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Iacovacci V, Diller E, Ahmed D, Menciassi A. Medical Microrobots. Annu Rev Biomed Eng 2024; 26:561-591. [PMID: 38594937 DOI: 10.1146/annurev-bioeng-081523-033131] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/11/2024]
Abstract
Scientists around the world have long aimed to produce miniature robots that can be controlled inside the human body to aid doctors in identifying and treating diseases. Such microrobots hold the potential to access hard-to-reach areas of the body through the natural lumina. Wireless access has the potential to overcome drawbacks of systemic therapy, as well as to enable completely new minimally invasive procedures. The aim of this review is fourfold: first, to provide a collection of valuable anatomical and physiological information on the target working environments together with engineering tools for the design of medical microrobots; second, to provide a comprehensive updated survey of the technological state of the art in relevant classes of medical microrobots; third, to analyze currently available tracking and closed-loop control strategies compatible with the in-body environment; and fourth, to explore the challenges still in place, to steer and inspire future research.
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Affiliation(s)
- Veronica Iacovacci
- Department of Excellence Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy; ,
| | - Eric Diller
- Institute of Biomedical Engineering, University of Toronto, Toronto, Canada
- Robotics Institute, University of Toronto, Toronto, Canada
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon, Switzerland
| | - Arianna Menciassi
- Department of Excellence Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy; ,
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Mohn F, Scheffler K, Ackers J, Weimer A, Wegner F, Thieben F, Ahlborg M, Vogel P, Graeser M, Knopp T. Characterization of the clinically approved MRI tracer resotran for magnetic particle imaging in a comparison study. Phys Med Biol 2024; 69:135014. [PMID: 38870999 DOI: 10.1088/1361-6560/ad5828] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/09/2024] [Accepted: 06/13/2024] [Indexed: 06/15/2024]
Abstract
Objective.The availability of magnetic nanoparticles (MNPs) with medical approval for human intervention is fundamental to the clinical translation of magnetic particle imaging (MPI). In this work, we thoroughly evaluate and compare the magnetic properties of an magnetic resonance imaging (MRI) approved tracer to validate its performance for MPI in future human trials.Approach.We analyze whether the recently approved MRI tracer Resotran is suitable for MPI. In addition, we compare Resotran with the previously approved and extensively studied tracer Resovist, with Ferrotran, which is currently in a clinical phase III study, and with the tailored MPI tracer Perimag.Main results.Initial magnetic particle spectroscopy (MPS) measurements indicate that Resotran exhibits performance characteristics akin to Resovist, but below Perimag. We provide data on four different tracers using dynamic light scattering, transmission electron microscopy, vibrating sample magnetometry measurements, MPS to derive hysteresis, point spread functions, and a serial dilution, as well as system matrix based MPI measurements on a preclinical scanner (Bruker 25/20 FF), including reconstructed images.Significance.Numerous approved MNPs used as tracers in MRI lack the necessary magnetic properties essential for robust signal generation in MPI. The process of obtaining medical approval for dedicated MPI tracers optimized for signal performance is an arduous and costly endeavor, often only justifiable for companies with a well-defined clinical business case. Resotran is an approved tracer that has become available in Europe for MRI. In this work, we study the eligibility of Resotran for MPI in an effort to pave the way for human MPI trials.
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Affiliation(s)
- Fabian Mohn
- Institute for Biomedical Imaging, Hamburg University of Technology, Hamburg, Germany
- Section for Biomedical Imaging, University Medical Center Hamburg-Eppendorf, Hamburg, Germany
| | - Konrad Scheffler
- Institute for Biomedical Imaging, Hamburg University of Technology, Hamburg, Germany
- Section for Biomedical Imaging, University Medical Center Hamburg-Eppendorf, Hamburg, Germany
| | - Justin Ackers
- Fraunhofer IMTE, Fraunhofer Research Institution for Individualized and Cell-based Medical Engineering, Lübeck, Germany
| | - Agnes Weimer
- Fraunhofer IMTE, Fraunhofer Research Institution for Individualized and Cell-based Medical Engineering, Lübeck, Germany
- Institute of Physical Chemistry, University of Hamburg, Hamburg, Germany
| | - Franz Wegner
- Institute for Interventional Radiology, University of Lübeck, Lübeck, Germany
| | - Florian Thieben
- Institute for Biomedical Imaging, Hamburg University of Technology, Hamburg, Germany
- Section for Biomedical Imaging, University Medical Center Hamburg-Eppendorf, Hamburg, Germany
| | - Mandy Ahlborg
- Fraunhofer IMTE, Fraunhofer Research Institution for Individualized and Cell-based Medical Engineering, Lübeck, Germany
| | - Patrick Vogel
- Department of Experimental Physics 5 (Biophysics), University of Würzburg, Würzburg, Germany
| | - Matthias Graeser
- Fraunhofer IMTE, Fraunhofer Research Institution for Individualized and Cell-based Medical Engineering, Lübeck, Germany
- Institute of Medical Engineering, University of Lübeck, Lübeck, Germany
| | - Tobias Knopp
- Institute for Biomedical Imaging, Hamburg University of Technology, Hamburg, Germany
- Section for Biomedical Imaging, University Medical Center Hamburg-Eppendorf, Hamburg, Germany
- Fraunhofer IMTE, Fraunhofer Research Institution for Individualized and Cell-based Medical Engineering, Lübeck, Germany
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De Ridder D, Siddiqi MA, Dauwels J, Serdijn WA, Strydis C. NeuroDots: From Single-Target to Brain-Network Modulation: Why and What Is Needed? Neuromodulation 2024; 27:711-729. [PMID: 38639704 DOI: 10.1016/j.neurom.2024.01.003] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/07/2023] [Revised: 11/05/2023] [Accepted: 01/10/2024] [Indexed: 04/20/2024]
Abstract
