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Wei K, Tang C, Ma H, Fang X, Yang R. 3D-printed microrobots for biomedical applications. Biomater Sci 2024. [PMID: 39041236 DOI: 10.1039/d4bm00674g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/24/2024]
Abstract
Microrobots, which can perform tasks in difficult-to-reach parts of the human body under their own or external power supply, are potential tools for biomedical applications, such as drug delivery, microsurgery, imaging and monitoring, tissue engineering, and sensors and actuators. Compared with traditional fabrication methods for microrobots, recent improvements in 3D printers enable them to print high-precision microrobots, breaking through the limitations of traditional micromanufacturing technologies that require high skills for operators and greatly shortening the design-to-production cycle. Here, this review first introduces typical 3D printing technologies used in microrobot manufacturing. Then, the structures of microrobots with different functions and application scenarios are discussed. Next, we summarize the materials (body materials, propulsion materials and intelligent materials) used in 3D microrobot manufacturing to complete body construction and realize biomedical applications (e.g., drug delivery, imaging and monitoring). Finally, the challenges and future prospects of 3D printed microrobots in biomedical applications are discussed in terms of materials, manufacturing and advancement.
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Affiliation(s)
- Kun Wei
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Chenlong Tang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Hui Ma
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Xingmiao Fang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
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2
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Tan L, Cappelleri DJ. Responsive Hydrogel-Based Modular Microrobots for Multi-Functional Micromanipulation. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2404311. [PMID: 39040007 DOI: 10.1002/smll.202404311] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/28/2024] [Indexed: 07/24/2024]
Abstract
Microrobots show great potential in biomedical applications such as drug delivery and cell manipulations. However, current microrobots are mostly fabricated as a single entity and type and the tasks they can perform are limited. In this paper, modular microrobots, with an overall size of 120 µm × 200 µm, are proposed with responsive mating components, made from stimuli-responsive hydrogels, and application specific end-effectors for microassembly tasks. The modular microrobots are fabricated based on photolithography and two-photon polymerization together or separately. Two types of modular microrobots are created based on the location of the responsive mating component. The first type of modular microrobot has a mating component that can shrink upon stimulation, while the second type has a double bilayer structure that can realize an open and close motion. The exchange of end-effectors with an identical actuation base is demonstrated for both types of microrobots. Finally, different manipulation tasks are performed with different types of end-effectors.
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Affiliation(s)
- Liyuan Tan
- School of Mechanical Engineering, Purdue University, West Lafayette, IN, 47907, USA
| | - David J Cappelleri
- School of Mechanical Engineering, Purdue University, West Lafayette, IN, 47907, USA
- Weldon School of Biomedical Engineering, Purdue University, West Lafayette, IN, 47907, USA
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3
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Wang G, Wang S, Hu T, Shi F. Multifunctional Hydrogel with 3D Printability, Fluorescence, Biodegradability, and Biocompatibility for Biomedical Microrobots. Molecules 2024; 29:3351. [PMID: 39064931 PMCID: PMC11279963 DOI: 10.3390/molecules29143351] [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: 06/05/2024] [Revised: 07/13/2024] [Accepted: 07/15/2024] [Indexed: 07/28/2024] Open
Abstract
As micron-sized objects, mobile microrobots have shown significant potential for future biomedical applications, such as targeted drug delivery and minimally invasive surgery. However, to make these microrobots viable for clinical applications, several crucial aspects should be implemented, including customizability, motion-controllability, imageability, biodegradability, and biocompatibility. Developing materials to meet these requirements is of utmost importance. Here, a gelatin methacryloyl (GelMA) and (2-(4-vinylphenyl)ethene-1,1,2-triyl)tribenzene (TPEMA)-based multifunctional hydrogel with 3D printability, fluorescence imageability, biodegradability, and biocompatibility is demonstrated. By using 3D direct laser writing method, the hydrogel exhibits its versatility in the customization and fabrication of 3D microstructures. Spherical hydrogel microrobots were fabricated and decorated with magnetic nanoparticles on their surface to render them magnetically responsive, and have demonstrated excellent movement performance and motion controllability. The hydrogel microstructures also represented excellent drug loading/release capacity and degradability by using collagenase, along with stable fluorescence properties. Moreover, cytotoxicity assays showed that the hydrogel was non-toxic, as well as able to support cell attachment and growth, indicating excellent biocompatibility of the hydrogel. The developed multifunctional hydrogel exhibits great potential for biomedical microrobots that are integrated with customizability, 3D printability, motion controllability, drug delivery capacity, fluorescence imageability, degradability, and biocompatibility, thus being able to realize the real in vivo biomedical applications of microrobots.
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Affiliation(s)
- Gang Wang
- School of Physics and Electronic Science, Guizhou Normal University, Guiyang 550025, China; (S.W.)
- School of Integrated Circuit, Guizhou Normal University, Guiyang 550025, China
| | - Sisi Wang
- School of Physics and Electronic Science, Guizhou Normal University, Guiyang 550025, China; (S.W.)
| | - Tao Hu
- School of Physics and Electronic Science, Guizhou Normal University, Guiyang 550025, China; (S.W.)
| | - Famin Shi
- School of Physics and Electronic Science, Guizhou Normal University, Guiyang 550025, China; (S.W.)
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Gao Y, Ou L, Liu K, Guo Y, Li W, Xiong Z, Wu C, Wang J, Tang J, Li D. Template-Guided Silicon Micromotor Assembly for Enhanced Cell Manipulation. Angew Chem Int Ed Engl 2024; 63:e202405895. [PMID: 38660927 DOI: 10.1002/anie.202405895] [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: 03/27/2024] [Revised: 04/23/2024] [Accepted: 04/24/2024] [Indexed: 04/26/2024]
Abstract
Light-driven micro/nanorobots (LMNRs) are tiny, untethered machines with great potential in fields like precision medicine, nano manufacturing, and various other domains. However, their practicality hinges on developing light-manipulation strategies that combine versatile functionalities, flexible design options, and precise controllability. Our study introduces an innovative approach to construct micro/nanorobots (MNRs) by utilizing micro/nanomotors as fundamental building blocks. Inspired by silicon Metal-Insulator-Semiconductor (MIS) solar cell principles, we design a new type of optomagnetic hybrid micromotors (OHMs). These OHMs have been skillfully optimized with integrated magnetic constituent, resulting in efficient light propulsion, precise magnetic navigation, and the potential for controlled assembly. One of the key features of the OHMs is their ability to exhibit diverse motion modes influenced by fracture surfaces and interactions with the environment, streamlining cargo conveyance along "micro expressway"-the predesigned microchannels. Further enhancing their versatility, a template-guided assembly strategy facilitates the assembly of these micromotors into functional microrobots, encompassing various configurations such as "V-shaped", "N-shaped", and 3D structured microrobots. The heightened capabilities of these microrobots, underscore the innovative potential inherent in hybrid micromotor design and assembly, which provides a foundational platform for the realization of multi-component microrobots. Our work moves a step toward forthcoming microrobotic entities boasting advanced functionalities.
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Affiliation(s)
- Yuxin Gao
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Leyan Ou
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Kunfeng Liu
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Yuan Guo
- The Third People's Hospital of Ganzhou, Ganzhou City, Jiangxi Province, 341000, P. R. China
| | - Wanyuan Li
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Ze Xiong
- Wireless and Smart Bioelectronics Lab, School of Biomedical Engineering, ShanghaiTech University, Shanghai, 201210, P. R. China
| | - Changjin Wu
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong, P. R. China
| | - Jizhuang Wang
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Jinyao Tang
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong, P. R. China
| | - Dan Li
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
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5
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Gao Q, Lin T, Liu Z, Chen Z, Chen Z, Hu C, Shen T. Study on Structural Design and Motion Characteristics of Magnetic Helical Soft Microrobots with Drug-Carrying Function. MICROMACHINES 2024; 15:731. [PMID: 38930701 PMCID: PMC11205992 DOI: 10.3390/mi15060731] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/02/2024] [Revised: 05/24/2024] [Accepted: 05/29/2024] [Indexed: 06/28/2024]
Abstract
Magnetic soft microrobots have a wide range of applications in targeted drug therapy, cell manipulation, and other aspects. Currently, the research on magnetic soft microrobots is still in the exploratory stage, and most of the research focuses on a single helical structure, which has limited space to perform drug-carrying tasks efficiently and cannot satisfy specific medical goals in terms of propulsion speed. Therefore, balancing the motion speed and drug-carrying performance is a current challenge to overcome. In this paper, a magnetically controlled cone-helix soft microrobot structure with a drug-carrying function is proposed, its helical propulsion mechanism is deduced, a dynamical model is constructed, and the microrobot structure is prepared using femtosecond laser two-photon polymerization three-dimensional printing technology for magnetic drive control experiments. The results show that under the premise of ensuring sufficient drug-carrying space, the microrobot structure proposed in this paper can realize helical propulsion quickly and stably, and the speed of motion increases with increases in the frequency of the rotating magnetic field. The microrobot with a larger cavity diameter and a larger helical pitch exhibits faster rotary advancement speed, while the microrobot with a smaller helical height and a smaller helical cone angle outperforms other structures with the same feature sizes. The microrobot with a cone angle of 0.2 rad, a helical pitch of 100 µm, a helical height of 220 µm, and a cavity diameter of 80 µm achieves a maximum longitudinal motion speed of 390 µm/s.
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Affiliation(s)
- Qian Gao
- Luohe Institute of Technology, Henan University of Technology, No. 123, University Road, Yuanhui District, Luohe 462000, China;
| | - Tingting Lin
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Ziteng Liu
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Zebiao Chen
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Zidong Chen
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Cheng Hu
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
| | - Teng Shen
- Higher Education Mega Center, Guangzhou University, No. 230, West Waihuan Street, Guangzhou 510006, China; (T.L.); (Z.L.); (Z.C.); (Z.C.)
