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Chen X, Tian C, Zhang H, Xie H. Magnetic-actuated hydrogel microrobots with multimodal motion and collective behavior. J Mater Chem B 2024. [PMID: 38973596 DOI: 10.1039/d4tb00520a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/09/2024]
Abstract
Magnetic-actuated miniature robots have sparked growing interest owing to their promising potential in biomedical applications, such as noninvasive diagnosis, cargo delivery, and microsurgery. Innovations are required to combine biodegradable materials with flexible mobility to promote the translation of magnetic robots towards in vivo application. This study proposes a biodegradable magnetic hydrogel robot (MHR) with multimodal locomotion and collective behavior through magnetic-assisted fabrication. The MHRs with aligned magnetic chains inside their structures have more significant maximum motion speeds under rotating magnetic fields than the robots without magnetic alignment. By reconfiguring the external magnetic fields, three types of stable motion modes (tumbling, spinning, and wobbling modes) of the individual MHRs can be triggered, while flexible conversion can be achieved between each motion mode. The motion mechanism of each motion mode under diverse rotating magnetic fields has been analyzed. The collective behavior of the MHRs, which is triggered by the magnetic dipole force, can enhance the motion performance and pass through sophisticated terrains. Furthermore, the experimental results demonstrate that the assembled MHRs can execute complicated tasks such as targeted cargo delivery. The proposed MHRs with multimodal locomotion and assembled behavior show effective motion efficiency, flexible maneuverability, and remarkable targeting ability, providing a new choice for magnetic robots in biomedical applications.
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Affiliation(s)
- Xi Chen
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Chenyao Tian
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Hao Zhang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
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2
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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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3
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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:e2310701. [PMID: 38733269 DOI: 10.1002/adma.202310701] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [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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4
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Landers FC, Gantenbein V, Hertle L, Veciana A, Llacer-Wintle J, Chen XZ, Ye H, Franco C, Puigmartí-Luis J, Kim M, Nelson BJ, Pané S. On-Command Disassembly of Microrobotic Superstructures for Transport and Delivery of Magnetic Micromachines. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2310084. [PMID: 38101447 DOI: 10.1002/adma.202310084] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/28/2023] [Revised: 11/23/2023] [Indexed: 12/17/2023]
Abstract
Magnetic microrobots have been developed for navigating microscale environments by means of remote magnetic fields. However, limited propulsion speeds at small scales remain an issue in the maneuverability of these devices as magnetic force and torque are proportional to their magnetic volume. Here, a microrobotic superstructure is proposed, which, as analogous to a supramolecular system, consists of two or more microrobotic units that are interconnected and organized through a physical (transient) component (a polymeric frame or a thread). The superstructures consist of microfabricated magnetic helical micromachines interlocked by a magnetic gelatin nanocomposite containing iron oxide nanoparticles (IONPs). While the microhelices enable the motion of the superstructure, the IONPs serve as heating transducers for dissolving the gelatin chassis via magnetic hyperthermia. In a practical demonstration, the superstructure's motion with a gradient magnetic field in a large channel, the disassembly of the superstructure and release of the helical micromachines by a high-frequency alternating magnetic field, and the corkscrew locomotion of the released helices through a small channel via a rotating magnetic field, is showcased. This adaptable microrobotic superstructure reacts to different magnetic inputs, which can be used to perform complex delivery procedures within intricate regions of the human body.
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Affiliation(s)
- Fabian C Landers
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Valentin Gantenbein
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Lukas Hertle
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Andrea Veciana
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Joaquin Llacer-Wintle
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Xiang-Zhong Chen
- Institute of Optoelectronics, Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, 200438, P. R. China
- Yiwu Research Institute of Fudan University, Yiwu, Zhejiang, 322000, P. R. China
| | - Hao Ye
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Carlos Franco
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona, Martí i Franquès 1, Barcelona, 08028, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Minsoo Kim
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
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5
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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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6
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Livitz D, Dhatt-Gauthier K, Bishop KJM. Magneto-capillary particle dynamics at curved interfaces: inference and criticism of dynamical models. SOFT MATTER 2023; 19:9017-9026. [PMID: 37970890 DOI: 10.1039/d3sm01256e] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/19/2023]
Abstract
Time-varying fields drive the motion of magnetic particles adsorbed on liquid drops due to interfacial constraints that couple magnetic torques to capillary forces. Such magneto-capillary particle dynamics and the associated fluid flows are potentially useful for propelling drop motion, mixing drop contents, and enhancing mass transfer between phases. The design of such functions benefits from the development and validation of predictive models. Here, we apply methods of Bayesian data analysis to identify and validate a dynamical model that accurately predicts the field-driven motion of a magnetic particle adsorbed at the interface of a spherical droplet. Building on previous work, we consider candidate models that describe particle tilting at the interface, field-dependent contributions to the magnetic moment, gravitational forces, and their combinations. The analysis of each candidate is informed by particle tracking data for a magnetic Janus sphere moving in a precessing field at different frequencies and angles. We infer the uncertain parameters of each model, criticize their ability to describe and predict experimental data, and select the most probable candidate, which accounts for gravitational forces and the tilting of the Janus sphere at the interface. We show how this favored model can predict complex particle trajectories with micron-level accuracy across the range of driving fields considered. We discuss how knowledge of this "best" model can be used to design experiments that inform accurate parameter estimates or achieve desired particle trajectories.