OBJECTIVES Current techniques in brain stimulation are still largely based on a phrenologic approach that a single brain target can treat a brain disorder. Nevertheless, meta-analyses of brain implants indicate an overall success rate of 50% improvement in 50% of patients, irrespective of the brain-related disorder. Thus, there is still a large margin for improvement. The goal of this manuscript is to 1) develop a general theoretical framework of brain functioning that is amenable to surgical neuromodulation, and 2) describe the engineering requirements of the next generation of implantable brain stimulators that follow from this theoretic model. MATERIALS AND METHODS A neuroscience and engineering literature review was performed to develop a universal theoretical model of brain functioning and dysfunctioning amenable to surgical neuromodulation. RESULTS Even though a single target can modulate an entire network, research in network science reveals that many brain disorders are the consequence of maladaptive interactions among multiple networks rather than a single network. Consequently, targeting the main connector hubs of those multiple interacting networks involved in a brain disorder is theoretically more beneficial. We, thus, envision next-generation network implants that will rely on distributed, multisite neuromodulation targeting correlated and anticorrelated interacting brain networks, juxtaposing alternative implant configurations, and finally providing solid recommendations for the realization of such implants. In doing so, this study pinpoints the potential shortcomings of other similar efforts in the field, which somehow fall short of the requirements. CONCLUSION The concept of network stimulation holds great promise as a universal approach for treating neurologic and psychiatric disorders.
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Affiliation(s)
- Dirk De Ridder
- Section of Neurosurgery, Department of Surgical Sciences, Dunedin School of Medicine, University of Otago, Dunedin, New Zealand.
| | - Muhammad Ali Siddiqi
- Department of Electrical Engineering, Lahore University of Management Sciences, Lahore, Pakistan; Neuroscience Department, Erasmus Medical Center, Rotterdam, The Netherlands; Quantum and Computer Engineering Department, Delft University of Technology, Delft, The Netherlands
| | - Justin Dauwels
- Microelectronics Department, Delft University of Technology, Delft, The Netherlands
| | - Wouter A Serdijn
- Neuroscience Department, Erasmus Medical Center, Rotterdam, The Netherlands; Section Bioelectronics, Delft University of Technology, Delft, The Netherlands
| | - Christos Strydis
- Neuroscience Department, Erasmus Medical Center, Rotterdam, The Netherlands; Quantum and Computer Engineering Department, Delft University of Technology, Delft, The Netherlands
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Li T, Li J, Bo L, Bachman H, Fan B, Cheng J, Tian Z. Robot-assisted chirality-tunable acoustic vortex tweezers for contactless, multifunctional, 4-DOF object manipulation. SCIENCE ADVANCES 2024; 10:eadm7698. [PMID: 38787945 PMCID: PMC11122681 DOI: 10.1126/sciadv.adm7698] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/11/2023] [Accepted: 04/19/2024] [Indexed: 05/26/2024]
Abstract
Robotic manipulation of small objects has shown great potential for engineering, biology, and chemistry research. However, existing robotic platforms have difficulty in achieving contactless, high-resolution, 4-degrees-of-freedom (4-DOF) manipulation of small objects, and noninvasive maneuvering of objects in regions shielded by tissue and bone barriers. Here, we present chirality-tunable acoustic vortex tweezers that can tune acoustic vortex chirality, transmit through biological barriers, trap single micro- to millimeter-sized objects, and control object rotation. Assisted by programmable robots, our acoustic systems further enable contactless, high-resolution translation of single objects. Our systems were demonstrated by tuning acoustic vortex chirality, controlling object rotation, and translating objects along arbitrary-shaped paths. Moreover, we used our systems to trap single objects in regions with tissue and skull barriers and translate an object inside a Y-shaped channel of a thick biomimetic phantom. In addition, we showed the function of ultrasound imaging-assisted acoustic manipulation by monitoring acoustic object manipulation via live ultrasound imaging.
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Affiliation(s)
- Teng Li
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24060, USA
| | - Jiali Li
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24060, USA
| | - Luyu Bo
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24060, USA
| | - Hunter Bachman
- Department of Mechanical Engineering and Engineering Sciences, University of North Carolina at Charlotte, Charlotte, NC 28223, USA
| | - Bei Fan
- Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824, USA
| | - Jiangtao Cheng
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24060, USA
| | - Zhenhua Tian
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24060, USA
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Łajczak PM, Jurek B, Jóźwik K, Nawrat Z. Bridging the gap: robotic applications in cerebral aneurysms neurointerventions - a systematic review. Neurosurg Rev 2024; 47:150. [PMID: 38600417 PMCID: PMC11006626 DOI: 10.1007/s10143-024-02400-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/29/2023] [Revised: 03/25/2024] [Accepted: 04/08/2024] [Indexed: 04/12/2024]
Abstract
Cerebral aneurysm is a life-threatening condition, which requires high precision during the neurosurgical procedures. Increasing progress of evaluating modern devices in medicine have led to common usage of robotic systems in many fields, including cranial aneurysm operations. However, currently no systematic review describes up-to date knowledge of this topic. Following PRISMA guidelines, we have independently screened and extracted works from seven databases. Only studies fulfilling inclusion criteria were presented in this study. Device used, operation time, complications, aneurysm type and patient demographics were extracted from each work. We identified a total of 995 articles from databases. We have found six original works and one supplementary article eligible for this synthesis. Majority of works (4/6) have implemented CorPath GRX in cerebral aneurysm procedures. The procedures involved diverse aneurysm locations, utilizing flow diverters, stents, or coiling. One study described implementation of robot-assist on 117 patients and compared results to randomized clinical trials. One work with a small patient cohort described use of the magnetically-controlled microguidewire in the coiling procedures, without any complications. Additionally, one case-series study described use of a robotic arm for managing intraoperative aneurysm rupture. Currently, robotical devices for cerebral aneurysm treatment mainly lack jailing and haptic feedback feature. Further development of these devices will certainly be beneficial for operators and patients, allowing for more precise and remote surgeries.
