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Pei Z, Tian Z, Yang S, Shen L, Hao N, Naquin TD, Li T, Sun L, Rong W, Huang TJ. Capillary-based, multifunctional manipulation of particles and fluids via focused surface acoustic waves. JOURNAL OF PHYSICS D: APPLIED PHYSICS 2024; 57:305401. [PMID: 38800708 PMCID: PMC11126230 DOI: 10.1088/1361-6463/ad415a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/29/2024]
Abstract
Surface acoustic wave (SAW)-enabled acoustofluidic technologies have recently atttracted increasing attention for applications in biology, chemistry, biophysics, and medicine. Most SAW acoustofluidic devices generate acoustic energy which is then transmitted into custom microfabricated polymer-based channels. There are limited studies on delivering this acoustic energy into convenient commercially-available glass tubes for manipulating particles and fluids. Herein, we have constructed a capillary-based SAW acoustofluidic device for multifunctional fluidic and particle manipulation. This device integrates a converging interdigitated transducer to generate focused SAWs on a piezoelectric chip, as well as a glass capillary that transports particles and fluids. To understand the actuation mechanisms underlying this device, we performed finite element simulations by considering piezoelectric, solid mechanic, and pressure acoustic physics. This experimental study shows that the capillary-based SAW acoustofluidic device can perform multiple functions including enriching particles, patterning particles, transporting particles and fluids, as well as generating droplets with controlled sizes. Given the usefulness of these functions, we expect that this acoustofluidic device can be useful in applications such as pharmaceutical manufacturing, biofabrication, and bioanalysis.
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Affiliation(s)
- Zhichao Pei
- Department of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin, 150080, China
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, 27708, USA
| | - Zhenhua Tian
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, VA, 24060, USA
| | - Shujie Yang
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, 27708, USA
| | - Liang Shen
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, 27708, USA
| | - Nanjing Hao
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, 27708, USA
| | - Ty D. Naquin
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, 27708, USA
| | - Teng Li
- Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, VA, 24060, USA
| | - Lining Sun
- Department of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin, 150080, China
| | - Weibin Rong
- Department of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin, 150080, China
| | - Tony Jun Huang
- Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, 27708, USA
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2
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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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3
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Xu F, Liu Y, Chen M, Luo J, Bai L. Continuous motion of particles attached to cavitation bubbles. ULTRASONICS SONOCHEMISTRY 2024; 107:106888. [PMID: 38697875 PMCID: PMC11179259 DOI: 10.1016/j.ultsonch.2024.106888] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/24/2024] [Revised: 04/17/2024] [Accepted: 04/26/2024] [Indexed: 05/05/2024]
Abstract
Microbubble-mediated therapeutic gene or drug delivery is a promising strategy for various cardiovascular diseases (CVDs), but the efficiency and precision need to be improved. Here, we propose a cavitation bubble-driven drug delivery strategy that can be applied to CVDs. A bubble-pulse-driving theory was proposed, and the formula of time-averaged thrust driven by bubble pulses was derived. The continuous motion of particles propelled by cavitation bubbles in the ultrasonic field is investigated experimentally by high-speed photography. The cavitation bubbles grow and collapse continuously, and generate periodic pulse thrust to drive the particles to move in the liquid. Particles attached to bubbles will move in various ways, such as ejection, collision, translation, rotation, attitude variation, and circular motion. The cavity attached to the particle is a relatively large cavitation bubble, which does not collapse to the particle surface, but to the axis of the bubble perpendicular to the particle surface. The cavitation bubble expands spherically and collapses asymmetrically, which makes the push on the particle generated by the bubble expansion greater than the pull on the particle generated by the bubble collapse. The time-averaged force of the cavitation bubble during its growth and collapse is the cavitation-bubble-driven force that propels the particle. Both the cavitation-bubble-driven force and the primary Bjerknes force act in the same position on the particle surface, but in different directions. In addition to the above two forces, particles are also affected by the mass force acting on the center of mass and the motion resistance acting on the surface, so the complex motion of particles can be explained.