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Affiliation(s)
- Dimitri Livitz
- Department of Chemical Engineering, 500 W 120 St, New York, NY, USA.
| | | | - Kyle J M Bishop
- Department of Chemical Engineering, 500 W 120 St, New York, NY, USA.
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7
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Alzoubi L, Aljabali AAA, Tambuwala MM. Empowering Precision Medicine: The Impact of 3D Printing on Personalized Therapeutic. AAPS PharmSciTech 2023; 24:228. [PMID: 37964180 DOI: 10.1208/s12249-023-02682-w] [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: 08/16/2023] [Accepted: 10/16/2023] [Indexed: 11/16/2023] Open
Abstract
This review explores recent advancements and applications of 3D printing in healthcare, with a focus on personalized medicine, tissue engineering, and medical device production. It also assesses economic, environmental, and ethical considerations. In our review of the literature, we employed a comprehensive search strategy, utilizing well-known databases like PubMed and Google Scholar. Our chosen keywords encompassed essential topics, including 3D printing, personalized medicine, nanotechnology, and related areas. We first screened article titles and abstracts and then conducted a detailed examination of selected articles without imposing any date limitations. The articles selected for inclusion, comprising research studies, clinical investigations, and expert opinions, underwent a meticulous quality assessment. This methodology ensured the incorporation of high-quality sources, contributing to a robust exploration of the role of 3D printing in the realm of healthcare. The review highlights 3D printing's potential in healthcare, including customized drug delivery systems, patient-specific implants, prosthetics, and biofabrication of organs. These innovations have significantly improved patient outcomes. Integration of nanotechnology has enhanced drug delivery precision and biocompatibility. 3D printing also demonstrates cost-effectiveness and sustainability through optimized material usage and recycling. The healthcare sector has witnessed remarkable progress through 3D printing, promoting a patient-centric approach. From personalized implants to radiation shielding and drug delivery systems, 3D printing offers tailored solutions. Its transformative applications, coupled with economic viability and sustainability, have the potential to revolutionize healthcare. Addressing material biocompatibility, standardization, and ethical concerns is essential for responsible adoption.
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Affiliation(s)
- Lorca Alzoubi
- Department of Medicinal Chemistry and Pharmacognosy, Faculty of Pharmacy, Yarmouk University, P.O. Box 566, Irbid, 21163, Jordan
| | - Alaa A A Aljabali
- Department of Pharmaceutics and Pharmaceutical Technology, Faculty of Pharmacy, Yarmouk University, P.O. Box 566, Irbid, 21163, Jordan.
| | - Murtaza M Tambuwala
- Lincoln Medical School, Brayford Pool Campus, University of Lincoln, Lincoln, LN6 7TS, UK.
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8
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Lee JG, Thome CP, Cruse ZA, Ganguly A, Gupta A, Shields CW. Magnetically locked Janus particle clusters with orientation-dependent motion in AC electric fields. NANOSCALE 2023; 15:16268-16276. [PMID: 37800377 PMCID: PMC10598768 DOI: 10.1039/d3nr03744d] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/07/2023]
Abstract
Active particles, or micromotors, locally dissipate energy to drive locomotion at small length scales. The type of trajectory is generally fixed and dictated by the geometry and composition of the particle, which can be challenging to tune using conventional fabrication procedures. Here, we report a simple, bottom-up method to magnetically assemble gold-coated polystyrene Janus particles into "locked" clusters that display diverse trajectories when stimulated by AC electric fields. The orientation of particles within each cluster gives rise to distinct modes of locomotion, including translational, rotational, trochoidal, helical, and orbital. We model this system using a simplified rigid beads model and demonstrate qualitative agreement between the predicted and experimentally observed cluster trajectories. Overall, this system provides a facile means to scalably create micromotors with a range of well-defined motions from discrete building blocks.
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Affiliation(s)
- Jin Gyun Lee
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - Cooper P Thome
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - Zoe A Cruse
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - Arkava Ganguly
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - Ankur Gupta
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - C Wyatt Shields
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
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