060, China
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17
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Wang Y, Chen W, Wang Z, Zhu Y, Zhao H, Wu K, Wu J, Zhang W, Zhang Q, Guo H, Ju H, Liu Y. NIR-II Light Powered Asymmetric Hydrogel Nanomotors for Enhanced Immunochemotherapy. Angew Chem Int Ed Engl 2023; 62:e202212866. [PMID: 36401612 DOI: 10.1002/anie.202212866] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/31/2022] [Revised: 11/16/2022] [Accepted: 11/18/2022] [Indexed: 11/21/2022]
Abstract
Nanomotors are appealing drug carriers, and the strength of the propelling force is important for their motion capability. Though high motion efficiency has been achieved with 808 nm light driven Janus-structured noble metal nanomotors, the NIR-I light penetration depth and material biocompatibility limit their broad application. Herein, we develop a 1064 nm NIR-II light driven asymmetric hydrogel nanomotor (AHNM) with high motion capability and load it with doxorubicin for enhanced immunochemotherapy. Magnetic field assisted photopolymerization generates an asymmetric distribution of Fe3 O4 @Cu9 S8 nanoparticles in the AHNM, producing self-thermophoresis as driving force under NIR-II irradiation. The AHNM is also functionalized with dopamine for the capture and retention of tumor-associated antigens to boost immune activation. The as-obtained NIR-II light driven AHNM has a high tumor tissue penetration capability and enhances immunochemotherapy, providing a promising strategy for cancer therapy.
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Affiliation(s)
- Yingfei Wang
- State Key Laboratory of Analytical Chemistry for Life Science, School of Chemistry and Chemical Engineering, Nanjing University, Nanjing, 210023, China
| | - Wei Chen
- Department of Urology, Affiliated Drum Tower Hospital, Medical School of Nanjing University, Institute of Urology, Nanjing University, Nanjing, 210008, China
| | - Zhong Wang
- College of Engineering and Applied Sciences, Jiangsu Key Laboratory of Artificial Functional Materials, MOE Key Laboratory of Intelligent Optical Sensing and Manipulation, State Key Laboratory of Analytical Chemistry for Life Sciences, Nanjing University, Nanjing, 210023, China
| | - Yu Zhu
- State Key Laboratory of Analytical Chemistry for Life Science, School of Chemistry and Chemical Engineering, Nanjing University, Nanjing, 210023, China
| | - Hongxia Zhao
- State Key Laboratory of Analytical Chemistry for Life Science, School of Chemistry and Chemical Engineering, Nanjing University, Nanjing, 210023, China
| | - Kun Wu
- State Key Laboratory of Analytical Chemistry for Life Science, School of Chemistry and Chemical Engineering, Nanjing University, Nanjing, 210023, China
| | - Jie Wu
- State Key Laboratory of Analytical Chemistry for Life Science, School of Chemistry and Chemical Engineering, Nanjing University, Nanjing, 210023, China
| | - Weihua Zhang
- College of Engineering and Applied Sciences, Jiangsu Key Laboratory of Artificial Functional Materials, MOE Key Laboratory of Intelligent Optical Sensing and Manipulation, State Key Laboratory of Analytical Chemistry for Life Sciences, Nanjing University, Nanjing, 210023, China
| | - Qing Zhang
- Department of Urology, Affiliated Drum Tower Hospital, Medical School of Nanjing University, Institute of Urology, Nanjing University, Nanjing, 210008, China
| | - Hongqian Guo
- Department of Urology, Affiliated Drum Tower Hospital, Medical School of Nanjing University, Institute of Urology, Nanjing University, Nanjing, 210008, China
| | - Huangxian Ju
- State Key Laboratory of Analytical Chemistry for Life Science, School of Chemistry and Chemical Engineering, Nanjing University, Nanjing, 210023, China
| | - Ying Liu
- State Key Laboratory of Analytical Chemistry for Life Science, School of Chemistry and Chemical Engineering, Nanjing University, Nanjing, 210023, China.,Chemistry and Biomedicine Innovation Center, Nanjing University, Nanjing, 210023, China
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18
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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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19
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Li M, Wu J, Lin D, Yang J, Jiao N, Wang Y, Liu L. A diatom-based biohybrid microrobot with a high drug-loading capacity and pH-sensitive drug release for target therapy. Acta Biomater 2022; 154:443-453. [PMID: 36243369 DOI: 10.1016/j.actbio.2022.10.019] [Citation(s) in RCA: 16] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/22/2022] [Revised: 09/25/2022] [Accepted: 10/07/2022] [Indexed: 12/14/2022]
Abstract
Targeted delivery is a promising mean for various biomedical applications, and various micro/nano robots have been created for drug delivery. Mesoporous silica has been shown to be successful as a drug delivery carrier in numerous studies. However, mesoporous silica preparation usually requires expensive and toxic chemicals, which limits its biomedical applications. Diatoms, as the naturally porous silica structure, are promising substitutes for the artificial mesoporous silica preparation. However, the current studies utilizing intact diatom frustules as drug delivery packets lack flexible and controllable locomotion. Herein, we propose a biohybrid magnetic microrobot based on Thalassiosira weissflogii frustules (TWFs) as a cargo packet for targeted drug delivery using a simple preparation method. Biohybrid microrobots are fabricated in large quantities by attaching magnetic nanoparticles (Fe3O4) to the surface of diatoms via electrostatic adsorption. Biohybrid microrobots are agile and controllable under the influence of external magnetic fields. They could be precisely controlled to follow specific trajectories or to move as swarms. The cooperation of the two motion modes of the biohybrid microrobots increased microrobots' environmental adaptability. Microrobots have a high drug-loading capacity and pH-sensitive drug release. In vitro cancer cell experiments further demonstrated the controllability of diatom microrobots for targeted drug delivery. The biohybrid microrobots reported in this paper convert natural diatoms into cargo packets for biomedical applications, which possess active and controllable properties and show huge potential for targeted anticancer therapy. STATEMENT OF SIGNIFICANCE: In this study, diatoms with good biocompatibility were used to prepare biohybrid magnetic microrobots. Compared with the current diatom-based systems for drug delivery, the microrobots prepared in this study for targeted drug delivery have more flexible motion characteristics and exhibit certain swarming behaviors. Under the same magnetic field strength, by changing the magnetic field frequency, the movement state of the diatoms can be changed to pass through the narrow channel, so that it has better environmental adaptability.