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Zhou Y, Cheng W, Dai L, Guo S, Wu J, Wang X, Wu A, Liu L, Jiao N. Novel Operation Mechanism and Multifunctional Applications of Bubble Microrobots. Adv Healthc Mater 2024; 13:e2303767. [PMID: 38230855 DOI: 10.1002/adhm.202303767] [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: 11/27/2023] [Indexed: 01/18/2024]
Abstract
Microrobots have emerged as powerful tools for manipulating particles, cells, and assembling biological tissue structures at the microscale. However, achieving precise and flexible operation of arbitrary-shaped microstructures in 3D space remains a challenge. In this study, three novel operation methods based on bubble microrobots are proposed to enable delicate and multifunctional manipulation of various microstructures. These methods include 3D turnover, fixed-point rotation, and 3D ejection. By harnessing the combined principles of the effect of the heat flow field and surface tension of an optothermally generated bubble, the bubble microrobot can perform tasks such as flipping an SIA humanoid structure, rotating a bird-like structure, and launching a hollow rocket-like structure. The proposed multi-mode operation of bubble microrobots enables diverse attitude adjustments of microstructures with different sizes and shapes in both 2D and 3D spaces. As a demonstration, a biological microenvironment of brain glioblastoma is constructed by the bubble microrobot. The simplicity, versatility, and flexibility of this proposed method hold great promise for applications in micromanipulation, assembly, and tissue engineering.
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Affiliation(s)
- Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Wen Cheng
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Liguo Dai
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou, 450002, China
| | - Songyi Guo
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Junfeng Wu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Xiaodong Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Anhua Wu
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
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Hong X, Xu B, Li G, Nan F, Wang X, Liang Q, Dong W, Dong W, Sun H, Zhang Y, Li C, Fu R, Wang Z, Shen G, Wang Y, Yao Y, Zhang S, Li J. Optoelectronically navigated nano-kirigami microrotors. SCIENCE ADVANCES 2024; 10:eadn7582. [PMID: 38657056 PMCID: PMC11042735 DOI: 10.1126/sciadv.adn7582] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/08/2024] [Accepted: 03/25/2024] [Indexed: 04/26/2024]
Abstract
With the rapid development of micro/nanofabrication technologies, the concept of transformable kirigami has been applied for device fabrication in the microscopic world. However, most nano-kirigami structures and devices were typically fabricated or transformed at fixed positions and restricted to limited mechanical motion along a single axis due to their small sizes, which significantly limits their functionalities and applications. Here, we demonstrate the precise shaping and position control of nano-kirigami microrotors. Metallic microrotors with size of ~10 micrometers were deliberately released from the substrates and readily manipulated through the multimode actuation with controllable speed and direction using an advanced optoelectronic tweezers technique. The underlying mechanisms of versatile interactions between the microrotors and electric field are uncovered by theoretical modeling and systematic analysis. This work reports a novel methodology to fabricate and manipulate micro/nanorotors with well-designed and sophisticated kirigami morphologies, providing new solutions for future advanced optoelectronic micro/nanomachinery.
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Affiliation(s)
- Xiaorong Hong
- Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement (Ministry of Education), Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems, and School of Physics, Beijing Institute of Technology, Beijing 100081, China
| | - Bingrui Xu
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Gong Li
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Fan Nan
- Institute of Nanophotonics, Jinan University, Guangzhou 511443, China
| | - Xian Wang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
| | - Qinghua Liang
- Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement (Ministry of Education), Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems, and School of Physics, Beijing Institute of Technology, Beijing 100081, China
| | - Wenbo Dong
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Weikang Dong
- Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement (Ministry of Education), Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems, and School of Physics, Beijing Institute of Technology, Beijing 100081, China
| | - Haozhe Sun
- Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement (Ministry of Education), Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems, and School of Physics, Beijing Institute of Technology, Beijing 100081, China
| | - Yongyue Zhang
- Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement (Ministry of Education), Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems, and School of Physics, Beijing Institute of Technology, Beijing 100081, China
| | - Chongrui Li
- Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement (Ministry of Education), Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems, and School of Physics, Beijing Institute of Technology, Beijing 100081, China
| | - Rongxin Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Zhuoran Wang
- School of Integrated Circuits and Electronics, Engineering Research Center of Integrated Acousto-opto-electronic Microsystems (Ministry of Education of China), Beijing Institute of Technology, Beijing 100081, China
| | - Guozhen Shen
- School of Integrated Circuits and Electronics, Engineering Research Center of Integrated Acousto-opto-electronic Microsystems (Ministry of Education of China), Beijing Institute of Technology, Beijing 100081, China
| | - Yeliang Wang
- School of Integrated Circuits and Electronics, Engineering Research Center of Integrated Acousto-opto-electronic Microsystems (Ministry of Education of China), Beijing Institute of Technology, Beijing 100081, China
| | - Yugui Yao
- Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement (Ministry of Education), Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems, and School of Physics, Beijing Institute of Technology, Beijing 100081, China
| | - Shuailong Zhang
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- School of Integrated Circuits and Electronics, Engineering Research Center of Integrated Acousto-opto-electronic Microsystems (Ministry of Education of China), Beijing Institute of Technology, Beijing 100081, China
| | - Jiafang Li
- Key Lab of Advanced Optoelectronic Quantum Architecture and Measurement (Ministry of Education), Beijing Key Lab of Nanophotonics & Ultrafine Optoelectronic Systems, and School of Physics, Beijing Institute of Technology, Beijing 100081, China
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8
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Xu R, Xu Q. A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation. MICROMACHINES 2024; 15:468. [PMID: 38675279 PMCID: PMC11052276 DOI: 10.3390/mi15040468] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 03/23/2024] [Accepted: 03/28/2024] [Indexed: 04/28/2024]
Abstract
Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.
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Affiliation(s)
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China;
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Ali A, Kim H, Torati SR, Kang Y, Reddy V, Kim K, Yoon J, Lim B, Kim C. Magnetic Lateral Ladder for Unidirectional Transport of Microrobots: Design Principles and Potential Applications of Cells-on-Chip. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305528. [PMID: 37845030 DOI: 10.1002/smll.202305528] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/03/2023] [Revised: 08/23/2023] [Indexed: 10/18/2023]
Abstract
Functionalized microrobots, which are directionally manipulated in a controlled and precise manner for specific tasks, face challenges. However, magnetic field-based controls constrain all microrobots to move in a coordinated manner, limiting their functions and independent behaviors. This article presents a design principle for achieving unidirectional microrobot transport using an asymmetric magnetic texture in the shape of a lateral ladder, which the authors call the "railway track." An asymmetric magnetic energy distribution along the axis allows for the continuous movement of microrobots in a fixed direction regardless of the direction of the magnetic field rotation. The authors demonstrated precise control and simple utilization of this method. Specifically, by placing magnetic textures with different directionalities, an integrated cell/particle collector can collect microrobots distributed in a large area and move them along a complex trajectory to a predetermined location. The authors can leverage the versatile capabilities offered by this texture concept, including hierarchical isolation, switchable collection, programmable pairing, selective drug-response test, and local fluid mixing for target objects. The results demonstrate the importance of microrobot directionality in achieving complex individual control. This novel concept represents significant advancement over conventional magnetic field-based control technology and paves the way for further research in biofunctionalized microrobotics.
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Affiliation(s)
- Abbas Ali
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Hyeonseol Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Sri Ramulu Torati
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- Center for Bioelectronics, Old Dominion University, Norfolk, VA, 23508, USA
| | - Yumin Kang
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Venu Reddy
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- Nanotechnology Research Center, SRKR Engineering College, Bhimavaram, Andhra Pradesh, 534204, India
| | - Keonmok Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Jonghwan Yoon
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Byeonghwa Lim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - CheolGi Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
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10
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Li R, Jiang M, Liu B, Jiang S, Chen C, Liang M, Qu L, Wang C, Zhao G, Hu Y, Wu D, Chu J, Li J. High-performance magnetic metal microrobot prepared by a two-photon polymerization and sintering method. LAB ON A CHIP 2024. [PMID: 38235769 DOI: 10.1039/d3lc01084h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/19/2024]
Abstract
Magnetically-actuated microrobots (MARs) exhibit great potential in biomedicine owing to their precise navigation, wireless actuation and remote operation in confined space. However, most previously explored MARs unfold the drawback of hypodynamic magnetic torque due to low magnetic content, leading to their limited applications in controlled locomotion in fast-flowing fluid and massive cargo carrying to the target position. Here, we report a high-performance pure-nickel magnetically-actuated microrobot (Ni-MAR), prepared by a femtosecond laser polymerization followed by sintering method. Our Ni-MAR possesses a high magnetic content (∼90 wt%), thus resulting in enhanced magnetic torque under low-strength rotating magnetic fields, which enables the microrobot to exhibit high-speed swimming and superior cargo carrying. The maximum velocity of our Ni-MAR, 12.5 body lengths per second, outperforms the velocity of traditional helical MARs. The high-speed Ni-MAR is capable of maintaining controlled locomotion in fast-flowing fluid. Moreover, the Ni-MAR with massive cargo carrying capability can push a 200-times heavier microcube with translation and rotation motion. A single cell and multiple cells can be transported facilely by a single Ni-MAR to the target position. This work provides a scheme for fabricating high-performance magnetic microrobots, which holds great promise for targeted therapy and drug delivery in vivo.
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Affiliation(s)
- Rui Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Modong Jiang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Bingrui Liu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Shaojun Jiang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Chao Chen
- Department of Materials Physics and New Energy Device, School of Materials Science and Engineering, Hefei University of Technology, Hefei 230009, China
| | - Mengxue Liang
- CAS Key Laboratory of Urban Pollutant Conversion, Department of Environmental Science and Engineering, University of Science and Technology of China, Hefei 230026, China
| | - Lijie Qu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Chaowei Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Gang Zhao
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Yanlei Hu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Dong Wu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Jiaru Chu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Jiawen Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
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11
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Becton M, Hou J, Zhao Y, Wang X. Dynamic Clustering and Scaling Behavior of Active Particles under Confinement. NANOMATERIALS (BASEL, SWITZERLAND) 2024; 14:144. [PMID: 38251109 PMCID: PMC10819351 DOI: 10.3390/nano14020144] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/14/2023] [Revised: 01/05/2024] [Accepted: 01/07/2024] [Indexed: 01/23/2024]
Abstract
A systematic investigation of the dynamic clustering behavior of active particles under confinement, including the effects of both particle density and active driving force, is presented based on a hybrid coarse-grained molecular dynamics simulation. First, a series of scaling laws are derived with power relationships for the dynamic clustering time as a function of both particle density and active driving force. Notably, the average number of clusters N¯ assembled from active particles in the simulation system exhibits a scaling relationship with clustering time t described by N¯∝t-m. Simultaneously, the scaling behavior of the average cluster size S¯ is characterized by S¯∝tm. Our findings reveal the presence of up to four distinct dynamic regions concerning clustering over time, with transitions contingent upon the particle density within the system. Furthermore, as the active driving force increases, the aggregation behavior also accelerates, while an increase in density of active particles induces alterations in the dynamic procession of the system.