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Affiliation(s)
- Paweł Marek Łajczak
- Department of Biophysics, Faculty of Medical Sciences in Zabrze, Medical University of Silesia in Katowice, Jordana 18, Zabrze, 40-043, Poland.
| | - Bartłomiej Jurek
- Department of Biophysics, Faculty of Medical Sciences in Zabrze, Medical University of Silesia in Katowice, Jordana 18, Zabrze, 40-043, Poland
| | - Kamil Jóźwik
- Department of Biophysics, Faculty of Medical Sciences in Zabrze, Medical University of Silesia in Katowice, Jordana 18, Zabrze, 40-043, Poland
| | - Zbigniew Nawrat
- 2Department of Biophysics, Faculty of Medical Sciences in Zabrze, Medical University of Silesia in Katowice, Jordana 18, Zabrze, 40-043, Poland
- 3Foundation of Cardiac Surgery Development, Zabrze, 41-808, Poland
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Mirkhani N, Christiansen MG, Gwisai T, Menghini S, Schuerle S. Spatially selective delivery of living magnetic microrobots through torque-focusing. Nat Commun 2024; 15:2160. [PMID: 38461256 PMCID: PMC10924878 DOI: 10.1038/s41467-024-46407-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/06/2023] [Accepted: 02/26/2024] [Indexed: 03/11/2024] Open
Abstract
Rotating magnetic fields enable biomedical microrobots to overcome physiological barriers and promote extravasation and accumulation in tumors. Nevertheless, targeting deeply situated tumors requires suppression of off-target actuation in healthy tissue. Here, we investigate a control strategy for applying spatially selective torque density to microrobots by combining rotating fields with magnetostatic selection fields. Taking magnetotactic bacteria as diffuse torque-based actuators, we numerically model off-target torque suppression, indicating the feasibility of centimeter to millimeter resolution for human applications. We study focal torque application in vitro, observing off-target suppression of actuation-dependent effects such as colonization of bacteria in tumor spheroids. We then design and construct a mouse-scale torque-focusing apparatus capable of maneuvering the focal point. Applying this system to a mouse tumor model increased accumulation of intravenously injected bacteria within tumors receiving focused actuation compared to non-actuated or globally actuated groups. This control scheme combines the advantages of torque-based actuation with spatial targeting.
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Affiliation(s)
- Nima Mirkhani
- Institute for Translational Medicine, Department of Health Sciences and Technology, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Michael G Christiansen
- Institute for Translational Medicine, Department of Health Sciences and Technology, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Tinotenda Gwisai
- Institute for Translational Medicine, Department of Health Sciences and Technology, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Stefano Menghini
- Institute for Translational Medicine, Department of Health Sciences and Technology, ETH Zurich, CH-8092, Zurich, Switzerland
| | - Simone Schuerle
- Institute for Translational Medicine, Department of Health Sciences and Technology, ETH Zurich, CH-8092, Zurich, Switzerland.
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Wegner F, Friedrich T, Wattenberg M, Ackers J, Sieren MM, Kloeckner R, Barkhausen J, Buzug TM, Graeser M, von Gladiss A. Bare-Metal Stent Tracking with Magnetic Particle Imaging. Int J Nanomedicine 2024; 19:2137-2148. [PMID: 38476277 PMCID: PMC10929257 DOI: 10.2147/ijn.s447823] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/14/2023] [Accepted: 02/12/2024] [Indexed: 03/14/2024] Open
Abstract
Purpose Magnetic particle imaging (MPI) is an emerging medical imaging modality that is on the verge of clinical use. In recent years, cardiovascular applications have shown huge potential like, e.g., intraprocedural imaging guidance of stent placement through MPI. Due to the lack of signal generation, nano-modifications have been necessary to visualize commercial medical instruments until now. In this work, it is investigated if commercial interventional devices can be tracked with MPI without any nano-modification. Material and Methods Potential MPI signal generation of nine endovascular metal stents was tested in a commercial MPI scanner. Two of the stents revealed sufficient MPI signal. Because one of the two stents showed relevant heating, the imaging experiments were carried out with a single stent model (Boston Scientific/Wallstent-Uni Endoprothesis, diameter: 16 mm, length: 60 mm). The nitinol stent and its delivery system were investigated in seven different scenarios. Therefore, the samples were placed at 49 defined spatial positions by a robot in a meandering pattern during MPI scans. Image reconstruction was performed, and the mean absolute errors (MAE) between the signals' centers of mass (COM) and ground truth positions were calculated. The stent material was investigated by magnetic particle spectroscopy (MPS) and vibrating sample magnetometry (VSM). To detect metallic components within the delivery system, nondestructive testing via computed tomography was performed. Results The tracking of the stent and its delivery system was possible without any nano-modification. The MAE of the COM were 1.49 mm for the stent mounted on the delivery system, 3.70 mm for the expanded stent and 1.46 mm for the delivery system without the stent. The results of the MPS and VSM measurements indicate that besides material properties eddy currents seem to be responsible for signal generation. Conclusion It is possible to image medical instruments with dedicated designs without modifications by means of MPI. This enables a variety of applications without compromising the mechanical and biocompatible properties of the instruments.