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Affiliation(s)
- Mengyue Li
- 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
| | - 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
| | - 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 Chinese Academy of Sciences, Beijing 100049, China
| | - Jia Yang
- 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
| | - 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.
| | - Yuechao 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
| | - 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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Yang S, Wang Q, Jin D, Du X, Zhang L. Probing Fast Transformation of Magnetic Colloidal Microswarms in Complex Fluids. ACS NANO 2022; 16:19025-19037. [PMID: 36367748 DOI: 10.1021/acsnano.2c07948] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
The rapidly transformed morphology of natural swarms enables fast response to environmental changes. Artificial microswarms can reconfigure their swarm patterns like natural swarms, which have drawn extensive attention due to their active adaptability in complex environments. However, as a prerequisite for biomedical applications of microswarms in confined environments, achieving on-demand control of pattern transformation rates remains a challenge. In this work, we report a strategy for optimizing pattern transformation rates of colloidal microswarms by coordinating the inner interactions. The influences of magnetic field parameters on pattern transformation rates are theoretically and experimentally studied, which elucidates the mechanism for optimal transformation rate control. The feasibility of the strategy is then validated in viscous Newtonian fluids and non-Newtonian biofluids. Moreover, the strategy is further validated in dynamic flow environments, exhibiting a promising future for practical applications in targeted delivery tasks with an optimal pattern transformation manner.
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Affiliation(s)
- Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
| | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing211100, People's Republic of China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
| | - Xingzhou Du
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
- T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong999077, People's Republic of China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong999077, People's Republic of China
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21
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Xing Y, Hussain D, Hu C. Optimized Dynamic Motion Performance for a 5-DoF Electromagnetic Manipulation. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3187501] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Yi Xing
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology and with Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China
| | - Danish Hussain
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology and with Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China
| | - Chengzhi Hu
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology and with Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China
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22
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Chen X, Xu Y, Lou K, Peng Y, Zhou C, Zhang HP, Wang W. Programmable, Spatiotemporal Control of Colloidal Motion Waves via Structured Light. ACS NANO 2022; 16:12755-12766. [PMID: 35857820 DOI: 10.1021/acsnano.2c04596] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Traveling waves in a reaction-diffusion system are essential for long-range communication in living organisms and inspire biomimetic materials of similar capabilities. One recent example is the traveling motion waves among photochemically oscillating, silver (Ag)-containing colloids. Being able to manipulate these colloidal waves holds the key for potential applications. Here, we have discovered that these motion waves can be confined by light patterns and that the chemical clocks of silver particles are moved forward by reducing local light intensity. Using these discoveries as design principles, we have applied structured light technology for the precise and programmable control of colloidal motion waves, including their origins, propagation directions, paths, shapes, annihilation, frequency, and speeds. We have also used the controlled propagation of colloidal waves to guide chemical messages along a predefined path to activate a population of micromotors located far from the signal. Our demonstrated capabilities in manipulating colloidal waves in space and time offer physical insights on their operation and expand their usefulness in the fundamental study of reaction-diffusion processes. Moreover, our findings inspire biomimetic strategies for the directional transport of mass, energy, and information at micro- or even nanoscales.
