Self-sensing intelligent microrobots for noninvasive and wireless monitoring systems

Bioinspired microrobots and their biomedical applications

Natural organisms and biological systems provide a rich source of inspiration for the development of bioinspired microrobots. These diminutive automatons, designed to emulate the intricate structures and functions of living entities, extend human capabilities across a spectrum of applications. This review endeavors to amalgamate and elucidate the underpinnings of such bioinspired microrobots design, traversing the interdisciplinary expanse of research. It delineates a spectrum of biomedical applications for bioinspired microrobots, encompassing targeted drug delivery, cellular manipulation, and minimally invasive surgical procedures, among others. Moreover, the current technical challenges and future directions of bioinspired microrobots in the biomedical field are discussed. The objective is to impart a holistic view to the readership, illuminating the significance of bioinspired microrobots in contemporary biomedicine and charting potential trajectories of innovation.

Untethered Microgrippers for Biopsy in the Upper Urinary Tract

Untethered microrobots offer the possibility to perform medical interventions in anatomically complex and small regions in the body. Presently, it is necessary to access the upper urinary tract to diagnose and treat Upper Tract Urothelial Carcinoma (UTUC). Diagnostic and treatment challenges include ensuring adequate tissue sampling, accurately grading the disease, achieving completeness in endoscopic treatment, and consistently delivering medications to targeted sites. This work introduces microgrippers (µ-grippers) that are autonomously triggered by physiological temperature for biopsy in the upper urinary tract. The experiments demonstrated that µ-grippers can be deployed using standard ureteral catheters and maneuvered using an external magnetic field. The μ-grippers successfully biopsied tissue samples from ex vivo pig ureters, indicating that the thin-film bilayer springs' autonomous, physiologically triggered actuation exerts enough force to retrieve urinary tract tissue. The quality of these biopsy samples is sufficient for histopathological examination, including hematoxylin and eosin (H&E) and GATA3 immunohistochemical staining. Beyond biopsy applications, the µ-grippers' small size, wafer-scale fabrication, and multifunctionality suggest their potential for statistical sampling in the urinary tract. Experimental data and clinical reports underscore this potential through statistical simulations that compare the efficacy of µ-grippers with conventional tools, such as ureteroscopic forceps and baskets.

Forward and backward control of an ultrafast millimeter-scale microrobot via vibration mode transition

The ability to move backward is crucial for millimeter-scale microrobots to navigate dead-end tunnels that are too narrow to allow for turning maneuvers. In this study, we introduce a 15-mm-long legged microrobot, BHMbot-B, which is capable of rapid forward and backward locomotion through vibration mode transition control. By properly arranging the vibratory motions of the magnet, cantilever, and linkages, the pitching movement of the body and the vibration of the forelegs are in phase during the first-order vibration mode of the cantilever and in antiphase during the second-order mode, which induces the forward and backward movement of the microrobot. Owing to its outstanding load-bearing capacity, the BHMbot-B equipped with dual electromagnetic actuators, an onboard battery, and a control circuit, can execute complex running trajectories under wireless command. Its maximum untethered running speeds are evaluated as 18.0 BL/s (360 mm/s) in the forward direction and 16.9 BL/s (338 mm/s) in the backward direction.

Field-Directed Motion, Cargo Capture, and Closed-Loop Controlled Navigation of Microellipsoids

Microrobots have the potential for diverse applications, including targeted drug delivery and minimally invasive surgery. Despite advancements in microrobot design and actuation strategies, achieving precise control over their motion remains challenging due to the dominance of viscous drag, system disturbances, physicochemical heterogeneities, and stochastic Brownian forces. Here, a precise control over the interfacial motion of model microellipsoids is demonstrated using time-varying rotating magnetic fields. The impacts of microellipsoid aspect ratio, field characteristics, and magnetic properties of the medium and the particle on the motion are investigated. The role of mobile micro-vortices generated is highlighted by rotating microellipsoids in capturing, transporting, and releasing cargo objects. Furthermore, an approach is presented for controlled navigation through mazes based on real-time particle and obstacle sensing, path planning, and magnetic field actuation without human intervention. The study introduces a mechanism of directing motion of microparticles using rotating magnetic fields, and a control scheme for precise navigation and delivery of micron-sized cargo using simple microellipsoids as microbots.