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Affiliation(s)
- Franz Wegner
- Institute for Interventional Radiology, University of Luebeck, Luebeck, Germany
| | - Thomas Friedrich
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering IMTE, Luebeck, Germany
| | - Maximilian Wattenberg
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering IMTE, Luebeck, Germany
| | - Justin Ackers
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering IMTE, Luebeck, Germany
| | - Malte Maria Sieren
- Institute for Interventional Radiology, University of Luebeck, Luebeck, Germany
- Department of Radiology and Nuclear Medicine, University of Luebeck, Luebeck, Germany
| | - Roman Kloeckner
- Institute for Interventional Radiology, University of Luebeck, Luebeck, Germany
| | - Joerg Barkhausen
- Department of Radiology and Nuclear Medicine, University of Luebeck, Luebeck, Germany
| | - Thorsten M Buzug
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering IMTE, Luebeck, Germany
- Institute of Medical Engineering, University of Lubeck, Luebeck, Germany
| | - Matthias Graeser
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering IMTE, Luebeck, Germany
- Institute of Medical Engineering, University of Lubeck, Luebeck, Germany
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Chong WH, Chan DJC, Liu CZ, Lim J. Navigating the microenvironment with flip and turn under quadrupole magnetophoretic steering control: Nanosphere- and nanorod-coated microbead. Electrophoresis 2024; 45:357-368. [PMID: 38044267 DOI: 10.1002/elps.202300042] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/26/2023] [Revised: 10/07/2023] [Accepted: 11/20/2023] [Indexed: 12/05/2023]
Abstract
The spatiotemporal accuracy of microscale magnetophoresis has improved significantly over the course of several decades of development. However, most of the studies so far were using magnetic microbead composed of nanosphere particle for magnetophoretic actuation purpose. Here, we developed an in-house method for magnetic sample analysis called quadrupole magnetic steering control (QMSC). QMSC was used to study the magnetophoretic behavior of polystyrene microbeads decorated with iron oxide nanospheres-coated polystyrene microbeads (IONSs-PS) and iron oxide nanorods-coated polystyrene microbeads (IONRs-PS) under the influence of a quadrupole low field gradient. During a 4-s QMSC experiment, the IONSs-PS and IONRs-PS were navigated to perform 180° flip and 90° turn formations, and their kinematic results (2 s before and 2 s after the flip/turn) were measured and compared. The results showed that the IONRs-PS suffered from significant kinematic disproportion, translating a highly uneven amount of kinetic energy from the same magnitude of magnetic control. Combining the kinematic analysis, transmission electron microscopy micrographs, and vibrating sample magnetometry measurements, it was found that the IONRs-PS experienced higher fluid drag force and had lower consistency than the IONSs-PS due to its extensive open fractal nanorod structure on the bead surface and uneven magnetization, which was attributed to its ferrimagnetic nature.
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Affiliation(s)
- Wai Hong Chong
- School of Chemical Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia
| | - Derek Juinn Chieh Chan
- School of Chemical Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia
| | - Chun-Zhao Liu
- State Key Laboratory of Biochemical Engineering & Key Laboratory of Green Process and Engineering, Institute of Process Engineering, Chinese Academy of Sciences, Beijing, P. R. China
- State Key Laboratory of Bio-fibers and Eco-textiles, Institute of Biochemical Engineering, Affiliated Qingdao Central Hospital, College of Materials Science and Engineering, Qingdao University, Qingdao, P. R. China
| | - JitKang Lim
- School of Chemical Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia
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Dreyfus R, Boehler Q, Lyttle S, Gruber P, Lussi J, Chautems C, Gervasoni S, Berberat J, Seibold D, Ochsenbein-Kölble N, Reinehr M, Weisskopf M, Remonda L, Nelson BJ. Dexterous helical magnetic robot for improved endovascular access. Sci Robot 2024; 9:eadh0298. [PMID: 38354258 DOI: 10.1126/scirobotics.adh0298] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/24/2023] [Accepted: 01/17/2024] [Indexed: 02/16/2024]
Abstract
Treating vascular diseases in the brain requires access to the affected region inside the body. This is usually accomplished through a minimally invasive technique that involves the use of long, thin devices, such as wires and tubes, that are manually maneuvered by a clinician within the bloodstream. By pushing, pulling, and twisting, these devices are navigated through the tortuous pathways of the blood vessels. The outcome of the procedure heavily relies on the clinician's skill and the device's ability to navigate to the affected target region in the bloodstream, which is often inhibited by tortuous blood vessels. Sharp turns require high flexibility, but this flexibility inhibits translation of proximal insertion to distal tip advancement. We present a highly dexterous, magnetically steered continuum robot that overcomes pushability limitations through rotation. A helical protrusion on the device's surface engages with the vessel wall and translates rotation to forward motion at every point of contact. An articulating magnetic tip allows for active steerability, enabling navigation from the aortic arch to millimeter-sized arteries of the brain. The effectiveness of the magnetic continuum robot has been demonstrated through successful navigation in models of the human vasculature and in blood vessels of a live pig.