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Affiliation(s)
- Fei Xu
- Department of Cardiology, Laboratory of Cardiac Structure and Function, Institute of Cardiovascular Diseases, West China Hospital, Sichuan University, Chengdu, China
| | - Yanyang Liu
- Center for Obesity and Hernia Surgery, Department of General Surgery, Huashan Hospital, Fudan University, Shanghai, China
| | - Mao Chen
- Department of Cardiology, Laboratory of Cardiac Structure and Function, Institute of Cardiovascular Diseases, West China Hospital, Sichuan University, Chengdu, China
| | - Jing Luo
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu, China
| | - Lixin Bai
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu, China.
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4
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Si W, Chen H, Lin X, Wu G, Zhao J, Sha J. Actuation mechanism of a nanoscale drilling rig based on nested carbon nanotubes. NANOSCALE 2024; 16:10414-10427. [PMID: 38742415 DOI: 10.1039/d4nr00902a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/16/2024]
Abstract
With the increasing emphasis on health and the continuous improvement of medical standards, more and more micro/nano devices are being used in the medical field. However, the existing micro/nano devices cannot effectively solve various problems encountered in medical processes and achieve specific therapeutic effects. Based on this, this article designs a new type of nanoscale drilling rig. The nanoscale drilling rig is composed of double-layer nested carbon nanotubes with multiple electrodes, and is powered by an external power source, making it easy to perform long-term surgery in the human body. Through coding strategies, we can adjust the surface charge density and distribution of the nanoscale drilling rig, thereby controlling its periodical rotation and achieving precise medical treatment. In addition, in order to control the length of the nanoscale drill bit, meet the treatment needs of different parts of the human body, and reduce damage to the human body, we have designed a structure of ion electric double layers so that the drill bit can be fixed in different positions, reducing the risk of treatment to a certain extent. This drilling rig enriches the functions of micro/nano devices, which is beneficial for the development of the medical industry.
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Affiliation(s)
- Wei Si
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211100, China.
| | - Haonan Chen
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211100, China.
| | - Xiaojing Lin
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211100, China.
| | - Gensheng Wu
- School of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China
| | - Jiajia Zhao
- Department of Pharmacology, Key Laboratory of Neuropsychiatric Diseases, China Pharmaceutical University, Nanjing 211198, China
| | - Jingjie Sha
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211100, China.
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5
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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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6
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Wu G, Xian W, You Q, Zhang J, Chen X. AcousticRobots: Smart acoustically powered micro-/nanoswimmers for precise biomedical applications. Adv Drug Deliv Rev 2024; 207:115201. [PMID: 38331256 DOI: 10.1016/j.addr.2024.115201] [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: 10/31/2023] [Revised: 12/24/2023] [Accepted: 02/02/2024] [Indexed: 02/10/2024]
Abstract
Although nanotechnology has evolutionarily progressed in biomedical field over the past decades, achieving satisfactory therapeutic effects remains difficult with limited delivery efficiency. Ultrasound could provide a deep penetration and maneuverable actuation to efficiently power micro-/nanoswimmers with little harm, offering an emerging and fascinating alternative to the active delivery platform. Recent advances in novel fabrication, controllable concepts like intelligent swarm and the integration of hybrid propulsions have promoted its function and potential for medical applications. In this review, we will summarize the mechanisms and types of ultrasonically propelled micro/nanorobots (termed here as "AcousticRobots"), including the interactions between AcousticRobots and acoustic field, practical design considerations (e.g., component, size, shape), the synthetic methods, surface modification, controllable behaviors, and the advantages when combined with other propulsion approaches. The representative biomedical applications of functional AcousticRobots are also highlighted, including drug delivery, invasive surgery, eradication on the surrounding bio-environment, cell manipulation, detection, and imaging, etc. We conclude by discussing the challenges and outlook of AcousticRobots in biomedical applications.
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Affiliation(s)
- Gege Wu
- Department of Diagnostic Radiology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore; Nanomedicine Translational Research Program, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117597, Singapore
| | - Wei Xian
- Siansonic Technology Limited, No.1, Xingguang 5th Street, Ciqu, Tongzhou District, Beijing 101111, China
| | - Qing You
- Department of Diagnostic Radiology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore; Nanomedicine Translational Research Program, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117597, Singapore; Clinical Imaging Research Centre, Centre for Translational Medicine, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117599, Singapore.
| | - Jingjing Zhang
- Department of Diagnostic Radiology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore; Nanomedicine Translational Research Program, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117597, Singapore; Clinical Imaging Research Centre, Centre for Translational Medicine, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117599, Singapore.
| | - Xiaoyuan Chen
- Department of Diagnostic Radiology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore; Nanomedicine Translational Research Program, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117597, Singapore; Clinical Imaging Research Centre, Centre for Translational Medicine, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117599, Singapore; Department of Chemical and Biomolecular Engineering, and Department of Biomedical Engineering, College of Design and Engineering, National University of Singapore, Singapore 119074, Singapore; Institute of Molecular and Cell Biology, Agency for Science, Technology, and Research (A*STAR), 61 Biopolis Drive, Proteos, Singapore 138673, Singapore.