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Affiliation(s)
- Matthew Becton
- School of ECAM, College of Engineering, University of Georgia, Athens, GA 30602, USA; (M.B.); (J.H.)
| | - Jixin Hou
- School of ECAM, College of Engineering, University of Georgia, Athens, GA 30602, USA; (M.B.); (J.H.)
| | - Yiping Zhao
- Department of Physics and Astronomy, University of Georgia, Athens, GA 30602, USA;
| | - Xianqiao Wang
- School of ECAM, College of Engineering, University of Georgia, Athens, GA 30602, USA; (M.B.); (J.H.)
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12
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McNeill J, Mallouk TE. Acoustically Powered Nano- and Microswimmers: From Individual to Collective Behavior. ACS NANOSCIENCE AU 2023; 3:424-440. [PMID: 38144701 PMCID: PMC10740144 DOI: 10.1021/acsnanoscienceau.3c00038] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/01/2023] [Revised: 09/26/2023] [Accepted: 09/27/2023] [Indexed: 12/26/2023]
Abstract
Micro- and nanoscopic particles that swim autonomously and self-assemble under the influence of chemical fuels and external fields show promise for realizing systems capable of carrying out large-scale, predetermined tasks. Different behaviors can be realized by tuning swimmer interactions at the individual level in a manner analogous to the emergent collective behavior of bacteria and mammalian cells. However, the limited toolbox of weak forces with which to drive these systems has made it difficult to achieve useful collective functions. Here, we review recent research on driving swimming and particle self-organization using acoustic fields, which offers capabilities complementary to those of the other methods used to power microswimmers. With either chemical or acoustic propulsion (or a combination of the two), understanding individual swimming mechanisms and the forces that arise between individual particles is a prerequisite to harnessing their interactions to realize collective phenomena and macroscopic functionality. We discuss here the ingredients necessary to drive the motion of microscopic particles using ultrasound, the theory that describes that behavior, and the gaps in our understanding. We then cover the combination of acoustically powered systems with other cross-compatible driving forces and the use of ultrasound in generating collective behavior. Finally, we highlight the demonstrated applications of acoustically powered microswimmers, and we offer a perspective on the state of the field, open questions, and opportunities. We hope that this review will serve as a guide to students beginning their work in this area and motivate others to consider research in microswimmers and acoustic fields.
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Affiliation(s)
- Jeffrey
M. McNeill
- Department of Chemistry, University
of Pennsylvania, Philadelphia, Pennsylvania 19104, United States
| | - Thomas E. Mallouk
- Department of Chemistry, University
of Pennsylvania, Philadelphia, Pennsylvania 19104, United States
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13
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Su L, Jin D, Wang Y, Wang Q, Pan C, Jiang S, Yang H, Yang Z, Wang X, Xia N, Chan KF, Chiu PWY, Sung JJY, Zhang L. Modularized microrobot with lock-and-detachable modules for targeted cell delivery in bile duct. SCIENCE ADVANCES 2023; 9:eadj0883. [PMID: 38100592 PMCID: PMC10848723 DOI: 10.1126/sciadv.adj0883] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/06/2023] [Accepted: 11/16/2023] [Indexed: 12/17/2023]
Abstract
The magnetic microrobots promise benefits in minimally invasive cell-based therapy. However, they generally suffer from an inevitable compromise between their magnetic responsiveness and biomedical functions. Herein, we report a modularized microrobot consisting of magnetic actuation (MA) and cell scaffold (CS) modules. The MA module with strong magnetism and pH-responsive deformability and the CS module with cell loading-release capabilities were fabricated by three-dimensional printing technique. Subsequently, assembly of modules was performed by designing a shaft-hole structure and customizing their relative dimensions, which enabled magnetic navigation in complex environments, while not deteriorating the cellular functionalities. On-demand disassembly at targeted lesion was then realized to facilitate CS module delivery and retrieval of the MA module. Furthermore, the feasibility of proposed system was validated in an in vivo rabbit bile duct. Therefore, this work presents a modular design-based strategy that enables uncompromised fabrication of multifunctional microrobots and stimulates their development for future cell-based therapy.
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Affiliation(s)
- Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Dongdong Jin
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong 518055, China
| | - Yuqiong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Shuai Jiang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Kai Fung Chan
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Philip Wai Yan Chiu
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Joseph Jao-Yiu Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore, Singapore
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, China
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14
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Zhang M, Lee Y, Zheng Z, Khan MTA, Lyu X, Byun J, Giessen H, Sitti M. Micro- and nanofabrication of dynamic hydrogels with multichannel information. Nat Commun 2023; 14:8208. [PMID: 38081820 PMCID: PMC10713606 DOI: 10.1038/s41467-023-43921-9] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/15/2023] [Accepted: 11/23/2023] [Indexed: 04/28/2024] Open
Abstract
Creating micro/nanostructures containing multi-channel information within responsive hydrogels presents exciting opportunities for dynamically changing functionalities. However, fabricating these structures is immensely challenging due to the soft and dynamic nature of hydrogels, often resulting in unintended structural deformations or destruction. Here, we demonstrate that dehydrated hydrogels, treated by a programmable femtosecond laser, can allow for a robust fabrication of micro/nanostructures. The dehydration enhances the rigidity of the hydrogels and temporarily locks the dynamic behaviours, significantly promoting their structural integrity during the fabrication process. By utilizing versatile dosage domains of the femtosecond laser, we create micro-grooves on the hydrogel surface through the use of a high-dosage mode, while also altering the fluorescent intensity within the rest of the non-ablated areas via a low-dosage laser. In this way, we rationally design a pixel unit containing three-channel information: structural color, polarization state, and fluorescent intensity, and encode three complex image information sets into these channels. Distinct images at the same location were simultaneously printed onto the hydrogel, which can be observed individually under different imaging modes without cross-talk. Notably, the recovered dynamic responsiveness of the hydrogel enables a multi-information-encoded surface that can sequentially display different information as the temperature changes.
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Affiliation(s)
- Mingchao Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Yohan Lee
- 4th Physics Institute and Research Center SCoPE, University of Stuttgart, 70569, Stuttgart, Germany
| | - Zhiqiang Zheng
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Muhammad Turab Ali Khan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Xianglong Lyu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092, Zürich, Switzerland
| | - Junghwan Byun
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Harald Giessen
- 4th Physics Institute and Research Center SCoPE, University of Stuttgart, 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zürich, 8092, Zürich, Switzerland.
- School of Medicine and College of Engineering, Koç University, 34450, Istanbul, Turkey.
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15
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Yu N, Shah ZH, Basharat M, Wang S, Zhou X, Lin G, Edwards SA, Yang M, Gao Y. Active self-assembly of colloidal machines with passive rotational parts via coordination of phoresis and osmosis. SOFT MATTER 2023. [PMID: 38044703 DOI: 10.1039/d3sm01451g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/05/2023]
Abstract
The organization of microscopic objects into specific structures with movable parts is a prerequisite for building sophisticated micromachines with complex functions, as exemplified by their macroscopic counterparts. Here we report the self-assembly of active and passive colloids into micromachinery with passive rotational parts. Depending on the attachment of the active colloid to a substrate, which varies the degrees of free freedom of the assembly, colloidal machines with rich internal rotational dynamics are realized. Energetic analysis reveals that the energy efficiency increases with the degrees of freedom of the machine. The experimental results can be rationalized by the cooperation of phoretic interaction and osmotic flow encoded in the shape of the active colloid, which site-specifically binds and exerts a torque to passive colloids, supported by finite element calculations and mesoscale simulations. Our work offers a new design principle that utilizes nonequilibrium interfacial phenomena for spontaneous construction of multiple-component reconfigurable micromachinery.
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Affiliation(s)
- Nan Yu
- Institute for Advanced Study, Shenzhen University, 518060, Shenzhen, China.
- Key Laboratory of Optoelectronic Device and Systems of Ministry of Education and Guangdong Provice, College of Optoelectronic Engineering, Shenzhen University, 518060, Shenzhen, China
| | - Zameer Hussain Shah
- Institute for Advanced Study, Shenzhen University, 518060, Shenzhen, China.
- Key Laboratory of Optoelectronic Device and Systems of Ministry of Education and Guangdong Provice, College of Optoelectronic Engineering, Shenzhen University, 518060, Shenzhen, China
| | - Majid Basharat
- Institute for Advanced Study, Shenzhen University, 518060, Shenzhen, China.
- Key Laboratory of Optoelectronic Device and Systems of Ministry of Education and Guangdong Provice, College of Optoelectronic Engineering, Shenzhen University, 518060, Shenzhen, China
| | - Shuo Wang
- Institute for Advanced Study, Shenzhen University, 518060, Shenzhen, China.
- Key Laboratory of Optoelectronic Device and Systems of Ministry of Education and Guangdong Provice, College of Optoelectronic Engineering, Shenzhen University, 518060, Shenzhen, China
| | - Xuemao Zhou
- Institute for Advanced Study, Shenzhen University, 518060, Shenzhen, China.
- Key Laboratory of Optoelectronic Device and Systems of Ministry of Education and Guangdong Provice, College of Optoelectronic Engineering, Shenzhen University, 518060, Shenzhen, China
| | - Guanhua Lin
- Institute for Advanced Study, Shenzhen University, 518060, Shenzhen, China.
| | - Scott A Edwards
- Institute for Advanced Study, Shenzhen University, 518060, Shenzhen, China.
| | - Mingcheng Yang
- Beijing National Laboratory for Condensed Matter Physics and Laboratory of Soft Matter Physics, Institute of Physics, Chinese Academy of Sciences, Beijing 100190, China.
