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Yang Q, Yuan W, Zhao T, Jiao Y, Tang M, Cong Z, Wu S. Magnetic-Powered Spora Lygodii Microrobots Loaded with Doxorubicin for Active and Targeted Therapy of Bladder Cancer. Drug Des Devel Ther 2024; 18:5841-5851. [PMID: 39679132 PMCID: PMC11638078 DOI: 10.2147/dddt.s490652] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/29/2024] [Accepted: 11/29/2024] [Indexed: 12/17/2024] Open
Abstract
Background and Purpose Bladder cancer has high recurrence rates despite standard treatments, necessitating innovative therapeutic approaches. This study introduces magnetically powered microrobots utilizing Traditional Chinese Medicine (TCM) Spora Lygodii (SL) encapsulated with Doxorubicin (DOX) and Fe3O4 nanoparticles (Fe/DOX@SL) for targeted therapy. Methods Fe3O4 nanoparticles were synthesized via co-precipitation and combined with SL spores and DOX through dip-coating to form Fe/DOX@SL microrobots. Their propulsion was controlled by a rotating magnetic field (RMF) for precise delivery. The microrobots' mobility and adherence were assessed in various biological media. Therapeutic efficacy was evaluated using an orthotopic bladder cancer model in mice treated intravesically with Fe/DOX@SL under RMF guidance, compared to controls. Results Fe/DOX@SL microrobots demonstrated efficient movement and stable navigation in biological environments. In vivo experiments showed superior retention in the bladder, prolonged adherence to the mucosa, and significantly enhanced tumor suppression in the RMF-guided group. Bioluminescence imaging confirmed reduced tumor growth, and histological analysis revealed substantial tumor regression compared to other treatments. Discussion and Conclusion This study highlights the potential of integrating TCM with advanced microrobotics. The biocompatible Fe/DOX@SL microrobots leverage SL's therapeutic properties and fuel-free magnetic control to overcome challenges in bladder cancer treatment, such as poor drug retention and off-target toxicity. This novel platform represents a promising advancement in targeted cancer therapy. The innovative fusion of TCM and microrobotics introduces a potent, targeted therapeutic strategy for bladder cancer, paving the way for broader biomedical applications.
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MESH Headings
- Urinary Bladder Neoplasms/drug therapy
- Urinary Bladder Neoplasms/pathology
- Animals
- Doxorubicin/pharmacology
- Doxorubicin/chemistry
- Doxorubicin/administration & dosage
- Mice
- Antibiotics, Antineoplastic/pharmacology
- Antibiotics, Antineoplastic/chemistry
- Antibiotics, Antineoplastic/administration & dosage
- Humans
- Drug Screening Assays, Antitumor
- Drug Delivery Systems
- Neoplasms, Experimental/drug therapy
- Neoplasms, Experimental/pathology
- Cell Proliferation/drug effects
- Female
- Medicine, Chinese Traditional
- Magnetic Fields
- Mice, Inbred BALB C
- Magnetite Nanoparticles/chemistry
- Particle Size
- Cell Line, Tumor
- Mice, Nude
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Affiliation(s)
- Qingxin Yang
- Department of Pharmacy, Mianyang Orthopaedic Hospital, Mianyang, 621000, People’s Republic of China
- Mianyang Key Laboratory of Development and Utilization of Chinese Medicine Resources, Mianyang, 621000, People’s Republic of China
- The Third Affiliated Hospital of Shenzhen University, Shenzhen Luohu People’s Hospital, Shenzhen, 518000, People’s Republic of China
| | - Wen Yuan
- Mianyang Key Laboratory of Development and Utilization of Chinese Medicine Resources, Mianyang, 621000, People’s Republic of China
| | - Tinghui Zhao
- Department of Burns and Plastic Surgery, Mianyang Central Hospital, Mianyang, 621000, People’s Republic of China
| | - Yanixao Jiao
- Department of Biochemistry and Molecular Medicine, University of California, Davis, CA, 95817, USA
| | - Menghuan Tang
- Department of Biochemistry and Molecular Medicine, University of California, Davis, CA, 95817, USA
| | - Zhaoqing Cong
- Department of Biochemistry and Molecular Medicine, University of California, Davis, CA, 95817, USA
- South China Hospital, Medical School, Shenzhen University, Shenzhen, 518116, People’s Republic of China
| | - Song Wu
- South China Hospital, Medical School, Shenzhen University, Shenzhen, 518116, People’s Republic of China
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2
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Wang Q, Zhang Z, Wu Y, Li B, Li Y, Gu H, Gu Z. Magnetic Torque-Driven All-Terrain Microrobots. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2405501. [PMID: 39254321 DOI: 10.1002/smll.202405501] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/03/2024] [Revised: 08/21/2024] [Indexed: 09/11/2024]
Abstract
All-terrain microrobots possess significant potential in modern medical applications due to their superior maneuverability in complex terrains and confined spaces. However, conventional microrobots often struggle with adaptability and operational difficulties in variable environments. This study introduces a magnetic torque-driven all-terrain multiped microrobot (MTMR) to address these challenges. By coupling the structure's multiple symmetries with different uniform magnetic fields, such as rotating and oscillating fields, the MTMR demonstrates various locomotion modes, including rolling, tumbling, walking, jumping, and their combinations. Experimental results indicate that the robot can navigate diverse terrains, including flat surfaces, steep slopes (up to 75°), and gaps over twice its body height. Additionally, the MTMR performs well in confined spaces, capable of passing through slits (0.1 body length) and low tunnels (0.25 body length). The robot shows potential for clinical applications like minimally invasive hemostasis in internal bleeding and thrombus removal from blood vessels through accurate cargo manipulation capability. Moreover, the MTMR can carry temperature sensors to monitor environmental temperature changes in real time while simultaneously manipulating objects, displaying its potential for in-situ sensing and parallel task implementation. This all-terrain microrobot technology demonstrates notable adaptability and versatility, providing a solid foundation for practical applications in interventional medicine.