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7
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Kollipara PS, Wu Z, Yao K, Lin D, Ju Z, Zhang X, Jiang T, Ding H, Fang J, Li J, Korgel BA, Redwing JM, Yu G, Zheng Y. Three-Dimensional Optothermal Manipulation of Light-Absorbing Particles in Phase-Change Gel Media. ACS NANO 2024; 18:8062-8072. [PMID: 38456693 PMCID: PMC11285096 DOI: 10.1021/acsnano.3c11162] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/09/2024]
Abstract
Rational manipulation and assembly of discrete colloidal particles into architected superstructures have enabled several applications in materials science and nanotechnology. Optical manipulation techniques, typically operated in fluid media, facilitate the precise arrangement of colloidal particles into superstructures by using focused laser beams. However, as the optical energy is turned off, the inherent Brownian motion of the particles in fluid media impedes the retention and reconfiguration of such superstructures. Overcoming this fundamental limitation, we present on-demand, three-dimensional (3D) optical manipulation of colloidal particles in a phase-change solid medium made of surfactant bilayers. Unlike liquid crystal media, the lack of fluid flow within the bilayer media enables the assembly and retention of colloids for diverse spatial configurations. By utilizing the optically controlled temperature-dependent interactions between the particles and their surrounding media, we experimentally exhibit the holonomic microscale control of diverse particles for repeatable, reconfigurable, and controlled colloidal arrangements in 3D. Finally, we demonstrate tunable light-matter interactions between the particles and 2D materials by successfully manipulating and retaining these particles at fixed distances from the 2D material layers. Our experimental results demonstrate that the particles can be retained for over 120 days without any change in their relative positions or degradation in the bilayers. With the capability of arranging particles in 3D configurations with long-term stability, our platform pushes the frontiers of optical manipulation for distinct applications such as metamaterial fabrication, information storage, and security.
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Affiliation(s)
- Pavana Siddhartha Kollipara
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Zilong Wu
- Materials Science and Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Kan Yao
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712, United States
- Materials Science and Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Dongdong Lin
- Qian Xuesen Collaborative Research Center of Astrochemistry and Space Life Sciences, Department of Microelectronic Science and Engineering, Ningbo University, Ningbo, Zhejiang 315211, China
| | - Zhengyu Ju
- Materials Science and Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Xiaotian Zhang
- Department of Materials Science and Engineering, The Pennsylvania State University, University Park, Pennsylvania 16802, United States
| | - Taizhi Jiang
- McKetta Department of Chemical Engineering and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Hongru Ding
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Jie Fang
- Materials Science and Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Jingang Li
- Materials Science and Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Brian A Korgel
- Materials Science and Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
- McKetta Department of Chemical Engineering and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Joan M Redwing
- Department of Materials Science and Engineering, The Pennsylvania State University, University Park, Pennsylvania 16802, United States
- 2D Crystal Consortium, Materials Research Institute, The Pennsylvania State University, University Park, Pennsylvania 16802, United States
| | - Guihua Yu
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712, United States
- Materials Science and Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
| | - Yuebing Zheng
- Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712, United States
- Materials Science and Engineering Program and Texas Materials Institute, The University of Texas at Austin, Austin, Texas 78712, United States
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8
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Zhang Z, Shi Z, Ahmed D. SonoTransformers: Transformable acoustically activated wireless microscale machines. Proc Natl Acad Sci U S A 2024; 121:e2314661121. [PMID: 38289954 PMCID: PMC10861920 DOI: 10.1073/pnas.2314661121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/26/2023] [Accepted: 12/22/2023] [Indexed: 02/01/2024] Open
Abstract
Shape transformation, a key mechanism for organismal survival and adaptation, has gained importance in developing synthetic shape-shifting systems with diverse applications ranging from robotics to bioengineering. However, designing and controlling microscale shape-shifting materials remains a fundamental challenge in various actuation modalities. As materials and structures are scaled down to the microscale, they often exhibit size-dependent characteristics, and the underlying physical mechanisms can be significantly affected or rendered ineffective. Additionally, surface forces such as van der Waals forces and electrostatic forces become dominant at the microscale, resulting in stiction and adhesion between small structures, making them fracture and more difficult to deform. Furthermore, despite various actuation approaches, acoustics have received limited attention despite their potential advantages. Here, we introduce "SonoTransformer," the acoustically activated micromachine that delivers shape transformability using preprogrammed soft hinges with different stiffnesses. When exposed to an acoustic field, these hinges concentrate sound energy through intensified oscillation and provide the necessary force and torque for the transformation of the entire micromachine within milliseconds. We have created machine designs to predetermine the folding state, enabling precise programming and customization of the acoustic transformation. Additionally, we have shown selective shape transformable microrobots by adjusting acoustic power, realizing high degrees of control and functional versatility. Our findings open new research avenues in acoustics, physics, and soft matter, offering new design paradigms and development opportunities in robotics, metamaterials, adaptive optics, flexible electronics, and microtechnology.