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Affiliation(s)
- R Dreyfus
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - Q Boehler
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - S Lyttle
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - P Gruber
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - J Lussi
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - C Chautems
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - S Gervasoni
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - J Berberat
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - D Seibold
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - N Ochsenbein-Kölble
- Department of Obstetrics, University Hospital Zurich, Zurich, Switzerland
- Institute of Pathology and Molecular Pathology, University of Zurich, Zurich, Switzerland
| | - M Reinehr
- University of Zurich, Zurich, Switzerland
| | - M Weisskopf
- Center for Surgical Research, University Hospital Zurich, University of Zurich, Zurich, Switzerland
| | - L Remonda
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - B J Nelson
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
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Behrends A, Wei H, Neumann A, Friedrich T, Bakenecker AC, Franke J, Sajjamark K, Buchholz O, Bär S, Hofmann UG, Graeser M, Buzug TM. Integrable Magnetic Fluid Hyperthermia Systems for 3D Magnetic Particle Imaging. Nanotheranostics 2024; 8:163-178. [PMID: 38444740 PMCID: PMC10911971 DOI: 10.7150/ntno.90360] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/01/2023] [Accepted: 01/20/2024] [Indexed: 03/07/2024] Open
Abstract
Background: Combining magnetic particle imaging (MPI) and magnetic fluid hyperthermia (MFH) offers the ability to perform localized hyperthermia and magnetic particle imaging-assisted thermometry of hyperthermia treatment. This allows precise regional selective heating inside the body without invasive interventions. In current MPI-MFH platforms, separate systems are used, which require object transfer from one system to another. Here, we present the design, development and evaluation process for integrable MFH platforms, which extends a commercial MPI scanner with the functionality of MFH. Methods: The biggest issue of integrating magnetic fluid hyperthermia platforms into a magnetic particle imaging system is the magnetic coupling of the devices, which induces high voltage in the imaging system, and is harming its components. In this paper, we use a self-compensation approach derived from heuristic algorithms to protect the magnetic particle imaging scanner. The integrable platforms are evaluated regarding electrical and magnetic characteristics, cooling capability, field strength, the magnetic coupling to a replica of the magnetic particle imaging system's main solenoid and particle heating. Results: The MFH platforms generate suitable magnetic fields for the magnetic heating of particles and are compatible with a commercial magnetic particle imaging scanner. In combination with the imaging system, selective heating with a gradient field and steerable heating positioning using the MPI focus fields are possible. Conclusion: The proposed MFH platforms serve as a therapeutic tool to unlock the MFH functionality of a commercial magnetic particle imaging scanner, enabling its use in future preclinical trials of MPI-guided, spatially selective magnetic hyperthermia therapy.
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Affiliation(s)
- André Behrends
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering (IMTE), Lübeck, Germany
| | - Huimin Wei
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering (IMTE), Lübeck, Germany
| | - Alexander Neumann
- Institute of Medical Engineering (IMT), University of Lübeck, Lübeck, Germany
| | - Thomas Friedrich
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering (IMTE), Lübeck, Germany
| | - Anna C. Bakenecker
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering (IMTE), Lübeck, Germany
| | - Jochen Franke
- Bruker BioSpin MRI GmbH, Preclinical Imaging Division, Ettlingen, Germany
| | - Kulthisa Sajjamark
- Bruker BioSpin MRI GmbH, Preclinical Imaging Division, Ettlingen, Germany
| | - Oliver Buchholz
- Section for Neuroelectronic Systems, Department of Neurosurgery, University Medical Center Freiburg, Faculty of Medicine, University of Freiburg, Freiburg, Germany
| | - Sébastien Bär
- Section for Neuroelectronic Systems, Department of Neurosurgery, University Medical Center Freiburg, Faculty of Medicine, University of Freiburg, Freiburg, Germany
| | - Ulrich G. Hofmann
- Section for Neuroelectronic Systems, Department of Neurosurgery, University Medical Center Freiburg, Faculty of Medicine, University of Freiburg, Freiburg, Germany
| | - Matthias Graeser
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering (IMTE), Lübeck, Germany
- Institute of Medical Engineering (IMT), University of Lübeck, Lübeck, Germany
| | - Thorsten M. Buzug
- Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering (IMTE), Lübeck, Germany
- Institute of Medical Engineering (IMT), University of Lübeck, Lübeck, Germany
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Bozuyuk U, Yildiz E, Han M, Demir SO, Sitti M. Size-Dependent Locomotion Ability of Surface Microrollers on Physiologically Relevant Microtopographical Surfaces. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2303396. [PMID: 37488686 DOI: 10.1002/smll.202303396] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/22/2023] [Revised: 07/10/2023] [Indexed: 07/26/2023]
Abstract
Controlled microrobotic navigation inside the body possesses significant potential for various biomedical engineering applications. Successful application requires considering imaging, control, and biocompatibility. Interaction with biological environments is also a crucial factor in ensuring safe application, but can also pose counterintuitive hydrodynamic barriers, limiting the use of microrobots. Surface rolling microrobots or surface microrollers is a robust microrobotic platform with significant potential for various applications; however, conventional spherical microrollers have limited locomotion ability over biological surfaces due to microtopography effects resulting from cell microtopography in the size range of 2-5 µm. Here, the impact of the microtopography effect on spherical microrollers of different sizes (5, 10, 25, and 50 µm) is investigated using computational fluid dynamics simulations and experiments. Simulations revealed that the microtopography effect becomes insignificant for increasing microroller sizes, such as 50 µm. Moreover, it is demonstrated that 50 µm microrollers exhibited smooth locomotion ability on in vitro cell layers and inside blood vessels of a chicken embryo model. These findings offer rational design principles for surface microrollers for their potential practical biomedical applications.