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Affiliation(s)
- Qiong Wang
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Zhuhua Zhang
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Yuhua Wu
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Bingyan Li
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Yuchong Li
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, China
| | - Hongcheng Gu
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Zhongze Gu
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
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3
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Wang Y, Mo Y, Sun Y, Li J, An Y, Feng N, Liu Y. Intestinal nanoparticle delivery and cellular response: a review of the bidirectional nanoparticle-cell interplay in mucosa based on physiochemical properties. J Nanobiotechnology 2024; 22:669. [PMID: 39487532 PMCID: PMC11531169 DOI: 10.1186/s12951-024-02930-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/17/2024] [Accepted: 10/11/2024] [Indexed: 11/04/2024] Open
Abstract
Orally administered nanocarriers play an important role in improving druggability, promoting intestinal absorption, and enhancing therapeutic applications for the treatment of local and systemic diseases. However, the delivering efficiency and cell response in mucosa to orally administered nanocarriers is affected by the physiological environment and barriers in the gastrointestinal tract, the physicochemical properties of the nanocarriers, and their bidirectional interactions. Goblet cells secrete and form extracellular mucus, which hinders the movement of nanoparticles. Meanwhile, intestinal epithelial cells may absorb the NPs, allowing for their transcytosis or degradation. Conversely, nanoparticle-induced toxicity may occur as a biological response to the nanoparticle exposure. Additionally, immune response and cell functions in secretions such as mucin, peptide, and cytokines may also be altered. In this review, we discuss the bidirectional interactions between nanoparticles and cells focusing on enterocytes and goblet cells, M cells, and immune cells in the mucosa according to the essential role of intestinal epithelial cells and their crosstalk with immune cells. Furthermore, we discuss the recent advances of how the physiochemical properties of nanoparticles influence their interplay, delivery, and fate in intestinal mucosa. Understanding the fate of nanoparticles with different physiochemical properties from the perspective of their interaction with cells in mucosa provides essential support for the development, rational design, potency maximation, and application of advanced oral nanocarrier delivery systems.
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Affiliation(s)
- Yu Wang
- Department of Pharmaceutical Sciences, School of Pharmacy, Shanghai University of Traditional Chinese Medicine, 1200 Cailun Road, Zhangjiang Hi-Tech Park, Pudong New District, Shanghai, 201203, P R China
| | - Yilei Mo
- Department of Pharmaceutical Sciences, School of Pharmacy, Shanghai University of Traditional Chinese Medicine, 1200 Cailun Road, Zhangjiang Hi-Tech Park, Pudong New District, Shanghai, 201203, P R China
| | - Yingwei Sun
- Department of Pharmaceutical Sciences, School of Pharmacy, Shanghai University of Traditional Chinese Medicine, 1200 Cailun Road, Zhangjiang Hi-Tech Park, Pudong New District, Shanghai, 201203, P R China
| | - Jing Li
- Department of Pharmaceutical Sciences, School of Pharmacy, Shanghai University of Traditional Chinese Medicine, 1200 Cailun Road, Zhangjiang Hi-Tech Park, Pudong New District, Shanghai, 201203, P R China
| | - Yu An
- Department of Pharmaceutical Sciences, School of Pharmacy, Shanghai University of Traditional Chinese Medicine, 1200 Cailun Road, Zhangjiang Hi-Tech Park, Pudong New District, Shanghai, 201203, P R China
| | - Nianping Feng
- Department of Pharmaceutical Sciences, School of Pharmacy, Shanghai University of Traditional Chinese Medicine, 1200 Cailun Road, Zhangjiang Hi-Tech Park, Pudong New District, Shanghai, 201203, P R China.
| | - Ying Liu
- Department of Pharmaceutical Sciences, School of Pharmacy, Shanghai University of Traditional Chinese Medicine, 1200 Cailun Road, Zhangjiang Hi-Tech Park, Pudong New District, Shanghai, 201203, P R China.
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4
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Chen Z, Chen H, Fang K, Liu N, Yu J. Magneto-Thermal Hydrogel Swarms for Targeted Lesion Sealing. Adv Healthc Mater 2024:e2403076. [PMID: 39449232 DOI: 10.1002/adhm.202403076] [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: 08/16/2024] [Revised: 09/25/2024] [Indexed: 10/26/2024]
Abstract
Magnetic microswarms capable of performing navigation to targeted lesions show great potential for in vivo medical applications. However, using the swarms for lesion cavity filling encounters challenges from precise delivery and sealing. Herein, this work develops a magneto-thermal hydrogel swarm consisting of magnetic hydrogel particles, which can perform phase transition induced by temperature change. The particles are prepared using a temperature-responsive hydrogel matrix, tissue adhesive monomers, and magnetic microparticles. The swarms can be remolded to various shapes, and it can be used to seal perforation in phantom and gastric tissue. The swarms can also serve as drug carriers, and their drug release profiles induced by temperature changes are characterized. Finally, the targeted delivery, adaptive filling, and sealing of a gastric ulcer using the swarms are achieved in ex vivo and in vivo environments.
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Affiliation(s)
- Ziheng Chen
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
- 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
| | - Kaiwen Fang
- 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
| | - Na Liu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, 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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5
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Wu S, Zhou Y, Wei J, Da Z, Chen W, Shu X, Luo T, Duan Y, Yang R, Ding C, Liu G. Alginate/GelMA microparticles via oil-free interface shearing for untethered magnetic microbots. Biomater Sci 2024; 12:5562-5572. [PMID: 39292506 DOI: 10.1039/d4bm00875h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/19/2024]
Abstract
Microrobots hold broad application prospects in the field of precision medicine, such as intravenous drug injection, tumor resection, opening blood vessels and imaging during abdominal surgery. However, the rapid and controllable preparation of biocompatible hydrogel microparticles still poses challenges. This study proposes the one-step direct acquisition of biocompatible sodium alginate and gelatin methacrylate (GelMA) hydrogel microparticles using an oil-free aqueous solution, ensuring production with a controllable generation frequency. An adaptive interface shearing platform is established to fabricate alginate/GelMA microparticles using a mixture of the hydrogel, photoinitiator, and Fe3O4 nanoparticles (NPs). By adjusting the static magnetic field intensity (Bs), vibration frequency, and flow rate (Q) of the dispersed phase, the size and morphology of the hydrogel microparticles can be controlled. These hydrogel microparticle robots exhibit magnetic responsiveness, demonstrating precise rotating and rolling movements under the influence of an externally rotating magnetic field (RMF). Moreover, hydrogel microparticle robots with a specific critical frequency (Cf) can be customized by adjusting the Bs and the concentration of Fe3O4 NPs. The directional in situ untethered motion of the hydrogel microparticle robots can be successfully realized and accurately controlled in the climbing over obstacles and in vitro experiments of animals, respectively. This versatile and fully biodegradable microrobot has the potential to precisely control movement to bone tissue and the natural cavity of the human body, as well as drug delivery.