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Affiliation(s)
- Zhiyuan Zhang
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
| | - Zhan Shi
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
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9
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Del Campo Fonseca A, Ahmed D. Ultrasound robotics for precision therapy. Adv Drug Deliv Rev 2024; 205:115164. [PMID: 38145721 DOI: 10.1016/j.addr.2023.115164] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2023] [Revised: 12/07/2023] [Accepted: 12/22/2023] [Indexed: 12/27/2023]
Abstract
In recent years, the application of microrobots in precision therapy has gained significant attention. The small size and maneuverability of these micromachines enable them to potentially access regions that are difficult to reach using traditional methods; thus, reducing off-target toxicities and maximizing treatment effectiveness. Specifically, acoustic actuation has emerged as a promising method to exert control. By harnessing the power of acoustic energy, these small machines potentially navigate the body, assemble at the desired sites, and deliver therapies with enhanced precision and effectiveness. Amidst the enthusiasm surrounding these miniature agents, their translation to clinical environments has proven difficult. The primary objectives of this review are threefold: firstly, to offer an overview of the fundamental acoustic principles employed in the field of microrobots; secondly, to assess their current applications in medical therapies, encompassing tissue targeting, drug delivery or even cell infiltration; and lastly, to delve into the continuous efforts aimed at integrating acoustic microrobots into in vivo applications.
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Affiliation(s)
- Alexia Del Campo Fonseca
- Department of Mechanical and Process Engineering, Acoustic Robotics Systems Lab, ETH Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland.
| | - Daniel Ahmed
- Department of Mechanical and Process Engineering, Acoustic Robotics Systems Lab, ETH Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland.
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10
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Cao HX, Nguyen VD, Park JO, Choi E, Kang B. Acoustic Actuators for the Manipulation of Micro/Nanorobots: State-of-the-Art and Future Outlooks. MICROMACHINES 2024; 15:186. [PMID: 38398914 PMCID: PMC10890471 DOI: 10.3390/mi15020186] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/28/2023] [Revised: 01/22/2024] [Accepted: 01/23/2024] [Indexed: 02/25/2024]
Abstract
Compared to other actuating methods, acoustic actuators offer the distinctive capability of the contactless manipulation of small objects, such as microscale and nanoscale robots. Furthermore, they have the ability to penetrate the skin, allowing for the trapping and manipulation of micro/nanorobots that carry therapeutic agents in diverse media. In this review, we summarize the current progress in using acoustic actuators for the manipulation of micro/nanorobots used in various biomedical applications. First, we introduce the actuating method of using acoustic waves to manipulate objects, including the principle of operation and different types of acoustic actuators that are usually employed. Then, applications involving manipulating different types of devices are reviewed, including bubble-based microrobots, bubble-free robots, biohybrid microrobots, and nanorobots. Finally, we discuss the challenges and future perspectives for the development of the field.
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Affiliation(s)
- Hiep Xuan Cao
- Robot Research Initiative, Chonnam National University, Gwangju 61186, Republic of Korea; (H.X.C.); (E.C.)