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Affiliation(s)
- Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Erdost Yildiz
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Mertcan Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Sinan Ozgun Demir
- 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 School of Engineering, Koç University, Istanbul, 34450, Turkey
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12
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Christiansen MG, Stöcklin LR, Forbrigger C, Venkatesh SA, Schuerle S. Inductive sensing of magnetic microrobots under actuation by rotating magnetic fields. PNAS NEXUS 2023; 2:pgad297. [PMID: 37746329 PMCID: PMC10516638 DOI: 10.1093/pnasnexus/pgad297] [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: 05/01/2023] [Revised: 08/16/2023] [Accepted: 08/31/2023] [Indexed: 09/26/2023]
Abstract
The engineering space for magnetically manipulated biomedical microrobots is rapidly expanding. This includes synthetic, bioinspired, and biohybrid designs, some of which may eventually assume clinical roles aiding drug delivery or performing other therapeutic functions. Actuating these microrobots with rotating magnetic fields (RMFs) and the magnetic torques they exert offers the advantages of efficient mechanical energy transfer and scalable instrumentation. Nevertheless, closed-loop control still requires a complementary noninvasive imaging modality to reveal position and trajectory, such as ultrasound or X-rays, increasing complexity and posing a barrier to use. Here, we investigate the possibility of combining actuation and sensing via inductive detection of model microrobots under field magnitudes ranging from 100 s of microtesla to 10 s of millitesla rotating at 1 to 100 Hz. A prototype apparatus accomplishes this using adjustment mechanisms for both phase and amplitude to finely balance sense and compensation coils, suppressing the background signal of the driving RMF by 90 dB. Rather than relying on frequency decomposition to analyze signals, we show that, for rotational actuation, phase decomposition is more appropriate. We demonstrate inductive detection of a micromagnet placed in two distinct viscous environments using RMFs with fixed and time-varying frequencies. Finally, we show how magnetostatic selection fields can spatially isolate inductive signals from a micromagnet actuated by an RMF, with the resolution set by the relative magnitude of the selection field and the RMF. The concepts developed here lay a foundation for future closed-loop control schemes for magnetic microrobots based on simultaneous inductive sensing and actuation.
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Affiliation(s)
| | - Lucien R Stöcklin
- Department of Health Sciences and Technology, ETH Zurich, Zurich 8092, Switzerland
- Department of Biosystems Science and Engineering, ETH Zurich, Basel 4058, Switzerland
| | - Cameron Forbrigger
- Department of Health Sciences and Technology, ETH Zurich, Zurich 8092, Switzerland
| | - Shashaank Abhinav Venkatesh
- Department of Health Sciences and Technology, ETH Zurich, Zurich 8092, Switzerland
- Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore
| | - Simone Schuerle
- Department of Health Sciences and Technology, ETH Zurich, Zurich 8092, Switzerland
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13
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Wang Y, Chen J, Su G, Mei J, Li J. A Review of Single-Cell Microrobots: Classification, Driving Methods and Applications. MICROMACHINES 2023; 14:1710. [PMID: 37763873 PMCID: PMC10537272 DOI: 10.3390/mi14091710] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 08/19/2023] [Accepted: 08/23/2023] [Indexed: 09/29/2023]
Abstract
Single-cell microrobots are new microartificial devices that use a combination of single cells and artificial devices, with the advantages of small size, easy degradation and ease of manufacture. With externally driven strategies such as light fields, sound fields and magnetic fields, microrobots are able to carry out precise micromanipulations and movements in complex microenvironments. Therefore, single-cell microrobots have received more and more attention and have been greatly developed in recent years. In this paper, we review the main classifications, control methods and recent advances in the field of single-cell microrobot applications. First, different types of robots, such as cell-based microrobots, bacteria-based microrobots, algae-based microrobots, etc., and their design strategies and fabrication processes are discussed separately. Next, three types of external field-driven technologies, optical, acoustic and magnetic, are presented and operations realized in vivo and in vitro by applying these three technologies are described. Subsequently, the results achieved by these robots in the fields of precise delivery, minimally invasive therapy are analyzed. Finally, a short summary is given and current challenges and future work on microbial-based robotics are discussed.
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Affiliation(s)
| | | | | | | | - Junyang Li
- School of Electronic Engineering, Ocean University of China, Qingdao 266000, China; (Y.W.); (J.C.); (G.S.); (J.M.)