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Affiliation(s)
- Shiyu Wu
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
| | - Yang Zhou
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
| | - Juan Wei
- Department of Rehabilitation Medicine, The Second Affiliated Hospital of Anhui Medical University, Hefei, Anhui, 230601, China.
| | - Zicheng Da
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
| | - Wenquan Chen
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
| | - Xiaoxia Shu
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
| | - Tingting Luo
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
| | - Yuping Duan
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
| | - Chengbiao Ding
- Department of Rehabilitation Medicine, The Second Affiliated Hospital of Anhui Medical University, Hefei, Anhui, 230601, China.
| | - Guangli Liu
- School of Biomedical Engineering, Anhui Medical University, Hefei, 230032, China.
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6
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Gao C, Zhang W, Gong D, Liang C, Su Y, Peng G, Deng X, Xu W, Cai J. Biotemplated Janus Magnetic Microrobots Based on Diatomite for Highly Efficient Detection of Salmonella. ACS APPLIED MATERIALS & INTERFACES 2024; 16:49030-49040. [PMID: 39226320 DOI: 10.1021/acsami.4c09408] [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: 09/05/2024]
Abstract
Foodborne illnesses caused by Salmonella bacteria pose a significant threat to public health. It is still challenging to detect them effectively. Herein, biotemplated Janus disk-shaped magnetic microrobots (BJDMs) based on diatomite are developed for the highly efficient detection of Salmonella in milk. The BJDMs were loaded with aptamer, which can be magnetically actuated in the swarm to capture Salmonella in a linear range of 5.8 × 102 to 5.8 × 105 CFU/mL in 30 min, with a detection limit as low as 58 CFU/mL. In addition, the silica surface of BJDMs exhibited a large specific surface area to adsorb DNA from captured Salmonella, and the specificity was also confirmed via tests of a mixture of diverse foodborne bacteria. These diatomite-based microrobots hold the advantages of mass production and low cost and could also be extended toward the detection of other types of bacterial toxins via loading different probes. Therefore, this work offers a reliable strategy to construct robust platforms for rapid biological detection in practical applications of food safety.
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Affiliation(s)
- Chao Gao
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Wenqiang Zhang
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - De Gong
- School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China
| | - Chao Liang
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Yuan Su
- Food Laboratory of Zhongyuan, Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health, China Agricultural University, Beijing 100193, China
| | - Guanya Peng
- School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China
| | - Xue Deng
- College of Engineering, China Agricultural University, Beijing 100083, China
| | - Wentao Xu
- Food Laboratory of Zhongyuan, Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health, China Agricultural University, Beijing 100193, China
| | - Jun Cai
- School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China
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7
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Zhong Y, Zhang J, Fang L, Cheang UK. MOF-Modified Microrollers for Bioimaging and Sustained Antibiotic Delivery. ACS APPLIED MATERIALS & INTERFACES 2024; 16:47163-47177. [PMID: 39196769 DOI: 10.1021/acsami.4c08535] [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: 08/30/2024]
Abstract
Central nervous system (CNS) infections caused by neurosurgery or intrathecal injection of contaminated cerebrospinal fluid are a common and difficult complication. Drug-delivery microrobots are among the latest solutions proposed for antibacterial applications. However, there is a lack of research into developing microrobots with the ability to sustain antibody delivery while can move efficiently in the CNS. Here, biocompatible antibacterial metal-organic framework (MOF)-modified microrollers (MMRs) to combat CNS infections are proposed. The MMRs are iron-based metal-organic framework (NH2-MIL-101(Fe)) modified for enhanced adsorption and Fe/Al coated for magnetic actuation and biocompatibility. The MMRs have demonstrated a faster and unhindered magnetically actuated motion on the uneven biological tissue surface in an organ-on-a-chip that mimicked the CNS compared to it on smooth surface. CFD results consistently align with the experimental findings. The MMRs can be loaded with rhodamine 6G for bioimaging, allowing them to be imaged through sections of the main human tissues by fluorescence microscopy, or tetracycline hydrochloride for antibiotic delivery, allowing them to inhibit the growth of Staphylococcus aureus biofilms by sustained release of antibiotics for 9 days. This study provides a strategy to integrate high-capacity adsorption material with magnetically actuated locomotion for long-term targeted antibacterial applications in biological environments.
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Affiliation(s)
- Yukun Zhong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Junkai Zhang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Lijun Fang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
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8
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Gervasoni S, Pedrini N, Rifai T, Fischer C, Landers FC, Mattmann M, Dreyfus R, Viviani S, Veciana A, Masina E, Aktas B, Puigmartí-Luis J, Chautems C, Pané S, Boehler Q, Gruber P, Nelson BJ. A Human-Scale Clinically Ready Electromagnetic Navigation System for Magnetically Responsive Biomaterials and Medical Devices. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2310701. [PMID: 38733269 DOI: 10.1002/adma.202310701] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/16/2023] [Revised: 04/15/2024] [Indexed: 05/13/2024]
Abstract
Magnetic navigation systems are used to precisely manipulate magnetically responsive materials enabling the realization of new minimally invasive procedures using magnetic medical devices. Their widespread applicability has been constrained by high infrastructure demands and costs. The study reports on a portable electromagnetic navigation system, the Navion, which is capable of generating a large magnetic field over a large workspace. The system is easy to install in hospital operating rooms and transportable through health care facilities, aiding in the widespread adoption of magnetically responsive medical devices. First, the design and implementation approach for the system are introduced and its performance is characterized. Next, in vitro navigation of different microrobot structures is demonstrated using magnetic field gradients and rotating magnetic fields. Spherical permanent magnets, electroplated cylindrical microrobots, microparticle swarms, and magnetic composite bacteria-inspired helical structures are investigated. The navigation of magnetic catheters is also demonstrated in two challenging endovascular tasks: 1) an angiography procedure and 2) deep navigation within the circle of Willis. Catheter navigation is demonstrated in a porcine model in vivo to perform an angiography under magnetic guidance.