- School of Physical Sciences, University of Chinese Academy of Sciences, Beijing 100049, China
- Songshan Lake Materials Laboratory, Dongguan, Guangdong 523808, China
| | - Yongxiang Gao
- Institute for Advanced Study, Shenzhen University, 518060, Shenzhen, China.
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16
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Wang H, Liu C, Yang X, Ji F, Song W, Zhang G, Wang L, Zhu Y, Yu S, Zhang W, Li T. Multimode microdimer robot for crossing tissue morphological barrier. iScience 2023; 26:108320. [PMID: 38026188 PMCID: PMC10665815 DOI: 10.1016/j.isci.2023.108320] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/12/2023] [Revised: 08/03/2023] [Accepted: 10/20/2023] [Indexed: 12/01/2023] Open
Abstract
Swimming microrobot energized by magnetic fields exhibits remotely propulsion and modulation in complex biological experiment with high precision. However, achieving high environment adaptability and multiple tasking capability in one configuration is still challenging. Here, we present a strategy that use oriented magnetized Janus spheres to assemble the microdimer robots with two magnetic distribution configurations of head-to-side configuration (HTS-config) and head-to-head configuration (HTH-config), achieving performance of multiple tasks through multimode transformation and locomotion. Modulating the magnetic frequency enables multimode motion transformation between tumbling, rolling, and swing motion with different velocities. The dual-asynchronization mechanisms of HTS-config and HTH-config robot dependent on magnetic dipole-dipole angle are investigated by molecular dynamic simulation. In addition, the microdimer robot can transport cell crossing morphological rugae or complete drug delivery on tissues by switching motion modes. This microdimer robot can provide versatile motion modes to address environmental variations or multitasking requirements.
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Affiliation(s)
- Haocheng Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Chenlu Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Xiaopeng Yang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Fengtong Ji
- Cancer Research UK Gurdon Institute, University of Cambridge, Cambridge, UK
| | - Wenping Song
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
- Chongqing Research Institute of Harbin Institute of Technology Chongqing, Chongqing, China
| | - Guangyu Zhang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Lin Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Yanhe Zhu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Shimin Yu
- College of Engineering, Ocean University of China, Qingdao, China
| | - Weiwei Zhang
- School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, China
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
- Chongqing Research Institute of Harbin Institute of Technology Chongqing, Chongqing, China
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17
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Yu D, Liu L, Yu J, Si Y, Ding B. Meta-Aerogel Electric Trap Enables Instant and Continuable Pathogen Killing in Face Masks. ACS NANO 2023; 17:20601-20610. [PMID: 37791722 DOI: 10.1021/acsnano.3c07538] [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: 10/05/2023]
Abstract
The tremendous menace of the COVID-19 pandemic has underscored the urgency for antipathogen masks to stop the transmission of airborne infectious diseases. Most prevailing antipathogen masks manifest a slower sterilization rate that lags behind the pathogen momentum traversing the masks, thereby engendering an elevated susceptibility to infection. Here we tailor nanofibrous meta-aerogel electric traps, 3D-assembled from self-knotted carbon nanotube networks in an all rigid nanofibrous skeleton. This superior configuration revolves around the creation of numerous "dielectrophoretic-aerodynamic grippers", which are capable of directional manipulation of microbes toward the region of the lethal intensive electric field. Based on this, we present a disinfection unit comprising a pair of aerogel electrodes that demonstrate a rapid killing rate (>99.99% biocidal efficacy within 0.016 s) and long-term durability (12 h of continuous operation). Additionally, a microbutton lithium cell is employed as a power supply to fabricate an antipathogen face mask with this disinfection unit, which exhibits superior pathogen inactivation efficacy compared to commercial masks. This scalable biocidal protective equipment holds great potential for use in emergency medical services.
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Affiliation(s)
- Dingming Yu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Textiles, Donghua University, Shanghai 201620, People's Republic of China
| | - Lifang Liu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Textiles, Donghua University, Shanghai 201620, People's Republic of China
| | - Jianyong Yu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Textiles, Donghua University, Shanghai 201620, People's Republic of China
- Innovation Center for Textile Science and Technology, Donghua University, Shanghai 200051, People's Republic of China
| | - Yang Si
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Textiles, Donghua University, Shanghai 201620, People's Republic of China
- Innovation Center for Textile Science and Technology, Donghua University, Shanghai 200051, People's Republic of China
| | - Bin Ding
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Textiles, Donghua University, Shanghai 201620, People's Republic of China
- Innovation Center for Textile Science and Technology, Donghua University, Shanghai 200051, People's Republic of China
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18
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Doinikov AA, Micol T, Mauger C, Blanc-Benon P, Inserra C. Self-Propulsion of Two Contacting Bubbles Due to the Radiation Interaction Force. MICROMACHINES 2023; 14:1615. [PMID: 37630151 PMCID: PMC10456507 DOI: 10.3390/mi14081615] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/12/2023] [Revised: 08/03/2023] [Accepted: 08/08/2023] [Indexed: 08/27/2023]
Abstract
In this paper, we consider a new bubble-based microswimmer composed of two contacting bubbles. Under the action of an acoustic field, both bubbles are oscillating, and locomotion of the two-bubble system is observed. A theory is developed that allows one to calculate the acoustic radiation interaction forces between two gas bubbles in an incompressible viscous liquid for any small separation distance between the bubbles. This theory is used to demonstrate that two acoustically excited bubbles can create a self-propelled microswimmer due to a nonzero net force experienced by the bubbles when they come in contact. Experimental evidence of the creation of such a swimmer and of its motion is provided.
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Affiliation(s)
- Alexander A. Doinikov
- University Lyon, École Centrale de Lyon, INSA de Lyon, CNRS, LMFA UMR 5509, F-69002 Lyon, France
| | - Thomas Micol
- University Lyon, École Centrale de Lyon, INSA de Lyon, CNRS, LMFA UMR 5509, F-69002 Lyon, France
| | - Cyril Mauger
- University Lyon, École Centrale de Lyon, INSA de Lyon, CNRS, LMFA UMR 5509, F-69002 Lyon, France
| | - Philippe Blanc-Benon
- University Lyon, École Centrale de Lyon, INSA de Lyon, CNRS, LMFA UMR 5509, F-69002 Lyon, France
| | - Claude Inserra
- University Lyon, Université Claude Bernard Lyon 1, Centre Léon Bérard, INSERM, UMR 1032, LabTAU, F-69003 Lyon, France
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19
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Yang Y, Li C, Palmer LC, Stupp SI. Autonomous hydrogel locomotion regulated by light and electric fields. SCIENCE ADVANCES 2023; 9:eadi4566. [PMID: 37531426 PMCID: PMC10396299 DOI: 10.1126/sciadv.adi4566] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/26/2023] [Accepted: 06/28/2023] [Indexed: 08/04/2023]
Abstract
Autonomous robotic functions in materials beyond simple stimulus-response actuation require the development of functional soft matter that can complete well-organized tasks without step-by-step control. We report the design of photo- and electroactivated hydrogels that can capture and deliver cargo, avoid obstacles, and return without external, stepwise control. By incorporating two spiropyran monomers with different chemical substituents in the hydrogel, we created chemically random networks that enabled photoregulated charge reversal and autonomous behaviors under a constant electric field. In addition, using perturbations in the electric field induced by a dielectric inhomogeneity, the hydrogel could be attracted to high dielectric constant materials and autonomously bypasses the low dielectric constant materials under the guidance of the electric field vector. The photo- and electroactive hydrogels investigated here can autonomously perform tasks using constant external stimuli, an encouraging observation for the potential development of molecularly designed intelligent robotic materials.
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Affiliation(s)
- Yang Yang
- Center for Bio-Inspired Energy Science, Northwestern University, Evanston, IL 60208, USA
| | - Chuang Li
- Center for Bio-Inspired Energy Science, Northwestern University, Evanston, IL 60208, USA
| | - Liam C Palmer
- Center for Bio-Inspired Energy Science, Northwestern University, Evanston, IL 60208, USA
- Department of Chemistry, Northwestern University, Evanston, IL 60208, USA
- Simpson Querrey Institute for BioNanotechnology, Northwestern University, Chicago, IL 60611, USA
| | - Samuel I Stupp
- Center for Bio-Inspired Energy Science, Northwestern University, Evanston, IL 60208, USA
- Department of Chemistry, Northwestern University, Evanston, IL 60208, USA
- Simpson Querrey Institute for BioNanotechnology, Northwestern University, Chicago, IL 60611, USA
- Department of Materials Science and Engineering, Northwestern University, Evanston, IL 60208, USA
- Department of Biomedical Engineering, Northwestern University, Evanston, IL 60208, USA
- Department of Medicine, Northwestern University, Chicago, IL 60611, USA
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20
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Chen X, Chen X, Peng Y, Zhu L, Wang W. Dielectrophoretic Colloidal Levitation by Electrode Polarization in Oscillating Electric Fields. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2023; 39:6932-6945. [PMID: 37148258 DOI: 10.1021/acs.langmuir.3c00759] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/08/2023]
Abstract
Controlled colloidal levitation is key to many applications. Recently, it was discovered that polymer microspheres were levitated to a few micrometers in aqueous solutions in alternating current (AC) electric fields. A few mechanisms have been proposed to explain this AC levitation such as electrohydrodynamic flows, asymmetric rectified electric fields, and aperiodic electrodiffusiophoresis. Here, we propose an alternative mechanism based on dielectrophoresis in a spatially inhomogeneous electric field gradient extending from the electrode surface micrometers into the bulk. This field gradient is derived from electrode polarization, where counterions accumulate near electrode surfaces. A dielectric microparticle is then levitated from the electrode surface to a height where the dielectrophoretic lift balances gravity. The dielectrophoretic levitation mechanism is supported by two numerical models. One model assumes point dipoles and solves for the Poisson-Nernst-Planck equations, while the second model incorporates a dielectric sphere of a realistic size and permittivity and uses the Maxwell-stress tensor formulation to solve for the electrical body force. In addition to proposing a plausible levitation mechanism, we further demonstrate that AC colloidal levitation can be used to move synthetic microswimmers to controlled heights. This study sheds light on understanding the dynamics of colloidal particles near an electrode and paves the way to using AC levitation to manipulate colloidal particles, active or passive.