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14
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Wang H, Song X, Xiong J, Cheang UK. Fabrication of Bilayer Magnetically Actuated L-Shaped Microrobot Based on Chitosan via Photolithography. Polymers (Basel) 2022; 14:polym14245509. [PMID: 36559876 PMCID: PMC9784805 DOI: 10.3390/polym14245509] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/04/2022] [Revised: 12/11/2022] [Accepted: 12/13/2022] [Indexed: 12/23/2022] Open
Abstract
Magnetically actuated microrobots showed increasing potential in various fields, especially in the biomedical area, such as invasive surgery, targeted cargo delivery, and treatment. However, it remains a challenge to incorporate biocompatible natural polymers that are favorable for practical biomedical applications. In this work, bilayer magnetic microrobots with an achiral planar design were fabricated using a biocompatible natural polymer and Fe3O4 nanoparticles through the photolithography by applying the layer-by-layer method. The microrobots consisted of a magnetic bottom layer and a photo-crosslinked chitosan top layer. The SEM results showed that the microrobot processed the L-shaped planar structure with the average width, length, and thickness of 99.18 ± 5.11 μm, 189.56 ± 11.37 μm, and 23.56 ± 4.08 μm, respectively. Moreover, microrobots actuated using a three-dimensional (3D) Helmholtz coil system was characterized and reached up to an average maximum velocity of 325.30 μm/s and a step-out frequency of 14 Hz. Furthermore, the microrobots exhibited excellent cell biocompatibility towards L929 cells in the CCK-8 assay. Therefore, the development of bi-layered chitosan-based microrobots offers a general solution for using magnetic microrobots in biomedical applications by providing an easy-to-fabricate, highly mobile microrobotic platform with the incorporation of biocompatible natural polymers for enhanced biocompatibility.
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Affiliation(s)
- Haoying Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Correspondence: (H.W.); (U.K.C.)
| | - Xiaoxia Song
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Junfeng Xiong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen 518055, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China
- Correspondence: (H.W.); (U.K.C.)
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15
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Alablani F, Janus J, Pallett E, Mullins TM, Almudayni A, Chung EML. Development of a Flow Phantom for Transcranial Doppler Ultrasound Quality Assurance. ULTRASOUND IN MEDICINE & BIOLOGY 2022; 48:2302-2309. [PMID: 36038392 DOI: 10.1016/j.ultrasmedbio.2022.07.002] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/04/2022] [Revised: 06/12/2022] [Accepted: 07/03/2022] [Indexed: 06/15/2023]
Abstract
Anecdotal evidence was recently brought to our attention suggesting a potential difference in velocity estimates between transcranial Doppler (TCD) systems when measuring high velocities (∼200 cm/s) close to the threshold for sickle cell disease stroke prevention. As we were unable to identify a suitable commercial TCD phantom, a middle cerebral artery (MCA) flow phantom was developed to evaluate velocity estimates from different devices under controlled conditions. Time-averaged velocity estimates were obtained using two TCD devices: a Spencer Technologies ST3 Doppler system (ST3 PMD150, Spencer Technologies, Seattle, WA, USA) and a DWL Dopplerbox (DWL Compumedics, SN-300947, Singen, Germany). These were compared with velocity estimates obtained using a Zonare duplex scanner (Zonare Medical Systems, Mountain View, CA, USA), with timed collection of fluid as the gold standard. Bland-Altman analysis was performed to compare measurements between devices. Our tests confirmed that velocities measured with the DWL TCD system were +4.1 cm/s (+3.7%; limits of agreement [LoA]: 2%, 5%; p = 0.03) higher than the Spencer system when measuring a velocity 110 cm/s and +12 cm/s higher (+5.7 %; LoA: 4.8%, 6.6%; p = 0.03) when measuring velocities of 210 cm/s, close to the diagnostic threshold for stroke intervention. We found our MCA phantom to be a valuable tool for systematically quantifying differences in TCD velocity estimates between devices, confirming that the DWL system gave consistently higher readings than the Spencer ST3 system. Differences become more pronounced at high velocities, which explains why they were not identified earlier. Our findings have clinical implications for centers using TCD to monitor patients with sickle cell disease, as extra care may be needed to adjust for bias between manufacturers when making treatment decisions about children with sickle cell with velocities close to the diagnostic threshold.
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Affiliation(s)
- Fatmah Alablani
- Radiology and Medical Imaging Department, College of Applied Medical Sciences, Prince Sattam bin Abdulaziz University, Kharj, Saudi Arabia; Cerebral Haemodynamics in Aging and Stroke Medicine (CHIASM) Group, Department of Cardiovascular Sciences, University of Leicester, Leicester, UK
| | - Justyna Janus
- Cerebral Haemodynamics in Aging and Stroke Medicine (CHIASM) Group, Department of Cardiovascular Sciences, University of Leicester, Leicester, UK; Medical Physics Department, University Hospitals of Leicester NHS Trust, Leicester, UK
| | - Edward Pallett
- Cerebral Haemodynamics in Aging and Stroke Medicine (CHIASM) Group, Department of Cardiovascular Sciences, University of Leicester, Leicester, UK; Medical Physics Department, University Hospitals of Leicester NHS Trust, Leicester, UK
| | - Toni M Mullins
- Medical University of South Carolina, Charleston, South Carolina, USA
| | - Alanoud Almudayni
- Radiology and Medical Imaging Department, College of Applied Medical Sciences, Prince Sattam bin Abdulaziz University, Kharj, Saudi Arabia; Cerebral Haemodynamics in Aging and Stroke Medicine (CHIASM) Group, Department of Cardiovascular Sciences, University of Leicester, Leicester, UK
| | - Emma M L Chung
- Cerebral Haemodynamics in Aging and Stroke Medicine (CHIASM) Group, Department of Cardiovascular Sciences, University of Leicester, Leicester, UK; Medical Physics Department, University Hospitals of Leicester NHS Trust, Leicester, UK; National Institute for Health Research Leicester Biomedical Research Centre, Leicester, UK; Department of Women and Children's Health, Guy's Campus, King's College London, London, UK.