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Affiliation(s)
- Simone Gervasoni
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Norman Pedrini
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Tarik Rifai
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Cedric Fischer
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Fabian C Landers
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Michael Mattmann
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Roland Dreyfus
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Silvia Viviani
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Andrea Veciana
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Enea Masina
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Buse Aktas
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona (UB), 08028, Barcelona, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, 08010, Barcelona, Spain
| | | | - Salvador Pané
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Quentin Boehler
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Philipp Gruber
- Kantonsspital Aarau AG, Tellstrasse 25, CH-5001, Aarau, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, ETH Zurich, CH-8092, Zurich, Switzerland
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9
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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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10
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Wang B, Chen Y, Ye Z, Yu H, Chan KF, Xu T, Guo Z, Liu W, Zhang L. Low-Friction Soft Robots for Targeted Bacterial Infection Treatment in Gastrointestinal Tract. CYBORG AND BIONIC SYSTEMS 2024; 5:0138. [PMID: 38975252 PMCID: PMC11223897 DOI: 10.34133/cbsystems.0138] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/31/2024] [Accepted: 05/15/2024] [Indexed: 07/09/2024] Open
Abstract
Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion, which aid the traversal toward various lumens, and bring revolutionary changes for targeted delivery in gastrointestinal (GI) tract. However, the viscous non-Newtonian liquid environment and plicae gastricae obstacles severely hamper high-precision actuation and payload delivery. Here, we developed a low-friction soft robot by assembly of densely arranged cone structures and grafting of hydrophobic monolayers. The magnetic orientation encoded robot can move in multiple modes, with a substantially reduced drag, terrain adaptability, and improved motion velocity across the non-Newtonian liquids. Notably, the robot stiffness can be reversibly controlled with magnetically induced hardening, enabling on-site scratching and destruction of antibiotic-ineradicable polymeric matrix in biofilms with a low-frequency magnetic field. Furthermore, the magnetocaloric effect can be utilized to eradicate the bacteria by magnetocaloric effect under high-frequency alternating field. To verify the potential applications inside the body, the clinical imaging-guided actuation platforms were developed for vision-based control and delivery of the robots. The developed low-friction robots and clinical imaging-guided actuation platforms show their high potential to perform bacterial infection therapy in various lumens inside the body.
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Affiliation(s)
- Ben Wang
- College of Chemistry and Environmental Engineering,
Shenzhen University, Shenzhen 518060, China
| | - Yunrui Chen
- College of Chemistry and Environmental Engineering,
Shenzhen University, Shenzhen 518060, China
| | - Zhicheng Ye
- College of Chemistry and Environmental Engineering,
Shenzhen University, Shenzhen 518060, China
| | - Haidong Yu
- Guangxi Key Laboratory of Processing for Non-Ferrous Metals and Featured Materials, School of Resource, Environments and Materials,
Guangxi University, Nanning 530004, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Centre for Innovative Medicine,
The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong SAR, China
| | - Tiantian Xu
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology,
Chinese Academy of Sciences, Shenzhen 518055, China
- Key Laboratory of Biomedical Imaging Science and System,
Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Zhiguang Guo
- 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
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics,
Chinese Academy of Science, Lanzhou 730000, China
| | - Weimin Liu
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics,
Chinese Academy of Science, Lanzhou 730000, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering,
The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, New Territories, Hong Kong SAR, China
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11
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Zhao Y, Tong D, Chen Y, Chen Q, Wu Z, Xu X, Fan X, Xie H, Yang Z. Microgripper Robot with End Electropermanent Magnet Collaborative Actuation. MICROMACHINES 2024; 15:798. [PMID: 38930768 PMCID: PMC11205932 DOI: 10.3390/mi15060798] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/24/2024] [Revised: 06/12/2024] [Accepted: 06/13/2024] [Indexed: 06/28/2024]
Abstract
Magnetic microgrippers, with their miniaturized size, flexible movement, untethered actuation, and programmable deformation, can perform tasks such as cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery in hard-to-reach regions. However, common external magnetic-field-driving devices suffer from low efficiency and utilization due to the significant size disparity with magnetic microgrippers. Here, we introduce a microgripper robot (MGR) driven by end electromagnetic and permanent magnet collaboration. The magnetic field generated by the microcoils can be amplified by the permanent magnets and the direction can be controlled by changing the current, allowing for precise control over the opening and closing of the magnetic microgripper and enhancing its operational range. Experimental results demonstrate that the MGR can be flexibly controlled in complex constrained environments and is highly adaptable for manipulating objects. Furthermore, the MGR can achieve planar and antigravity object grasping and transportation within complex simulated human cavity pathways. The MGR's grasping capabilities can also be extended to specialized tasks, such as circuit connection in confined spaces. The MGR combines the required safety and controllability for in vivo operations, making it suitable for potential clinical applications such as tumor or abnormal tissue sampling and surgical assistance.
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Affiliation(s)
- Yiqun Zhao
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Dingwen Tong
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Yutan Chen
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Qinkai Chen
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Zhengnan Wu
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Xinmiao Xu
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
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12
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Bozuyuk U, Wrede P, Yildiz E, Sitti M. Roadmap for Clinical Translation of Mobile Microrobotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2311462. [PMID: 38380776 DOI: 10.1002/adma.202311462] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/31/2023] [Revised: 01/24/2024] [Indexed: 02/22/2024]
Abstract
Medical microrobotics is an emerging field to revolutionize clinical applications in diagnostics and therapeutics of various diseases. On the other hand, the mobile microrobotics field has important obstacles to pass before clinical translation. This article focuses on these challenges and provides a roadmap of medical microrobots to enable their clinical use. From the concept of a "magic bullet" to the physicochemical interactions of microrobots in complex biological environments in medical applications, there are several translational steps to consider. Clinical translation of mobile microrobots is only possible with a close collaboration between clinical experts and microrobotics researchers to address the technical challenges in microfabrication, safety, and imaging. The clinical application potential can be materialized by designing microrobots that can solve the current main challenges, such as actuation limitations, material stability, and imaging constraints. The strengths and weaknesses of the current progress in the microrobotics field are discussed and a roadmap for their clinical applications in the near future is outlined.