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Affiliation(s)
- Xiaowen Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Xi Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Yixin Peng
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Lailai Zhu
- Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore
| | - Wei Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
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21
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Dhatt-Gauthier K, Livitz D, Wu Y, Bishop KJM. Accelerating the Design of Self-Guided Microrobots in Time-Varying Magnetic Fields. JACS AU 2023; 3:611-627. [PMID: 37006772 PMCID: PMC10052236 DOI: 10.1021/jacsau.2c00499] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/12/2022] [Revised: 02/23/2023] [Accepted: 02/24/2023] [Indexed: 06/19/2023]
Abstract
Mobile robots combine sensory information with mechanical actuation to move autonomously through structured environments and perform specific tasks. The miniaturization of such robots to the size of living cells is actively pursued for applications in biomedicine, materials science, and environmental sustainability. Existing microrobots based on field-driven particles rely on knowledge of the particle position and the target destination to control particle motion through fluid environments. Often, however, these external control strategies are challenged by limited information and global actuation where a common field directs multiple robots with unknown positions. In this Perspective, we discuss how time-varying magnetic fields can be used to encode the self-guided behaviors of magnetic particles conditioned on local environmental cues. Programming these behaviors is framed as a design problem: we seek to identify the design variables (e.g., particle shape, magnetization, elasticity, stimuli-response) that achieve the desired performance in a given environment. We discuss strategies for accelerating the design process using automated experiments, computational models, statistical inference, and machine learning approaches. Based on the current understanding of field-driven particle dynamics and existing capabilities for particle fabrication and actuation, we argue that self-guided microrobots with potentially transformative capabilities are close at hand.
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22
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Zhu Q, Tree DR. Simulations of morphology control of self‐assembled amphiphilic surfactants. JOURNAL OF POLYMER SCIENCE 2023. [DOI: 10.1002/pol.20220771] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/19/2023]
Affiliation(s)
- Qinyu Zhu
- Department of Chemical Engineering Brigham Young University Provo Utah USA
| | - Douglas R. Tree
- Department of Chemical Engineering Brigham Young University Provo Utah USA
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23
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Lee YW, Kim JK, Bozuyuk U, Dogan NO, Khan MTA, Shiva A, Wild AM, Sitti M. Multifunctional 3D-Printed Pollen Grain-Inspired Hydrogel Microrobots for On-Demand Anchoring and Cargo Delivery. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2209812. [PMID: 36585849 DOI: 10.1002/adma.202209812] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/24/2022] [Revised: 12/22/2022] [Indexed: 06/17/2023]
Abstract
While a majority of wireless microrobots have shown multi-responsiveness to implement complex biomedical functions, their functional executions are strongly dependent on the range of stimulus inputs, which curtails their functional diversity. Furthermore, their responsive functions are coupled to each other, which results in the overlap of the task operations. Here, a 3D-printed multifunctional microrobot inspired by pollen grains with three hydrogel components is demonstrated: iron platinum (FePt) nanoparticle-embedded pentaerythritol triacrylate (PETA), poly N-isopropylacrylamide (pNIPAM), and poly N-isopropylacrylamide acrylic acid (pNIPAM-AAc) structures. Each of these structures exhibits their respective targeted functions: responding to magnetic fields for torque-driven surface rolling and steering, exhibiting temperature responsiveness for on-demand surface attachment (anchoring), and pH-responsive cargo release. The versatile multifunctional pollen grain-inspired robots conceptualized here pave the way for various future medical microrobots to improve their projected performance and functional diversity.
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Affiliation(s)
- Yun-Woo Lee
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Jae-Kang Kim
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Nihal Olcay Dogan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Muhammad Turab Ali Khan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Anitha Shiva
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Anna-Maria Wild
- 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
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul, 34450, Turkey
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24
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Hou Y, Wang H, Fu R, Wang X, Yu J, Zhang S, Huang Q, Sun Y, Fukuda T. A review on microrobots driven by optical and magnetic fields. LAB ON A CHIP 2023; 23:848-868. [PMID: 36629004 DOI: 10.1039/d2lc00573e] [Citation(s) in RCA: 15] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Due to their small sizes, microrobots are advantageous for accessing hard-to-reach spaces for delivery and measurement. However, their small sizes also bring challenges in on-board powering, thus usually requiring actuation by external energy. Microrobots actuated by external energy have been applied to the fields of physics, biology, medical science, and engineering. Among these actuation sources, light and magnetic fields show advantages in high precision and high biocompatibility. This paper reviews the recent advances in the design, actuation, and applications of microrobots driven by light and magnetic fields. For light-driven microrobots, we summarized the uses of optical tweezers, optoelectronic tweezers, and heat-mediated optical manipulation techniques. For magnetically driven microrobots, we summarized the uses of torque-driven microrobots, force-driven microrobots, and shape-deformable microrobots. Then, we compared the two types of field-driven microrobots and reviewed their advantages and disadvantages. The paper concludes with an outlook for the joint use of optical and magnetic field actuation in microrobots.
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Affiliation(s)
- Yaozhen Hou
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
| | - Huaping Wang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Rongxin Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Xian Wang
- Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto, ONT, M5G 1X8, Canada
| | - 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 (AIRS), Shenzhen 518129, China
| | - Shuailong Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Qiang Huang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto, ON, M5S 3G9, Canada
| | - Toshio Fukuda
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
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25
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Wu Y, Yakov S, Fu A, Yossifon G. A Magnetically and Electrically Powered Hybrid Micromotor in Conductive Solutions: Synergistic Propulsion Effects and Label-Free Cargo Transport and Sensing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2204931. [PMID: 36507618 PMCID: PMC10015886 DOI: 10.1002/advs.202204931] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/28/2022] [Revised: 10/31/2022] [Indexed: 06/18/2023]
Abstract
Electrically powered micro- and nanomotors are promising tools for in vitro single-cell analysis. In particular, single cells can be trapped, transported, and electroporated by a Janus particle (JP) using an externally applied electric field. However, while dielectrophoretic (DEP)-based cargo manipulation can be achieved at high-solution conductivity, electrical propulsion of these micromotors becomes ineffective at solution conductivities exceeding ≈0.3 mS cm-1 . Here, JP cargo manipulation and transport capabilities to conductive near-physiological (<6 mS cm-1 ) solutions are extended successfully by combining magnetic field-based micromotor propulsion and navigation with DEP-based manipulation of various synthetic and biological cargos. Combination of a rotating magnetic field and electric field results in enhanced micromotor mobility and steering control through tuning of the electric field frequency. In addition, the micromotor's ability of identifying apoptotic cell among viable and necrotic cells based on their dielectrophoretic difference is demonstrated, thus, enabling to analyze the apoptotic status in the single-cell samples for drug discovery, cell therapeutics, and immunotherapy. The ability to trap and transport live cells towards regions containing doxorubicin-loaded liposomes is also demonstrated. This hybrid micromotor approach for label-free trapping, transporting, and sensing of selected cells within conductive solutions opens new opportunities in drug delivery and single-cell analysis, where close-to-physiological media conditions are necessary.
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Affiliation(s)
- Yue Wu
- School of Mechanical EngineeringUniversity of Tel‐AvivTel‐Aviv69978Israel
| | - Sivan Yakov
- Faculty of Mechanical EngineeringMicro‐ and Nanofluidics LaboratoryTechnion—Israel Institute of TechnologyHaifa32000Israel
| | - Afu Fu
- Technion Integrated Cancer CenterThe Rappaport Faculty of Medicine and Research InstituteTechnion—Israel Institute of TechnologyHaifa3109602Israel
| | - Gilad Yossifon
- School of Mechanical EngineeringUniversity of Tel‐AvivTel‐Aviv69978Israel
- Faculty of Mechanical EngineeringMicro‐ and Nanofluidics LaboratoryTechnion—Israel Institute of TechnologyHaifa32000Israel
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26
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Ji F, Wu Y, Pumera M, Zhang L. Collective Behaviors of Active Matter Learning from Natural Taxes Across Scales. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2203959. [PMID: 35986637 DOI: 10.1002/adma.202203959] [Citation(s) in RCA: 15] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/02/2022] [Revised: 07/23/2022] [Indexed: 06/15/2023]
Abstract
Taxis orientation is common in microorganisms, and it provides feasible strategies to operate active colloids as small-scale robots. Collective taxes involve numerous units that collectively perform taxis motion, whereby the collective cooperation between individuals enables the group to perform efficiently, adaptively, and robustly. Hence, analyzing and designing collectives is crucial for developing and advancing microswarm toward practical or clinical applications. In this review, natural taxis behaviors are categorized and synthetic microrobotic collectives are discussed as bio-inspired realizations, aiming at closing the gap between taxis strategies of living creatures and those of functional active microswarms. As collective behaviors emerge within a group, the global taxis to external stimuli guides the group to conduct overall tasks, whereas the local taxis between individuals induces synchronization and global patterns. By encoding the local orientations and programming the global stimuli, various paradigms can be introduced for coordinating and controlling such collective microrobots, from the viewpoints of fundamental science and practical applications. Therefore, by discussing the key points and difficulties associated with collective taxes of different paradigms, this review potentially offers insights into mimicking natural collective behaviors and constructing intelligent microrobotic systems for on-demand control and preassigned tasks.