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea;
| | - Van Du Nguyen
- Robot Research Initiative, Chonnam National University, Gwangju 61186, Republic of Korea; (H.X.C.); (E.C.)
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea;
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea;
| | - Eunpyo Choi
- Robot Research Initiative, Chonnam National University, Gwangju 61186, Republic of Korea; (H.X.C.); (E.C.)
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Republic of Korea
| | - Byungjeon Kang
- Robot Research Initiative, Chonnam National University, Gwangju 61186, Republic of Korea; (H.X.C.); (E.C.)
- Graduate School of Data Science, Chonnam National University, Gwangju 61186, Republic of Korea
- College of AI Convergence, Chonnam National University, Gwangju 61186, Republic of Korea
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11
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Chen Q, Liu FW, Cho SK, Kim K. 3-D real-time ultrasound tracking of acoustically actuated swimming microdrone. Sci Rep 2024; 14:1547. [PMID: 38233589 PMCID: PMC10794230 DOI: 10.1038/s41598-024-52044-0] [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: 07/14/2023] [Accepted: 01/12/2024] [Indexed: 01/19/2024] Open
Abstract
Maneuverable microswimmers/microdrones that navigate in hard-to-reach spaces inside human bodies hold a great potential for various biomedical applications. Acoustically actuated microswimmers have already demonstrated feasibility. However, for eventual translation of this technology, a robust 3-D tracking strategy for the microswimmer is particularly required. This paper presents our lab-designed 3-D ultrasound tracking system for real-time tracking of an acoustically actuated 3-D swimming microdrone. The ultrasound tracking system utilizing two ultrasound probes, a step motor and a host controller, was built to track the 3-D arbitrary motion of the microdrone in real-time. The performance of tracking was evaluated in the benchtop experiments by comparing the reconstructed trajectories with synchronized camera recordings. The ultrasound tracking system showed high reliability, with an average error of less than 0.3 mm across six different trials when compared to camera tracking. The results demonstrated the capability of our lab-designed 3-D ultrasound tracking system in accurately tracking the undetermined motion of the acoustic actuated 3-D swimming microdrone in real-time. The developed tracking system holds promise as a potential approach for biomedical applications and could pave the way for future clinical translation of the microswimmer technology.
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Affiliation(s)
- Qiyang Chen
- Department of Medicine, University of Pittsburgh, 623A Scaife Hall, 3550 Terrace Street, Pittsburgh, PA, 15261, USA
- Center for Ultrasound Molecular Imaging and Therapeutics, Department of Medicine & Heart and Vascular Institute, University of Pittsburgh School of Medicine and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15261, USA
| | - Fang-Wei Liu
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA
| | - Sung Kwon Cho
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA
| | - Kang Kim
- Department of Medicine, University of Pittsburgh, 623A Scaife Hall, 3550 Terrace Street, Pittsburgh, PA, 15261, USA.
- Center for Ultrasound Molecular Imaging and Therapeutics, Department of Medicine & Heart and Vascular Institute, University of Pittsburgh School of Medicine and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15261, USA.
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA, 15261, USA.
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA, 15261, USA.
- Division of Cardiology, Department of Medicine, University of Pittsburgh School of Medicine, Pittsburgh, PA, 15261, USA.
- McGowan Institute of Regenerative Medicine, University of Pittsburgh and University of Pittsburgh Medical Center (UPMC), Pittsburgh, PA, 15219, USA.
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12
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Dillinger C, Knipper J, Nama N, Ahmed D. Steerable acoustically powered starfish-inspired microrobot. NANOSCALE 2024; 16:1125-1134. [PMID: 37946510 PMCID: PMC10795801 DOI: 10.1039/d3nr03516f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/19/2023] [Accepted: 10/24/2023] [Indexed: 11/12/2023]
Abstract
Soft polymeric microrobots that can be loaded with nanocargoes and driven via external field stimuli can provide innovative solutions in various fields, including precise microscale assembly, targeted therapeutics, microsurgery, and the capture and degradation of unwanted wastewater fragments. However, in aquatic environments, it remains challenging to operate with microrobotic devices due to the predominant viscous resistances and the robots' limited actuation and sensing capabilities attributed to their miniaturization. The miniature size prevents the incorporation of onboard batteries that can provide sufficient power for propulsion and navigation, necessitating a wireless power supply. Current research examines untethered microrobot manipulation using external magnetic, electric, thermodynamic, or acoustic field-guided technologies: all strategies capable of wireless energy transmission towards sensitive and hard-to-reach locations. Nonetheless, developing a manipulation strategy that harnesses simple-to-induce strong propulsive forces in a stable manner over extended periods of time remains a significant endeavor. This study presents the fabrication and manipulation of a microrobot consisting of a magnetized soft polymeric composite material that enables a combination of stable acoustic propulsion through starfish-inspired artificial cilia and magnetic field-guided navigation. The acousto-magnetic manipulation strategy leverages the unique benefits of each applied field in the viscous-dominated microscale, namely precise magnetic orientation and strong acoustic thrust.