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Affiliation(s)
- Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Paul Wrede
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8093, Switzerland
| | - Erdost Yildiz
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- School of Medicine and College of Engineering, Koc University, Istanbul, 34450, Turkey
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13
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Feng K, Shen W, Chen L, Gong J, Palberg T, Qu J, Niu R. Weak Ion-Exchange Based Magnetic Swarm for Targeted Drug Delivery and Chemotherapy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2306798. [PMID: 38059804 DOI: 10.1002/smll.202306798] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/08/2023] [Revised: 11/06/2023] [Indexed: 12/08/2023]
Abstract
Swimming microrobots that are actuated by multiple stimuli/fields display various intriguing collective behaviors, ranging from phase separation to clustering and giant number fluctuation; however, it is still chanllenging to achieve multiple responses and functionalities within one colloidal system to emulate high environmental adaptability and improved tasking capability of natural swarms. In this work, a weak ion-exchange based swarm is presented that can self-organize and reconfigure by chemical, light, and magnetic fields, showing living crystal, amorphous glass, liquid, chain, and wheel-like structures. By changing the frequency and strength of the rotating magnetic field, various well-controlled and fast transformations are obtained. Experiments show the high adaptability and functionality of the microrobot swarm in delivering drugs in confined spaces, such as narrow channels with turns or obstacles. The drug-carrying swarm exhibits excellent chemtherapy for Hela and CT26 cells due to the pH-enhanced drug release and locomotion. This reconfigurable microswarm provides a new platform for biomedical and environmental applications.
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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, Wuhan, 430074, China
| | - Wenqi Shen
- Affiliated Hospital of Xuzhou Medical University, Xuzhou, Jiangsu, 221002, China
| | - 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, Wuhan, 430074, China
| | - 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, Wuhan, 430074, China
| | - Thomas Palberg
- Institut für physics, Johannes Gutenberg-Universtät Mainz, Staudingerweg 7, 55128, Mainz, Germany
| | - 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, Wuhan, 430074, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, School of Mechanical and Automotive Engineering, South China University of Technology, 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, Wuhan, 430074, China
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14
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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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15
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Zhou H, Zhang S, Liu Z, Chi B, Li J, Wang Y. Untethered Microgrippers for Precision Medicine. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305805. [PMID: 37941516 DOI: 10.1002/smll.202305805] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Revised: 10/07/2023] [Indexed: 11/10/2023]
Abstract
Microgrippers, a branch of micro/nanorobots, refer to motile miniaturized machines that are of a size in the range of several to hundreds of micrometers. Compared with tethered grippers or other microscopic diagnostic and surgical equipment, untethered microgrippers play an indispensable role in biomedical applications because of their characteristics such as miniaturized size, dexterous shape tranformation, and controllable motion, which enables the microgrippers to enter hard-to-reach regions to execute specific medical tasks for disease diagnosis and treatment. To date, numerous medical microgrippers are developed, and their potential in cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery are explored. To achieve controlled locomotion and efficient target-oriented actions, the materials, size, microarchitecture, and morphology of microgrippers shall be deliberately designed. In this review, the authors summarizes the latest progress in untethered micrometer-scale grippers. The working mechanisms of shape-morphing and actuation methods for effective movement are first introduced. Then, the design principle and state-of-the-art fabrication techniques of microgrippers are discussed. Finally, their applications in the precise medicine are highlighted, followed by offering future perspectives for the development of untethered medical microgrippers.
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Affiliation(s)
- Huaijuan Zhou
- Advanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing, 100081, China
| | - Shengchang Zhang
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Zijian Liu
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Bowen Chi
- Department of Neurology, Beijing Tiantan Hospital, Capital Medical University, Beijing, 100070, China
| | - Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yilong Wang
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
- Department of Neurology, Beijing Tiantan Hospital, Capital Medical University, Beijing, 100070, China
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16
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Dong H, Lin J, Tao Y, Jia Y, Sun L, Li WJ, Sun H. AI-enhanced biomedical micro/nanorobots in microfluidics. LAB ON A CHIP 2024; 24:1419-1440. [PMID: 38174821 DOI: 10.1039/d3lc00909b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/05/2024]
Abstract
Human beings encompass sophisticated microcirculation and microenvironments, incorporating a broad spectrum of microfluidic systems that adopt fundamental roles in orchestrating physiological mechanisms. In vitro recapitulation of human microenvironments based on lab-on-a-chip technology represents a critical paradigm to better understand the intricate mechanisms. Moreover, the advent of micro/nanorobotics provides brand new perspectives and dynamic tools for elucidating the complex process in microfluidics. Currently, artificial intelligence (AI) has endowed micro/nanorobots (MNRs) with unprecedented benefits, such as material synthesis, optimal design, fabrication, and swarm behavior. Using advanced AI algorithms, the motion control, environment perception, and swarm intelligence of MNRs in microfluidics are significantly enhanced. This emerging interdisciplinary research trend holds great potential to propel biomedical research to the forefront and make valuable contributions to human health. Herein, we initially introduce the AI algorithms integral to the development of MNRs. We briefly revisit the components, designs, and fabrication techniques adopted by robots in microfluidics with an emphasis on the application of AI. Then, we review the latest research pertinent to AI-enhanced MNRs, focusing on their motion control, sensing abilities, and intricate collective behavior in microfluidics. Furthermore, we spotlight biomedical domains that are already witnessing or will undergo game-changing evolution based on AI-enhanced MNRs. Finally, we identify the current challenges that hinder the practical use of the pioneering interdisciplinary technology.
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Affiliation(s)
- Hui Dong
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Jiawen Lin
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
| | - Yihui Tao
- Department of Automation Control and System Engineering, University of Sheffield, Sheffield, UK
| | - Yuan Jia
- Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China
| | - Lining Sun
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Wen Jung Li
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China
| | - Hao Sun
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
- Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China
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17
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Wang Q, Wang Q, Ning Z, Chan KF, Jiang J, Wang Y, Su L, Jiang S, Wang B, Ip BYM, Ko H, Leung TWH, Chiu PWY, Yu SCH, Zhang L. Tracking and navigation of a microswarm under laser speckle contrast imaging for targeted delivery. Sci Robot 2024; 9:eadh1978. [PMID: 38381838 DOI: 10.1126/scirobotics.adh1978] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/16/2023] [Accepted: 01/26/2024] [Indexed: 02/23/2024]
Abstract
Micro/nanorobotic swarms consisting of numerous tiny building blocks show great potential in biomedical applications because of their collective active delivery ability, enhanced imaging contrast, and environment-adaptive capability. However, in vivo real-time imaging and tracking of micro/nanorobotic swarms remain a challenge, considering the limited imaging size and spatial-temporal resolution of current imaging modalities. Here, we propose a strategy that enables real-time tracking and navigation of a microswarm in stagnant and flowing blood environments by using laser speckle contrast imaging (LSCI), featuring full-field imaging, high temporal-spatial resolution, and noninvasiveness. The change in dynamic convection induced by the microswarm can be quantitatively investigated by analyzing the perfusion unit (PU) distribution, offering an alternative approach to investigate the swarm behavior and its interaction with various blood environments. Both the microswarm and surrounding environment were monitored and imaged by LSCI in real time, and the images were further analyzed for simultaneous swarm tracking and navigation in the complex vascular system. Moreover, our strategy realized real-time tracking and delivery of a microswarm in vivo, showing promising potential for LSCI-guided active delivery of microswarm in the vascular system.