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Affiliation(s)
- Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
| | - Yilin Wu
- Department of Physics, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
| | - Martin Pumera
- Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul, 03722, Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
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27
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Dominici S, Kamranikia K, Mougin K, Spangenberg A. Smart Nematic Liquid Crystal Polymers for Micromachining Advances. MICROMACHINES 2023; 14:124. [PMID: 36677185 PMCID: PMC9860665 DOI: 10.3390/mi14010124] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/05/2022] [Revised: 12/22/2022] [Accepted: 12/26/2022] [Indexed: 06/17/2023]
Abstract
The miniaturization of tools is an important step in human evolution to create faster devices as well as precise micromachines. Studies around this topic have allowed the creation of small-scale objects capable of a wide range of deformation to achieve complex tasks. Molecular arrangements have been investigated through liquid crystal polymer (LCP) to program such a movement. Smart polymers and hereby liquid crystal matrices are materials of interest for their easy structuration properties and their response to external stimuli. However, up until very recently, their employment at the microscale was mainly limited to 2D structuration. Among the numerous issues, one concerns the ability to 3D structure the material while controlling the molecular orientation during the polymerization process. This review aims to report recent efforts focused on the microstructuration of LCP, in particular those dealing with 3D microfabrication via two-photon polymerization (TPP). Indeed, the latter has revolutionized the production of 3D complex micro-objects and is nowadays recognized as the gold standard for 3D micro-printing. After a short introduction highlighting the interest in micromachines, some basic principles of liquid crystals are recalled from the molecular aspect to their implementation. Finally, the possibilities offered by TPP as well as the way to monitor the motion into the fabricated microrobots are highlighted.
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Affiliation(s)
- Sébastien Dominici
- Institut de Science des Matériaux de Mulhouse (IS2M), CNRS–UMR 7361, Université de Haute-Alsace, 15 rue Jean Starcky, 68057 Mulhouse, France
- Université de Strasbourg, 67000 Strasbourg, France
| | - Keynaz Kamranikia
- Institut de Science des Matériaux de Mulhouse (IS2M), CNRS–UMR 7361, Université de Haute-Alsace, 15 rue Jean Starcky, 68057 Mulhouse, France
- Université de Strasbourg, 67000 Strasbourg, France
| | - Karine Mougin
- Institut de Science des Matériaux de Mulhouse (IS2M), CNRS–UMR 7361, Université de Haute-Alsace, 15 rue Jean Starcky, 68057 Mulhouse, France
- Université de Strasbourg, 67000 Strasbourg, France
| | - Arnaud Spangenberg
- Institut de Science des Matériaux de Mulhouse (IS2M), CNRS–UMR 7361, Université de Haute-Alsace, 15 rue Jean Starcky, 68057 Mulhouse, France
- Université de Strasbourg, 67000 Strasbourg, France
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28
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Mu Y, Duan W, Hsu KY, Wang Z, Xu W, Wang Y. Light-Activated Colloidal Micromotors with Synthetically Tunable Shapes and Shape-Directed Propulsion. ACS APPLIED MATERIALS & INTERFACES 2022; 14:57113-57121. [PMID: 36512379 DOI: 10.1021/acsami.2c14551] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Controlling the propulsion modes of colloidal micromotors, from translational to spinning and helical motion, expands the versatility of their potential applications in microrobotics and micromachinery. Engineering colloidal shapes with designed asymmetry can regulate their propulsion behaviors, yet current methods rely on complicated and costly fabrication processes such as lithography. Herein, we present a solution-based synthesis of light-activated colloidal motors adopting straight and various tunable bent geometries, which feature controlled asymmetry and allow shape-directed propulsions. The keys for our strategy are the synthesis of bent silica rods with a tailored bending position and degree, together with the site-specific installation of a photoactive engine. Upon light illumination, the resulting particles propel autonomously, whereby their shape information is translated to various propulsion modes including linear locomotion, steering, and spinning. This low-cost, scalable method for fabricating micromotors with a high degree of control of shapes could promote study in microscale actuation, in active assembly, and eventually for fabrication of colloidal functional materials.
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Affiliation(s)
- Yijiang Mu
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong999077, China
| | - Wendi Duan
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong999077, China
| | - Ka Yuen Hsu
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong999077, China
| | - Zhisheng Wang
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong999077, China
| | - Wei Xu
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong999077, China
| | - Yufeng Wang
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong999077, China
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29
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Pinchin NP, Lin CH, Kinane CA, Yamada N, Pena-Francesch A, Shahsavan H. Plasticized liquid crystal networks and chemical motors for the active control of power transmission in mechanical devices. SOFT MATTER 2022; 18:8063-8070. [PMID: 35969176 DOI: 10.1039/d2sm00826b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
The miniaturization of mechanical devices poses new challenges in powering, actuation, and control since traditional approaches cannot be used due to inherent size limitations. This is particularly challenging in untethered small-scale machines where independent actuation of multicomponent and multifunctional complex systems is required. This work showcases the integration of self-powered chemical motors and liquid crystal networks into a powertrain transmission device to achieve orthogonal untethered actuation for power and control. Driving gears with a protein-based chemical motor were used to power the transmission system with Marangoni propulsive forces, while photothermal liquid crystal networks were used as a photoresponsive clutch to engage/disengage the gear system. Liquid crystal networks were plasticized for optimized photothermal bending actuation to break the surface tension of water and achieve reversible immersion/resurfacing at the air-water interface. This concept is demonstrated in a milliscale transmission gear system and offers potential solutions for aquatic soft robots whose powering and control mechanisms must be necessarily decoupled.
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Affiliation(s)
- Natalie P Pinchin
- Department of Chemical Engineering, Waterloo Institute for Nanotechnology, University of Waterloo, Waterloo, ON, N2L 3G1, Canada.
| | - Chia-Heng Lin
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, 48109, USA.
| | - Cecelia A Kinane
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, 48109, USA.
| | - Naoki Yamada
- Department of System Innovation, Osaka University, Osaka, 560-0043, Japan
| | - Abdon Pena-Francesch
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, 48109, USA.
| | - Hamed Shahsavan
- Department of Chemical Engineering, Waterloo Institute for Nanotechnology, University of Waterloo, Waterloo, ON, N2L 3G1, Canada.
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30
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Dong F, Munkaila S, Grebe V, Weck M, Ward MD. Customized metallodielectric colloids and their behavior in dielectrophoretic fields. SOFT MATTER 2022; 18:7975-7980. [PMID: 36218035 DOI: 10.1039/d2sm01099b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
A synthetic strategy for fabricating colloidal particles with spatially segregated amine-functionalized lobes enables regioselective coating with gold to afford metallodielectric particles with a variety of shapes and lobe sizes. This approach can produce either dissymmetric dumbbell-shaped two-lobed Au-TPM particles (Au-T) or dissymmetric or symmetric three-lobed particles with gold coating on one (Au-T-T and T-Au-T) or two lobes (Au-T-Au). Dielectrophoretic (DEP) forces exerted by an AC field confined between two opposing electrodes generate aggregates ranging from 1D chains to 2D close-packed lattices, depending on the particle shape and lobe arrangement. The aggregate structures reflect the lowest energy configurations resulting from the induced dipole moments created in particle lobes within the confined electric field.
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Affiliation(s)
- Fangyuan Dong
- Molecular Design Institute, Department of Chemistry, New York University, New York, New York 10003, USA.
| | - Samira Munkaila
- Molecular Design Institute, Department of Chemistry, New York University, New York, New York 10003, USA.
| | - Veronica Grebe
- Molecular Design Institute, Department of Chemistry, New York University, New York, New York 10003, USA.
| | - Marcus Weck
- Molecular Design Institute, Department of Chemistry, New York University, New York, New York 10003, USA.
| | - Michael D Ward
- Molecular Design Institute, Department of Chemistry, New York University, New York, New York 10003, USA.
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31
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Xia N, Zhu G, Wang X, Dong Y, Zhang L. Multicomponent and multifunctional integrated miniature soft robots. SOFT MATTER 2022; 18:7464-7485. [PMID: 36189642 DOI: 10.1039/d2sm00891b] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Guangda Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Yue Dong
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
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32
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Al Harraq A, Bello M, Bharti B. A guide to design the trajectory of active particles: From fundamentals to applications. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101612] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/27/2022]
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33
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Wu Y, Boymelgreen A, Yossifon G. Micromotor-mediated label-free cargo manipulation. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101611] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
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34
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Wang Z, Mu Y, Lyu D, Wu M, Li J, Wang Z, Wang Y. Engineering Shapes of Active Colloids for Tunable Dynamics. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101608] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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35
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Yang X, Tan R, Lu H, Fukuda T, Shen Y. Milli-scale cellular robots that can reconfigure morphologies and behaviors simultaneously. Nat Commun 2022; 13:4156. [PMID: 35851279 PMCID: PMC9293897 DOI: 10.1038/s41467-022-31913-0] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/11/2021] [Accepted: 07/10/2022] [Indexed: 11/18/2022] Open
Abstract
Modular robot that can reconfigure architectures and functions has advantages in unpredicted environment and task. However, the construction of modular robot at small-scale remains a challenge since the lack of reliable docking and detaching strategies. Here we report the concept of milli-scale cellular robot (mCEBOT) achieved by the heterogeneous assembly of two types of units (short and long units). Under the magnetic field, the proposed mCEBOT units can not only selectively assemble (e.g., end-by-end and side-by-side) into diverse morphologies corresponding to the unstructured environments, but also configure multi-modes motion behaviors (e.g., slipping, rolling, walking and climbing) based on the on-site task requirements. We demonstrate its adaptive mobility from narrow space to high barrier to wetting surface, and its potential applications in hanging target taking and environment exploration. The concept of mCEBOT offers new opportunities for robot design, and will broaden the field of modular robot in both miniaturization and functionalization. Modular robots with reconfigurable architectures show advantages in unpredicted environments. Here Yang et al. propose a heterogeneous assembly concept for cellular robot construction at millimeter scales, which can simultaneously reconfigure their morphologies and behaviours to conduct versatile tasks on demand.
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Affiliation(s)
- Xiong Yang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China
| | - Rong Tan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China
| | - Haojian Lu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China.,State Key Laboratory of Industrial Control and Technology, and Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, 310027, China
| | - Toshio Fukuda
- Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan
| | - Yajing Shen
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China. .,Shenzhen Research Institute of City University of Hong Kong, Shenzhen, 518057, China. .,Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong, China.