Flow tweezing of anisotropic magnetic microrobots in a dynamic magnetic trap for active retention and localized flow sensing

Controlled manipulation of microscale robotic devices in complex fluidic networks is critical for various applications in biomedical endovascular sensing, lab-on-chip biochemical assays, and environmental monitoring. However, achieving controlled transport and active retention of microscale robots with flow sensing capability has proven to be challenging. Here, we report the dynamic tweezing of an anisotropic magnetic microrobot in a rotating magnetic trap for active retention and localized flow sensing under confined fluidic conditions. We reveal a series of unconventional motion modes and the dynamics of the microrobot transporting in a confined fluidic flow, which manifest themselves as transitions from on-trap centre rolling to large-area revolution and off-trap centre rolling with varying rotating frequencies. By retaining the robot within the magnetic trap and its motion modulated by the field frequency, the off-centre rolling of the microrobot endows it with crucial localized flow sensing capabilities, including flow rate and flow direction determination. The magnetic microrobot serves as a mobile platform for measuring the flow profile along a curved channel, mimicking a blood vessel. Our findings unlock a new strategy to determine the local magnetic tweezing force profile and flow conditions in arbitrary flow channels, revealing strong potential for microfluidics, chemical reactors, and in vivo endovascular flow measurement.

Roadmap for Clinical Translation of Mobile Microrobotics

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.

A Magnetic Particle Imaging Approach for Minimally Invasive Imaging and Sensing With Implantable Bioelectronic Circuits

Minimally-invasive and biocompatible implantable bioelectronic circuits are used for long-term monitoring of physiological processes in the body. However, there is a lack of methods that can cheaply and conveniently image the device within the body while simultaneously extracting sensor information. Magnetic Particle Imaging (MPI) with zero background signal, high contrast, and high sensitivity with quantitative images is ideal for this challenge because the magnetic signal is not absorbed with increasing tissue depth and incurs no radiation dose. We show how to easily modify common implantable devices to be imaged by MPI by encapsulating and magnetically-coupling magnetic nanoparticles (SPIOs) to the device circuit. These modified implantable devices not only provide spatial information via MPI, but also couple to our handheld MPI reader to transmit sensor information by modulating harmonic signals from magnetic nanoparticles via switching or frequency-shifting with resistive or capacitive sensors. This paper provides proof-of-concept of an optimized MPI imaging technique for implantable devices to extract spatial information as well as other information transmitted by the implanted circuit (such as biosensing) via encoding in the magnetic particle spectrum. The 4D images present 3D position and a changing color tone in response to a variable biometric. Biophysical sensing via bioelectronic circuits that take advantage of the unique imaging properties of MPI may enable a wide range of minimally invasive applications in biomedicine and diagnosis.

Micro/Nanorobotics in In Vitro Fertilization: A Paradigm Shift in Assisted Reproductive Technologies

In vitro fertilization (IVF) has transformed the sector of assisted reproductive technology (ART) by presenting hope to couples facing infertility challenges. However, conventional IVF strategies include their own set of problems such as success rates, invasive procedures, and ethical issues. The integration of micro/nanorobotics into IVF provides a prospect to address these challenging issues. This article provides an outline of the use of micro/nanorobotics in IVF specializing in advancing sperm manipulation, egg retrieval, embryo culture, and capacity future improvements in this swiftly evolving discipline. The article additionally explores the challenges and obstacles associated with the integration of micro/nanorobotics into IVF, in addition to the ethical concerns and regulatory elements related to the usage of advanced technologies in ART. A comprehensive discussion of the risk and safety considerations related to using micro/nanorobotics in IVF techniques is likewise presented. Through this exploration, we delve into the core principles, benefits, challenges, and potential impact of micro/nanorobotics in revolutionizing IVF procedures and enhancing affected person outcomes.

AI-enhanced biomedical micro/nanorobots in microfluidics

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.

Ultrasound robotics for precision therapy

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.

Medical Imaging Technology for Micro/Nanorobots

Due to their enormous potential to be navigated through complex biological media or narrow capillaries, microrobots have demonstrated their potential in a variety of biomedical applications, such as assisted fertilization, targeted drug delivery, tissue repair, and regeneration. Numerous initial studies have been conducted to demonstrate the biomedical applications in test tubes and in vitro environments. Microrobots can reach human areas that are difficult to reach by existing medical devices through precise navigation. Medical imaging technology is essential for locating and tracking this small treatment machine for evaluation. This article discusses the progress of imaging in tracking the imaging of micro and nano robots in vivo and analyzes the current status of imaging technology for microrobots. The working principle and imaging parameters (temporal resolution, spatial resolution, and penetration depth) of each imaging technology are discussed in depth.