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Affiliation(s)
- Qinglong Wang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, China
| | - Zhipeng Ning
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Yuqiong Wang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Lin Su
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Shuai Jiang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, China
| | - Bonaventure Yiu Ming Ip
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Ho Ko
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Thomas Wai Hong Leung
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Philip Wai Yan Chiu
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
- Department of Surgery, CUHK, Shatin, N.T., Hong Kong, China
| | - Simon Chun Ho Yu
- Department of Imaging and Interventional Radiology, CUHK, Shatin, N.T., Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
- Department of Surgery, CUHK, Shatin, N.T., Hong Kong, China
- CUHK T Stone Robotics Institute, CUHK, Shatin, N.T., Hong Kong, China
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18
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Del Campo Fonseca A, Ahmed D. Ultrasound robotics for precision therapy. Adv Drug Deliv Rev 2024; 205:115164. [PMID: 38145721 DOI: 10.1016/j.addr.2023.115164] [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: 09/30/2023] [Revised: 12/07/2023] [Accepted: 12/22/2023] [Indexed: 12/27/2023]
Abstract
In recent years, the application of microrobots in precision therapy has gained significant attention. The small size and maneuverability of these micromachines enable them to potentially access regions that are difficult to reach using traditional methods; thus, reducing off-target toxicities and maximizing treatment effectiveness. Specifically, acoustic actuation has emerged as a promising method to exert control. By harnessing the power of acoustic energy, these small machines potentially navigate the body, assemble at the desired sites, and deliver therapies with enhanced precision and effectiveness. Amidst the enthusiasm surrounding these miniature agents, their translation to clinical environments has proven difficult. The primary objectives of this review are threefold: firstly, to offer an overview of the fundamental acoustic principles employed in the field of microrobots; secondly, to assess their current applications in medical therapies, encompassing tissue targeting, drug delivery or even cell infiltration; and lastly, to delve into the continuous efforts aimed at integrating acoustic microrobots into in vivo applications.
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Affiliation(s)
- Alexia Del Campo Fonseca
- Department of Mechanical and Process Engineering, Acoustic Robotics Systems Lab, ETH Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland.
| | - Daniel Ahmed
- Department of Mechanical and Process Engineering, Acoustic Robotics Systems Lab, ETH Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland.
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19
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Vinnakota M, Bellur K, Starnes SL, Schulz MJ. Scaling a Hydraulic Motor for Minimally Invasive Medical Devices. MICROMACHINES 2024; 15:131. [PMID: 38258250 PMCID: PMC10818856 DOI: 10.3390/mi15010131] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/01/2023] [Revised: 01/07/2024] [Accepted: 01/10/2024] [Indexed: 01/24/2024]
Abstract
Aligned with the medical device industry's trend of miniaturization, academic and commercial researchers are constantly attempting to reduce device sizes. Many applications require miniature actuators (2 mm range) to perform mechanical work; however, biocompatible micromotors are not readily available. To that end, a hydraulic motor-driven cutting module that aims to combine cutting and drug delivery is presented. The hydraulic motor prototype developed has an outside diameter (OD) of ~4 mm (twice the target size) and a 1 mm drive shaft to attach a cutter. Four different designs were explored and fabricated using additive manufacturing. The benchtop experimental data of the prototypes are presented herein. For the prototype motor with fluid inlet perpendicular to the blades, the average angular velocity was 10,593 RPM at a flowrate of 3.6 mL/s and 42,597 RPM at 10.1 mL/s. This design was numerically modeled using 3D-transient simulations in ANSYS CFX (version 2022 R2) to determine the performance characteristics and the internal resistance of the motor. Simplified mathematical models were also used to compute and compare the peak torque with the simulation estimates. The viability of current design represents a crucial milestone in scaling the hydraulic motor to a 2 mm OD to power a microcutter.
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Affiliation(s)
- Manjeera Vinnakota
- College of Engineering and Applied Sciences, University of Cincinnati, Cincinnati, OH 45221, USA; (M.V.); (M.J.S.)
| | - Kishan Bellur
- College of Engineering and Applied Sciences, University of Cincinnati, Cincinnati, OH 45221, USA; (M.V.); (M.J.S.)
| | - Sandra L. Starnes
- College of Medicine, University of Cincinnati, Cincinnati, OH 45221, USA;
| | - Mark J. Schulz
- College of Engineering and Applied Sciences, University of Cincinnati, Cincinnati, OH 45221, USA; (M.V.); (M.J.S.)
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20
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Lu ZC, Zhang R, Liu HZ, Zhou JX, Su HF. Nanoarmor: cytoprotection for single living cells. Trends Biotechnol 2024; 42:91-103. [PMID: 37507294 DOI: 10.1016/j.tibtech.2023.06.013] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/03/2023] [Revised: 06/19/2023] [Accepted: 06/30/2023] [Indexed: 07/30/2023]
Abstract
Single cell modification or hybridization technology has become a popular direction in bioengineering in recent years, with applications in clean energy, environmental stewardship, and sustainable human development. Here, we draw attention to nanoarmor, a representative achievement of cytoprotection and functionalization technology. The fundamental principles of nanoarmor need to be studied with input from multiple disciplines, including biology, chemistry, and material science. In this review, we explain the role of nanoarmor and review progress in its applications. We also discuss three main challenges associated with its development: self-driving ability, heterojunction characteristics, and mineralization formation. Finally, we propose a preliminary classification system for nanoarmor.