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36
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Akolpoglu MB, Alapan Y, Dogan NO, Baltaci SF, Yasa O, Aybar Tural G, Sitti M. Magnetically steerable bacterial microrobots moving in 3D biological matrices for stimuli-responsive cargo delivery. SCIENCE ADVANCES 2022; 8:eabo6163. [PMID: 35857516 PMCID: PMC9286503 DOI: 10.1126/sciadv.abo6163] [Citation(s) in RCA: 65] [Impact Index Per Article: 32.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/04/2023]
Abstract
Bacterial biohybrids, composed of self-propelling bacteria carrying micro/nanoscale materials, can deliver their payload to specific regions under magnetic control, enabling additional frontiers in minimally invasive medicine. However, current bacterial biohybrid designs lack high-throughput and facile construction with favorable cargoes, thus underperforming in terms of propulsion, payload efficiency, tissue penetration, and spatiotemporal operation. Here, we report magnetically controlled bacterial biohybrids for targeted localization and multistimuli-responsive drug release in three-dimensional (3D) biological matrices. Magnetic nanoparticles and nanoliposomes loaded with photothermal agents and chemotherapeutic molecules were integrated onto Escherichia coli with ~90% efficiency. Bacterial biohybrids, outperforming previously reported E. coli-based microrobots, retained their original motility and were able to navigate through biological matrices and colonize tumor spheroids under magnetic fields for on-demand release of the drug molecules by near-infrared stimulus. Our work thus provides a multifunctional microrobotic platform for guided locomotion in 3D biological networks and stimuli-responsive delivery of therapeutics for diverse medical applications.
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Affiliation(s)
- Mukrime Birgul Akolpoglu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH-Zürich, Zürich 8092, Switzerland
| | - Yunus Alapan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Nihal Olcay Dogan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH-Zürich, Zürich 8092, Switzerland
| | - Saadet Fatma Baltaci
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Stuttgart Center for Simulation Science (SC SimTech), University of Stuttgart, 70569 Stuttgart, Germany
| | - Oncay Yasa
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Gulsen Aybar Tural
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Department of Pharmaceutical Technology, Faculty of Pharmacy, Ege University, 35040 Izmir, Turkey
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH-Zürich, Zürich 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
- Corresponding author.
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37
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Boymelgreen A, Schiffbauer J, Khusid B, Yossifon G. Synthetic electrically driven colloids: a platform for understanding collective behavior in soft matter. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101603] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
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38
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AC electrohydrodynamic propulsion and rotation of active particles of engineered shape and asymmetry. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101586] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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39
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Ganguly S, Margel S. 3D printed magnetic polymer composite hydrogels for hyperthermia and magnetic field driven structural manipulation. Prog Polym Sci 2022. [DOI: 10.1016/j.progpolymsci.2022.101574] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/16/2022]
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40
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Aghakhani A, Pena-Francesch A, Bozuyuk U, Cetin H, Wrede P, Sitti M. High shear rate propulsion of acoustic microrobots in complex biological fluids. SCIENCE ADVANCES 2022; 8:eabm5126. [PMID: 35275716 PMCID: PMC8916727 DOI: 10.1126/sciadv.abm5126] [Citation(s) in RCA: 42] [Impact Index Per Article: 21.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/22/2021] [Accepted: 01/20/2022] [Indexed: 05/28/2023]
Abstract
Untethered microrobots offer a great promise for localized targeted therapy in hard-to-access spaces in our body. Despite recent advancements, most microrobot propulsion capabilities have been limited to homogenous Newtonian fluids. However, the biological fluids present in our body are heterogeneous and have shear rate-dependent rheological properties, which limit the propulsion of microrobots using conventional designs and actuation methods. We propose an acoustically powered microrobotic system, consisting of a three-dimensionally printed 30-micrometer-diameter hollow body with an oscillatory microbubble, to generate high shear rate fluidic flow for propulsion in complex biofluids. The acoustically induced microstreaming flow leads to distinct surface-slipping and puller-type propulsion modes in Newtonian and non-Newtonian fluids, respectively. We demonstrate efficient propulsion of the microrobots in diverse biological fluids, including in vitro navigation through mucus layers on biologically relevant three-dimensional surfaces. The microrobot design and high shear rate propulsion mechanism discussed herein could open new possibilities to deploy microrobots in complex biofluids toward minimally invasive targeted therapy.
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Affiliation(s)
- Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI 48109, USA
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich,, 8092 Zürich, Switzerland
| | - Hakan Cetin
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Electrical and Electronics Engineering Department, Özyegin University, 34794 Istanbul, Turkey
| | - Paul Wrede
- 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
- Institute for Biomedical Engineering, ETH Zürich,, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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41
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Xu Y, Bian Q, Wang R, Gao J. Micro/nanorobots for precise drug delivery via targeted transport and triggered release: a review. Int J Pharm 2022; 616:121551. [PMID: 35131352 DOI: 10.1016/j.ijpharm.2022.121551] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/18/2021] [Revised: 01/22/2022] [Accepted: 02/01/2022] [Indexed: 01/17/2023]
Abstract
Micro/nanorobots that can effectively convert diverse energy sources into movement can revolutionize the field of pharmaceutical, particularly targeted drug delivery. By targeted transport and triggered release, drug can be delivered to targeted tissues or body sites. Targeted transport is discussed with different actuation energy sources including self-propelled (H2O2 and enzymes), external field-propelled (light, electrical, acoustics and magnetic field) and motile microorganism-propelled (bacterium, sperm, and contractile and immune cells) types. Triggered release systems including physiological environment, external fields and other mechanisms categories are also discussed here for the first time. With different transport and triggered release systems, micro/nanorobots achieved the goal of precise delivery of therapeutics. This review may provide a different perspective or referable guidance for the future development of more flexible targeted delivery systems.
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Affiliation(s)
- Yihua Xu
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Qiong Bian
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Ruxuan Wang
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Jianqing Gao
- Institute of Pharmaceutics, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China.
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42
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Abstract
Inspired by the increasing desire to mimic the perfection of nature, micro- and nanorobots are triggering increasing interest among the scientific community. The development of such tiny machines that can autonomously perform specific and various tasks at a small scale has reached a high-level of complexity over the last 15 years although the transition from hard to soft self-propelled architectures has had the most profound impact. The use of organic components, such as polymers, is of particular interest to fulfill the lack of biocompatibility and biodegradability of inorganic-based microrobots. Additionally, the combination of self-powered micro- and nanorobots with some macromolecules' ability to be deformed and respond to external stimuli is an important topic. This review aims to critically assess the fundamental aspects of smart machines composed of polymers, examine recent advances in the combined systems at the micro- and nanoscale, and discuss the specific contribution of several polymer families. This review elucidates the role of smart polymers in the expanding field of intelligent micromachines.
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Affiliation(s)
- Martina Ussia
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, 612 00 Brno, Czech Republic.
| | - Martin Pumera
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, 612 00 Brno, Czech Republic. .,Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, Faculty of Chemical Technology, University of Chemistry and Technology, Technicka 5, 16628, Czech Republic.,Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-Gu, Seoul 03722, South Korea.,Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung 40402, Taiwan
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43
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Tanjeem N, Minnis MB, Hayward RC, Shields CW. Shape-Changing Particles: From Materials Design and Mechanisms to Implementation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2105758. [PMID: 34741359 PMCID: PMC9579005 DOI: 10.1002/adma.202105758] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/25/2021] [Revised: 09/06/2021] [Indexed: 05/05/2023]
Abstract
Demands for next-generation soft and responsive materials have sparked recent interest in the development of shape-changing particles and particle assemblies. Over the last two decades, a variety of mechanisms that drive shape change have been explored and integrated into particulate systems. Through a combination of top-down fabrication and bottom-up synthesis techniques, shape-morphing capabilities extend from the microscale to the nanoscale. Consequently, shape-morphing particles are rapidly emerging in a variety of contexts, including photonics, microfluidics, microrobotics, and biomedicine. Herein, the key mechanisms and materials that facilitate shape changes of microscale and nanoscale particles are discussed. Recent progress in the applications made possible by these particles is summarized, and perspectives on their promise and key open challenges in the field are discussed.
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Affiliation(s)
- Nabila Tanjeem
- Department of Chemical & Biological Engineering, University of Colorado, Boulder, 3415 Colorado Avenue, Boulder, CO, 80303, USA
| | - Montana B Minnis
- Department of Chemical & Biological Engineering, University of Colorado, Boulder, 3415 Colorado Avenue, Boulder, CO, 80303, USA
| | - Ryan C Hayward
- Department of Chemical & Biological Engineering, University of Colorado, Boulder, 3415 Colorado Avenue, Boulder, CO, 80303, USA
| | - Charles Wyatt Shields
- Department of Chemical & Biological Engineering, University of Colorado, Boulder, 3415 Colorado Avenue, Boulder, CO, 80303, USA
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44
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Yu S, Sun Z, Zhang Z, Sun H, Liu L, Wang W, Li M, Zhao Q, Li T. Magnetic Microdimer as Mobile Meter for Measuring Plasma Glucose and Lipids. Front Bioeng Biotechnol 2021; 9:779632. [PMID: 34900967 PMCID: PMC8660689 DOI: 10.3389/fbioe.2021.779632] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/19/2021] [Accepted: 10/08/2021] [Indexed: 01/21/2023] Open
Abstract
With the development of designed materials and structures, a wide array of micro/nanomachines with versatile functionalities are employed for specific sensing applications. Here, we demonstrated a magnetic propelled microdimer-based point-of-care testing system, which can be used to provide the real-time data of plasma glucose and lipids relying on the motion feedback of mechanical properties. On-demand and programmable speed and direction of the microdimers can be achieved with the judicious adjustment of the external magnetic field, while their velocity and instantaneous postures provide estimation of glucose, cholesterol, and triglycerides concentrations with high temporal accuracy. Numerical simulations reveal the relationship between motility performance and surrounding liquid properties. Such technology presents a point-of-care testing (POCT) approach to adapt to biofluid measurement, which advances the development of microrobotic system in biomedical fields.