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16
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Garello F, Svenskaya Y, Parakhonskiy B, Filippi M. Micro/Nanosystems for Magnetic Targeted Delivery of Bioagents. Pharmaceutics 2022; 14:pharmaceutics14061132. [PMID: 35745705 PMCID: PMC9230665 DOI: 10.3390/pharmaceutics14061132] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/16/2022] [Revised: 05/09/2022] [Accepted: 05/19/2022] [Indexed: 01/09/2023] Open
Abstract
Targeted delivery of pharmaceuticals is promising for efficient disease treatment and reduction in adverse effects. Nano or microstructured magnetic materials with strong magnetic momentum can be noninvasively controlled via magnetic forces within living beings. These magnetic carriers open perspectives in controlling the delivery of different types of bioagents in humans, including small molecules, nucleic acids, and cells. In the present review, we describe different types of magnetic carriers that can serve as drug delivery platforms, and we show different ways to apply them to magnetic targeted delivery of bioagents. We discuss the magnetic guidance of nano/microsystems or labeled cells upon injection into the systemic circulation or in the tissue; we then highlight emergent applications in tissue engineering, and finally, we show how magnetic targeting can integrate with imaging technologies that serve to assist drug delivery.
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Affiliation(s)
- Francesca Garello
- Molecular and Preclinical Imaging Centers, Department of Molecular Biotechnology and Health Sciences, University of Torino, Via Nizza 52, 10126 Torino, Italy;
| | - Yulia Svenskaya
- Science Medical Center, Saratov State University, 410012 Saratov, Russia;
| | - Bogdan Parakhonskiy
- Faculty of Bioscience Engineering, Ghent University, Coupure Links 653, B-9000 Ghent, Belgium;
| | - Miriam Filippi
- Soft Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland
- Correspondence:
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17
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Liu Y, Lin G, Bao G, Guan M, Yang L, Liu Y, Wang D, Zhang X, Liao J, Fang G, Di X, Huang G, Zhou J, Cheng YY, Jin D. Stratified Disk Microrobots with Dynamic Maneuverability and Proton-Activatable Luminescence for in Vivo Imaging. ACS NANO 2021; 15:19924-19937. [PMID: 34714044 DOI: 10.1021/acsnano.1c07431] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Microrobots can expand our abilities to access remote, confined, and enclosed spaces. Their potential applications inside our body are obvious, e.g., to diagnose diseases, deliver medicine, and monitor treatment efficacy. However, critical requirements exist in relation to their operations in gastrointestinal environments, including resistance to strong gastric acid, responsivity to a narrow proton variation window, and locomotion in confined cavities with hierarchical terrains. Here, we report a proton-activatable microrobot to enable real-time, repeated, and site-selective pH sensing and monitoring in physiological relevant environments. This is achieved by stratifying a hydrogel disk to combine a range of functional nanomaterials, including proton-responsive molecular switches, upconversion nanoparticles, and near-infrared (NIR) emitters. By leveraging the 3D magnetic gradient fields and the anisotropic composition, the microrobot can be steered to locomote as a gyrating "Euler's disk", i.e., aslant relative to the surface and along its low-friction outer circumference, exhibiting a high motility of up to 60 body lengths/s. The enhanced magnetomotility can boost the pH-sensing kinetics by 2-fold. The fluorescence of the molecular switch can respond to pH variations with over 600-fold enhancement when the pH decreases from 8 to 1, and the integration of upconversion nanoparticles further allows both the efficient sensitization of NIR light through deep tissue and energy transfer to activate the pH probes. Moreover, the embedded down-shifting NIR emitters provide sufficient contrast for imaging of a single microrobot inside a live mouse. This work suggests great potential in developing multifunctional microrobots to perform generic site-selective tasks in vivo.
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Affiliation(s)
- Yuan Liu
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Gungun Lin
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Guochen Bao
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Ming Guan
- UTS-SUStech Joint Research Centre for Biomedical Materials & Devices, Department of Biomedical Engineering, Southern University of Science and Technology, 1088 Xueyuan Avenue, Nanshan Qu, Shenzhen 518055, China
| | - Liu Yang
- UTS-SUStech Joint Research Centre for Biomedical Materials & Devices, Department of Biomedical Engineering, Southern University of Science and Technology, 1088 Xueyuan Avenue, Nanshan Qu, Shenzhen 518055, China
| | - Yongtao Liu
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Dejiang Wang
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Xun Zhang
- UTS-SUStech Joint Research Centre for Biomedical Materials & Devices, Department of Biomedical Engineering, Southern University of Science and Technology, 1088 Xueyuan Avenue, Nanshan Qu, Shenzhen 518055, China
| | - Jiayan Liao
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Guocheng Fang
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Xiangjun Di
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Guan Huang
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Jiajia Zhou
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
| | - Yuen Yee Cheng
- Asbestos Diseases Research Institute, Sydney, NSW 2139, Australia
| | - Dayong Jin
- Institute for Biomedical Materials & Devices, Faculty of Science, The University of Technology Sydney, Ultimo, New South Wales 2007, Australia
- UTS-SUStech Joint Research Centre for Biomedical Materials & Devices, Department of Biomedical Engineering, Southern University of Science and Technology, 1088 Xueyuan Avenue, Nanshan Qu, Shenzhen 518055, China
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