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Affiliation(s)
- Zi-Chun Lu
- Jianshui Research Station, School of Soil and Water Conservation, Beijing Forestry University, Beijing 100083, China; Key Laboratory of State Forestry Administration on Soil and Water Conservation, Beijing Forestry University, Beijing 100083, China
| | - Rui Zhang
- Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China
| | - Hai-Zhu Liu
- Jianshui Research Station, School of Soil and Water Conservation, Beijing Forestry University, Beijing 100083, China; Key Laboratory of State Forestry Administration on Soil and Water Conservation, Beijing Forestry University, Beijing 100083, China
| | - Jin-Xing Zhou
- Jianshui Research Station, School of Soil and Water Conservation, Beijing Forestry University, Beijing 100083, China; Key Laboratory of State Forestry Administration on Soil and Water Conservation, Beijing Forestry University, Beijing 100083, China; Engineering Research Center of Forestry Ecological Engineering, Ministry of Education, Beijing Forestry University, Beijing 100083, China.
| | - Hai-Feng Su
- Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China.
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21
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Wang Y, Yu H, Chen Y, Wang X, He J, Ye Z, Liu Y, Zhang Y, Wang B. A swarm of helical photocatalysts with controlled catalytic inhibition and acceleration by magneto-optical stimuli. J Colloid Interface Sci 2023; 652:1693-1702. [PMID: 37669591 DOI: 10.1016/j.jcis.2023.08.183] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/03/2023] [Revised: 08/13/2023] [Accepted: 08/28/2023] [Indexed: 09/07/2023]
Abstract
Highly persistent and toxic organic pollutants increasingly accumulate in freshwater resources, exacerbating the human water scarcity crisis. Developing novel microrobots with high catalytic performance, high mobility, and recycling capability integrated to harness energy from the surrounding environment to degrade pollutants effectively remains a challenge. Here, we report a kind of Spirulina (SP)-based magnetic photocatalytic microrobots with a substantially decreased band gap than that of pure photocatalysts, facilitating the generation of stable holes and electrons. Under sunlight irradiation, the degradation rate of rhodamine B (RhB) by the microrobots could be increased by 7.85 times compared with that of pure BiOCl, indicating its excellent photocatalytic performance. In addition, the microrobots can swarm in a highly controllable manner to the targeted regions and perform selective catalytic degradation of organic pollutants in specific areas by coupling effect of light and magnetic field. Importantly, the catalytic capability of the swarming microrobots can be activated by light stimulus whereas inhibited by magneto-optical stimuli, with a rate constant 2.15 times lower than that of pure light stimulation. The biohybrid and magneto-optical responsive microrobots offer a potential platform for selective pollutants catalysis at assigned regions in wastewater treatment plants.
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Affiliation(s)
- Yun Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Haidong Yu
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Yunrui Chen
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Xiangyu Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China; Guangxi Key Laboratory of Processing for Non-Ferrous Metals and Featured Materials, School of Resource, Environments and Materials, Guangxi University, Nanning 530004, China
| | - Jiajun He
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Zhicheng Ye
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Yu Liu
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China
| | - Yabin Zhang
- Guangxi Key Laboratory of Processing for Non-Ferrous Metals and Featured Materials, School of Resource, Environments and Materials, Guangxi University, Nanning 530004, China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518055, China.
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22
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Zhang Y, Hu J, Song X, Dai J, Tang Z, Huang G, Jiao W, Wu Y, Wang C, Du L, Jin Y. The effects of Lactobacillus reuteri microcapsules on radiation-induced brain injury by regulating the gut microenvironment. Food Funct 2023; 14:10041-10051. [PMID: 37843434 DOI: 10.1039/d3fo03008c] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/17/2023]
Abstract
A radiation-induced brain injury (RIBI) is a major adverse event following radiotherapy of malignant tumors. RIBI would affect cognitive function, leading to a series of complications and even death. However, the pathogenesis of RIBI is still unclear, and it still lacks specific therapeutic drugs. The gut-brain bidirectional communication may be mediated by various microbiota and metabolites in the gastrointestinal tract. Probiotics are closely related to physiological health. The theory of the gut-brain axis provides us with a new idea to improve the gut microenvironment by supplementing probiotics against RIBI. Here, Lactobacillus reuteri microcapsules (LMCs) were prepared, which were predominantly irregular spheres with a rough surface under a scanning electron microscope and a narrow size distribution ranging from 20 to 700 μm. The transmission electron microscopy images showed that the structure of microcapsules containing Lactobacillus reuteri (L. reuteri) was a core and shell structure. The survival of L. reuteri in microcapsules was significantly more than that of free L. reuteri in the simulated stomach environment of pH 1.2. 16S rDNA sequencing showed that LMCs observably increased the relative abundance of Lactobacillus in RIBI mice. More importantly, compared with the RIBI model mice, the behavior of RIBI mice treated with LMCs was significantly improved. In addition, LMCs greatly alleviated the pathological damage of the hippocampus and intestines in the mice after irradiation and reduced the level of TNF-α and IL-6 in vivo. Generally, LMCs are a promising oral preparation, which provide new ideas and methods for the treatment of RIBI.
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Affiliation(s)
- Yizhi Zhang
- Shandong University of Traditional Chinese Medicine, Jinan 250355, China.
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
| | - Jinglu Hu
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
- Pharmaceutical College of Henan University, Kaifeng 475004, China
| | - Xingshuang Song
- Shandong University of Traditional Chinese Medicine, Jinan 250355, China.
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
| | - Jing Dai
- Information Department, General Hospital of Western Zone, Chengdu 610083, China
| | - Ziyan Tang
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
| | - Guiyu Huang
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
- Pharmaceutical College of Henan University, Kaifeng 475004, China
| | - Wencheng Jiao
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
- Hebei University, Baoding 071000, China
| | - Yanping Wu
- Shandong University of Traditional Chinese Medicine, Jinan 250355, China.
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
| | - Chenyun Wang
- The Fourth Clinical Center Affiliated to Chinese PLA General Hospital, Beijing 100048, China
| | - Lina Du
- Shandong University of Traditional Chinese Medicine, Jinan 250355, China.