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Affiliation(s)
- Shimin Yu
- Department of Pharmacy, The Second Affiliated Hospital of Harbin Medical University, Harbin, China.,State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Zhongqi Sun
- Department of Radiology, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Zhanxiang Zhang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.,Chongqing Research Institute of HIT, Harbin, China
| | - Haoran Sun
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Lina Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Wuyi Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Mu Li
- Department of Pharmacy, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Qingsong Zhao
- Department of Endocrinology, The Fourth Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
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45
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Wang Z, Xu W, Wang Z, Lyu D, Mu Y, Duan W, Wang Y. Polyhedral Micromotors of Metal-Organic Frameworks: Symmetry Breaking and Propulsion. J Am Chem Soc 2021; 143:19881-19892. [PMID: 34788029 DOI: 10.1021/jacs.1c09439] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/26/2022]
Abstract
Colloidal micromotors can autonomously propel due to their broken symmetry that leads to unbalanced local mechanical forces. Most commonly, micromotors are synthesized to possess a Janus structure or its variants, having two components distinct in shape, composition, or surface joined together on opposite sides. Here, we report on an alternative approach for creating micromotors, where microcrystals of metal-organic frameworks (MOFs) with various polyhedral shapes are propelled under an AC electric field. In these cases, symmetry breaking is realized by orienting the polyhedral particles in a unique direction to generate uneven electrohydrodynamic flow. The particle orientations are controlled by a delicate competition between the electric and gravitational forces exerted on the particle, which we rationalize using experiments and a theoretical model. Furthermore, by leveraging the MOF types and shapes, or surface properties, we show that the propulsion of MOF motors can be tuned or reversed. Because of the flexibility in designing MOFs and their one-step scalable synthesis, our strategy is simple yet versatile for making well-defined functional micromotors.
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Affiliation(s)
- Zhisheng Wang
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China
| | - Wei Xu
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China
| | - Zuochen Wang
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China
| | - Dengping Lyu
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China
| | - Yijiang Mu
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China
| | - Wendi Duan
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China
| | - Yufeng Wang
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong 999077, China
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46
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Dillinger C, Nama N, Ahmed D. Ultrasound-activated ciliary bands for microrobotic systems inspired by starfish. Nat Commun 2021; 12:6455. [PMID: 34753910 PMCID: PMC8578555 DOI: 10.1038/s41467-021-26607-y] [Citation(s) in RCA: 45] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/30/2020] [Accepted: 10/01/2021] [Indexed: 01/03/2023] Open
Abstract
Cilia are short, hair-like appendages ubiquitous in various biological systems, which have evolved to manipulate and gather food in liquids at regimes where viscosity dominates inertia. Inspired by these natural systems, synthetic cilia have been developed and utilized in microfluidics and microrobotics to achieve functionalities such as propulsion, liquid pumping and mixing, and particle manipulation. Here, we demonstrate ultrasound-activated synthetic ciliary bands that mimic the natural arrangements of ciliary bands on the surface of starfish larva. Our system leverages nonlinear acoustics at microscales to drive bulk fluid motion via acoustically actuated small-amplitude oscillations of synthetic cilia. By arranging the planar ciliary bands angled towards (+) or away (-) from each other, we achieve bulk fluid motion akin to a flow source or sink. We further combine these flow characteristics with a physical principle to circumvent the scallop theorem and realize acoustic-based propulsion at microscales. Finally, inspired by the feeding mechanism of a starfish larva, we demonstrate an analogous microparticle trap by arranging + and - ciliary bands adjacent to each other.
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Affiliation(s)
- Cornel Dillinger
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland
| | - Nitesh Nama
- grid.24434.350000 0004 1937 0060Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE USA
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland.
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47
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Liang S, Gan C, Dai Y, Zhang C, Bai X, Zhang S, Wheeler AR, Chen H, Feng L. Interaction between positive and negative dielectric microparticles/microorganism in optoelectronic tweezers. LAB ON A CHIP 2021; 21:4379-4389. [PMID: 34596652 DOI: 10.1039/d1lc00610j] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Optoelectronic tweezers (OET) is a noncontact micromanipulation technology for controlling microparticles and cells. In the OET, it is necessary to configure a medium with different electrical properties to manipulate different particles and to avoid the interaction between two particles. Here, a new method exploiting the interaction between different dielectric properties of micro-objects to achieve the trapping, transport, and release of particles in the OET system was proposed. Besides, the effect of interaction between the micro-objects with positive and negative dielectric properties was simulated by the arbitrary Lagrangian-Eulerian (ALE) method. In addition, compared with conventional OET systems relying on fabrication processes involving the assembly of photoelectric materials, a contactless OET platform with an iPad-based wireless-control interface was established to achieve convenient control. Finally, this platform was used in the interaction of swimming microorganisms (positive-dielectric properties) with microparticles (negative-dielectric properties) at different scales. It showed that one particle could interact with 5 particles simultaneously, indicating that the interaction can be applied to enhance the high-throughput transportation capacities of the OET system and assemble some special microstructures. Owing to the low power, microorganisms were free from adverse influence during the experiment. In the future, the interaction of particles in a simple OET platform is a promising alternative in micro-nano manipulation for controlling drug release from uncontaminated cells in targeted therapy research.
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Affiliation(s)
- Shuzhang Liang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China.
| | - Chunyuan Gan
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China.
| | - Yuguo Dai
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China.
| | - Chaonan Zhang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China.
| | - Xue Bai
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China.
| | - Shuailong Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
| | - Aaron R Wheeler
- Department of Chemistry, University of Toronto, 80 St George St., Toronto, ON, M5S 3H6, Canada
- Donnelly Centre for Cellular and Biomolecular Research, University of Toronto, 160 College St, Toronto, ON, M5S 3E1, Canada
- Institute for Biomaterials and Biomedical Engineering, University of Toronto, 164 College St, Toronto, ON, M5S 3G9, Canada
| | - Huawei Chen
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China.
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, 100191, China
| | - Lin Feng
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China.
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, 100191, China
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48
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Abstract
Machines enabled the Industrial Revolution and are central to modern technological progress: A machine's parts transmit forces, motion, and energy to one another in a predetermined manner. Today's engineering frontier, building artificial micromachines that emulate the biological machinery of living organisms, requires faithful assembly and energy consumption at the microscale. Here, we demonstrate the programmable assembly of active particles into autonomous metamachines using optical templates. Metamachines, or machines made of machines, are stable, mobile and autonomous architectures, whose dynamics stems from the geometry. We use the interplay between anisotropic force generation of the active colloids with the control of their orientation by local geometry. This allows autonomous reprogramming of active particles of the metamachines to achieve multiple functions. It permits the modular assembly of metamachines by fusion, reconfiguration of metamachines and, we anticipate, a shift in focus of self-assembly towards active matter and reprogrammable materials.
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49
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Demirörs AF, Aykut S, Ganzeboom S, Meier YA, Hardeman R, de Graaf J, Mathijssen AJTM, Poloni E, Carpenter JA, Ünlü C, Zenhäusern D. Amphibious Transport of Fluids and Solids by Soft Magnetic Carpets. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:e2102510. [PMID: 34528414 PMCID: PMC8564456 DOI: 10.1002/advs.202102510] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/14/2021] [Revised: 08/18/2021] [Indexed: 05/22/2023]
Abstract
One of the major challenges in modern robotics is controlling micromanipulation by active and adaptive materials. In the respiratory system, such actuation enables pathogen clearance by means of motile cilia. While various types of artificial cilia have been engineered recently, they often involve complex manufacturing protocols and focus on transporting liquids only. Here, soft magnetic carpets are created via an easy self-assembly route based on the Rosensweig instability. These carpets can transport not only liquids but also solid objects that are larger and heavier than the artificial cilia, using a crowd-surfing effect.This amphibious transportation is locally and reconfigurably tunable by simple micromagnets or advanced programmable magnetic fields with a high degree of spatial resolution. Two surprising cargo reversal effects are identified and modeled due to collective ciliary motion and nontrivial elastohydrodynamics. While the active carpets are generally applicable to integrated control systems for transport, mixing, and sorting, these effects can also be exploited for microfluidic viscosimetry and elastometry.
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Affiliation(s)
- Ahmet F. Demirörs
- Complex MaterialsDepartment of MaterialsETH ZurichZurich8093Switzerland
| | - Sümeyye Aykut
- Complex MaterialsDepartment of MaterialsETH ZurichZurich8093Switzerland
| | - Sophia Ganzeboom
- Complex MaterialsDepartment of MaterialsETH ZurichZurich8093Switzerland
| | - Yuki A. Meier
- Complex MaterialsDepartment of MaterialsETH ZurichZurich8093Switzerland
| | - Robert Hardeman
- Institute for Theoretical PhysicsCenter for Extreme Matter and Emergent PhenomenaUtrecht UniversityPrincetonplein 5Utrecht3584 CCThe Netherlands
| | - Joost de Graaf
- Institute for Theoretical PhysicsCenter for Extreme Matter and Emergent PhenomenaUtrecht UniversityPrincetonplein 5Utrecht3584 CCThe Netherlands
| | | | - Erik Poloni
- Complex MaterialsDepartment of MaterialsETH ZurichZurich8093Switzerland
| | | | - Caner Ünlü
- Department of ChemistryIstanbul Technical UniversityIstanbul34469Turkey
| | - Daniel Zenhäusern
- Institut für Solartechnik SPFHSR University of Applied Sciences RapperswilRapperswil8640Switzerland
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50
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Joh H, Fan DE. Materials and Schemes of Multimodal Reconfigurable Micro/Nanomachines and Robots: Review and Perspective. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2101965. [PMID: 34410023 DOI: 10.1002/adma.202101965] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/11/2021] [Revised: 05/15/2021] [Indexed: 06/13/2023]
Abstract
Mechanically programmable, reconfigurable micro/nanoscale materials that can dynamically change their mechanical properties or behaviors, or morph into distinct assemblies or swarms in response to stimuli have greatly piqued the interest of the science community due to their unprecedented potentials in both fundamental research and technological applications. To date, a variety of designs of hard and soft materials, as well as actuation schemes based on mechanisms including chemical reactions and magnetic, acoustic, optical, and electric stimuli, have been reported. Herein, state-of-the-art micro/nanostructures and operation schemes for multimodal reconfigurable micro/nanomachines and swarms, as well as potential new materials and working principles, challenges, and future perspectives are discussed.
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Affiliation(s)
- Hyungmok Joh
- Materials Science and Engineering Program, The University of Texas at Austin, Austin, TX, 78712, USA
| | - Donglei Emma Fan
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, 78712, USA
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