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Affiliation(s)
- Xi Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Yankai Xu
- School of Physics and Astronomy and Institute of Natural Sciences, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Kai Lou
- Guangzhou Kayja-Optics Technology Co., Ltd., Guangzhou 511458, China
| | - Yixin Peng
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Chao Zhou
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - H P Zhang
- School of Physics and Astronomy and Institute of Natural Sciences, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Wei Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
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23
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Sun M, Chan KF, Zhang Z, Wang L, Wang Q, Yang S, Chan SM, Chiu PWY, Sung JJY, Zhang L. Magnetic Microswarm and Fluoroscopy-Guided Platform for Biofilm Eradication in Biliary Stents. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2201888. [PMID: 35474246 DOI: 10.1002/adma.202201888] [Citation(s) in RCA: 48] [Impact Index Per Article: 24.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/27/2022] [Revised: 04/18/2022] [Indexed: 06/14/2023]
Abstract
Biofilm eradication from medical implants is of fundamental importance, and the treatment of biofilm-associated pathogen infections on inaccessible biliary stents remains challenging. Magnetically driven microrobots with controlled motility, accessibility to the tiny lumen, and swarm enhancement effects can physically disrupt the deleterious biostructures while not developing drug resistance. Magnetic urchin-like capsule robots (MUCRs) loaded with magnetic liquid metal droplets (MLMDs, antibacterial agents) are designed using natural sunflower pollen, and the therapeutic effect of swarming MUCR@MLMDs is explored for eradicating complex mixtures of bacterial biofilm within biliary stents collected from patients. The external magnetic field triggers the emergence of the microswarm and induces MLMDs to transform their shape into spheroids and rods with sharp edges. The inherent natural microspikes of MUCRs and the obtained sharp edges of MLMDs actively rupture the dense biological matrix and multiple species of embedded bacterial cells by exerting mechanical force, finally achieving synergistic biofilm eradication. The microswarm is precisely and rapidly deployed into the biliary stent via endoscopy in 10 min. Notably, fluoroscopy imaging is used to track and navigate the locomotion of microswarm in biliary stents in real-time. The microswarm has great potential for treating bacterial biofilm infections associated with medical implants.
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Affiliation(s)
- Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
| | - Zifeng Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Lu Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | | | - Philip Wai Yan Chiu
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
| | - Joseph Jao Yiu Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
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24
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Peng Y, Xu P, Duan S, Liu J, Moran JL, Wang W. Generic Rules for Distinguishing Autophoretic Colloidal Motors. Angew Chem Int Ed Engl 2022; 61:e202116041. [PMID: 34994039 DOI: 10.1002/anie.202116041] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/24/2021] [Indexed: 12/28/2022]
Abstract
Distinguishing the operating mechanisms of nano- and micromotors powered by chemical gradients, i.e. "autophoresis", holds the key for fundamental and applied reasons. In this article, we propose and experimentally confirm that the speeds of a self-diffusiophoretic colloidal motor scale inversely to its population density but not for self-electrophoretic motors, because the former is an ion source and thus increases the solution ionic strength over time while the latter does not. They also form clusters in visually distinguishable and quantifiable ways. This pair of rules is simple, powerful, and insensitive to the specific material composition, shape or size of a colloidal motor, and does not require any measurement beyond typical microscopy. These rules are not only useful in clarifying the operating mechanisms of typical autophoretic micromotors, but also in predicting the dynamics of unconventional ones that are yet to be experimentally realized, even those involving enzymes.
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Affiliation(s)
- Yixin Peng
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong, 518055, China
| | - Pengzhao Xu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong, 518055, China
| | - Shifang Duan
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong, 518055, China
| | - Jiayu Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong, 518055, China
| | | | - Wei Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong, 518055, China
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25
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Wang Q, Du X, Jin D, Zhang L. Real-Time Ultrasound Doppler Tracking and Autonomous Navigation of a Miniature Helical Robot for Accelerating Thrombolysis in Dynamic Blood Flow. ACS NANO 2022; 16:604-616. [PMID: 34985859 DOI: 10.1021/acsnano.1c07830] [Citation(s) in RCA: 28] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Untethered small-scale robots offer great promise for medical applications in complex biological environments. However, challenges remain in the control and medical imaging of a robot for targeted delivery inside a living body, especially in flowing conditions (e.g., blood vessels). In this work, we report a strategy to autonomously navigate a miniature helical robot in dynamic blood flow under ultrasound Doppler imaging guidance. A magnetic torque and force-hybrid control approach is implemented, enabling the actuation of a millimeter-scale helical robot against blood flow under a rotating magnetic field with a controllable field gradient. Experimental results demonstrate that the robot (length 7.30 mm; diameter 2.15 mm) exhibits controlled navigation in vascular environments, including upstream and downstream navigation in flowing and pulsatile flowing blood with flow rates up to 24 mL/min (mean flow velocity: 14.15 mm/s). During navigation, the rotating robot-induced Doppler signals enable real-time localization and tracking in flowing and pulsatile flowing blood environments. Moreover, the robot can be selectively navigated along different paths by actively controlling the robot's orientation. We apply this autonomous strategy for localizing thrombus and accelerating thrombolysis rate. Compared with conventional tissue plasminogen activator (tPA) thrombolysis, the robot-enhanced shear stress and tPA convection near the clot-blood interface increase the unblocking and thrombolysis efficiency up to 4.8- and 3.5-fold, respectively. Such a medical imaging-guided navigation strategy provides simultaneous robot navigation and localization in complex dynamic biological environments, providing an intelligent approach toward real-time targeted delivery and diagnostic applications in vivo.
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Affiliation(s)
- Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Xingzhou Du
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong 999077, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong 999077, China
- T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong 999077, China
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