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
- Pharmaceutical College of Henan University, Kaifeng 475004, China
- Hebei University, Baoding 071000, China
| | - Yiguang Jin
- Department of Pharmaceutical Sciences, Beijing Institute of Radiation Medicine, Beijing 100850, China
- Pharmaceutical College of Henan University, Kaifeng 475004, China
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Niu J, Liu C, Yang X, Liang W, Wang Y. Construction of micro-nano robots: living cells and functionalized biological cell membranes. Front Bioeng Biotechnol 2023; 11:1277964. [PMID: 37781535 PMCID: PMC10539914 DOI: 10.3389/fbioe.2023.1277964] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/15/2023] [Accepted: 08/31/2023] [Indexed: 10/03/2023] Open
Abstract
Micro-nano robots have emerged as a promising research field with vast potential applications in biomedicine. The motor is the key component of micro-nano robot research, and the design of the motor is crucial. Among the most commonly used motors are those derived from living cells such as bacteria with flagella, sperm, and algal cells. Additionally, scientists have developed numerous self-adaptive biomimetic motors with biological functions, primarily cell membrane functionalized micromotors. This novel type of motor exhibits remarkable performance in complex media. This paper provides a comprehensive review of the structure and performance of micro-nano robots that utilize living cells and functionalized biological cell membranes. We also discuss potential practical applications of these mirco-nano robots as well as potential challenges that may arise in future development.
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Affiliation(s)
- Jiawen Niu
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Chenlu Liu
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Xiaopeng Yang
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Wenlong Liang
- Department of Breast Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Yufu Wang
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
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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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Zhang S, Zhu C, Huang W, Liu H, Yang M, Zeng X, Zhang Z, Liu J, Shi J, Hu Y, Shi X, Wang ZH. Recent progress of micro/nanomotors to overcome physiological barriers in the gastrointestinal tract. J Control Release 2023; 360:514-527. [PMID: 37429360 DOI: 10.1016/j.jconrel.2023.07.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2023] [Revised: 07/01/2023] [Accepted: 07/03/2023] [Indexed: 07/12/2023]
Abstract
Oral administration is a convenient administration route for gastrointestinal disease therapy with good patient compliance. But the nonspecific distribution of the oral drugs may cause serious side effects. In recent years, oral drug delivery systems (ODDS) have been applied to deliver the drugs to the gastrointestinal disease sites with decreased side effects. However, the delivery efficiency of ODDS is tremendously limited by physiological barriers in the gastrointestinal sites, such as the long and complex gastrointestinal tract, mucus layer, and epithelial barrier. Micro/nanomotors (MNMs) are micro/nanoscale devices that transfer various energy sources into autonomous motion. The outstanding motion characteristics of MNMs inspired the development of targeted drug delivery, especially the oral drug delivery. However, a comprehensive review of oral MNMs for the gastrointestinal diseases therapy is still lacking. Herein, the physiological barriers of ODDS were comprehensively reviewed. Afterward, the applications of MNMs in ODDS for overcoming the physiological barriers in the past 5 years were highlighted. Finally, future perspectives and challenges of MNMs in ODDS are discussed as well. This review will provide inspiration and direction of MNMs for the therapy of gastrointestinal diseases, pushing forward the clinical application of MNMs in oral drug delivery.
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Affiliation(s)
- Shuhao Zhang
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China
| | - Chaoran Zhu
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China
| | - Wanting Huang
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China
| | - Hua Liu
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China
| | - Mingzhu Yang
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China
| | - Xuejiao Zeng
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China
| | - Zhenzhong Zhang
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China; State Key Laboratory of Esophageal Cancer Prevention & Treatment, Zhengzhou 450001, China
| | - Junjie Liu
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China; State Key Laboratory of Esophageal Cancer Prevention & Treatment, Zhengzhou 450001, China
| | - Jinjin Shi
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China; State Key Laboratory of Esophageal Cancer Prevention & Treatment, Zhengzhou 450001, China
| | - Yurong Hu
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China; State Key Laboratory of Esophageal Cancer Prevention & Treatment, Zhengzhou 450001, China.
| | - Xiufang Shi
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China; State Key Laboratory of Esophageal Cancer Prevention & Treatment, Zhengzhou 450001, China.
| | - Zhi-Hao Wang
- School of Pharmaceutical Sciences, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Targeting Therapy and Diagnosis for Critical Diseases, Zhengzhou 450001, China; Key Laboratory of Advanced Drug Preparation Technologies, Ministry of Education, Zhengzhou 450001, China; State Key Laboratory of Esophageal Cancer Prevention & Treatment, Zhengzhou 450001, China.
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26
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Zhang B, Zhu L, Pan H, Cai L. Biocompatible smart micro/nanorobots for active gastrointestinal tract drug delivery. Expert Opin Drug Deliv 2023; 20:1427-1441. [PMID: 37840310 DOI: 10.1080/17425247.2023.2270915] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Accepted: 10/11/2023] [Indexed: 10/17/2023]
Abstract
INTRODUCTION Oral delivery is the most commonly used route of drug administration owing to good patient compliance. However, the gastrointestinal (GI) tract contains multiple physiological barriers that limit the absorption efficiency of conventional passive delivery systems resulting in a low drug concentration reaching the diseased sites. Micro/nanorobots can convert energy to self-propulsive force, providing a novel platform to actively overcome GI tract barriers for noninvasive drug delivery and treatment. AREAS COVERED In this review, we first describe the microenvironments and barriers in the different compartments of the GI tract. Afterward, the applications of micro/nanorobots to overcome GI tract barriers for active drug delivery are highlighted and discussed. Finally, we summarize and discuss the challenges and future prospects of micro/nanorobots for further clinical applications. EXPERT OPINION Micro/nanorobots with the ability to autonomously propel themselves and to load, transport, and release payloads on demand are ideal carriers for active oral drug delivery. Although there are many challenges to be addressed, micro/nanorobots have great potential to introduce a new era of drug delivery for precision therapy.
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Affiliation(s)
- Baozhen Zhang
- Guangdong Key Laboratory of Nanomedicine, CAS-HK Joint Lab of Biomaterials, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen, China
- Department of Obstetrics and Gynecology, Women and Children's Hospital of Chongqing Medical University, Chongqing, China
| | - Lizhen Zhu
- Guangdong Key Laboratory of Nanomedicine, CAS-HK Joint Lab of Biomaterials, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen, China
| | - Hong Pan
- Guangdong Key Laboratory of Nanomedicine, CAS-HK Joint Lab of Biomaterials, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen, China
| | - Lintao Cai
- Guangdong Key Laboratory of Nanomedicine, CAS-HK Joint Lab of Biomaterials, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen, China
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