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Affiliation(s)
- Cornel Dillinger
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
| | - Justin Knipper
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
| | - Nitesh Nama
- Department of Mechanical & Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USA
| | - Daniel Ahmed
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
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13
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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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14
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Mahkam N, Aghakhani A, Sheehan D, Gardi G, Katzschmann R, Sitti M. Acoustic Streaming-Induced Multimodal Locomotion of Bubble-Based Microrobots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2304233. [PMID: 37884484 PMCID: PMC10724404 DOI: 10.1002/advs.202304233] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2023] [Revised: 09/12/2023] [Indexed: 10/28/2023]
Abstract
Acoustically-driven bubbles at the micron scale can generate strong microstreaming flows in its surrounding fluidic medium. The tunable acoustic streaming strength of oscillating microbubbles and the diversity of the generated flow patterns enable the design of fast-moving microrobots with multimodal locomotion suitable for biomedical applications. The acoustic microrobots holding two coupled microbubbles inside a rigid body are presented; trapped bubbles inside the L-shaped structure with different orifices generate various streaming flows, thus allowing multiple degrees of freedom in locomotion. The streaming pattern and mean streaming speed depend on the intensity and frequency of the acoustic wave, which can trigger four dominant locomotion modes in the microrobot, denoted as translational and rotational, spinning, rotational, and translational modes. Next, the effect of various geometrical and actuation parameters on the control and navigation of the microrobot is investigated. Furthermore, the surface-slipping multimodal locomotion, flow mixing, particle manipulation capabilities, the effective interaction of high flow rates with cells, and subsequent cancerous cell lysing abilities of the proposed microrobot are demonstrated. Overall, these results introduce a design toolbox for the next generation of acoustic microrobots with higher degrees of freedom with multimodal locomotion in biomedical applications.
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Affiliation(s)
- Nima Mahkam
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
| | - Amirreza Aghakhani
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute of Biomaterials and Biomolecular SystemsUniversity of Stuttgart70569StuttgartGermany
| | - Devin Sheehan
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Gaurav Gardi
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Robert Katzschmann
- Department of Mechanical and Process EngineeringETH ZurichZurich8092Switzerland
| | - Metin Sitti
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
- School of MedicineKoç UniversityIstanbul34450Turkey
- College of EngineeringKoç UniversityIstanbul34450Turkey
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15
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Deng Y, Paskert A, Zhang Z, Wittkowski R, Ahmed D. An acoustically controlled helical microrobot. SCIENCE ADVANCES 2023; 9:eadh5260. [PMID: 37729400 PMCID: PMC10511192 DOI: 10.1126/sciadv.adh5260] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/09/2023] [Accepted: 08/21/2023] [Indexed: 09/22/2023]
Abstract
As a next-generation toolkit, microrobots can transform a wide range of fields, including micromanufacturing, electronics, microfluidics, tissue engineering, and medicine. While still in their infancy, acoustically actuated microrobots are becoming increasingly attractive. However, the interaction of acoustics with microstructure geometry is poorly understood, and its study is necessary for developing next-generation acoustically powered microrobots. We present an acoustically driven helical microrobot with a length of 350 μm and a diameter of 100 μm that is capable of locomotion using a fin-like double-helix microstructure. This microrobot responds to sound stimuli at ~12 to 19 kHz and mimics the spiral motion of natural microswimmers such as spirochetes. The asymmetric double helix interacts with the incident acoustic field, inducing a propulsion torque that causes the microrobot to rotate around its long axis. Moreover, our microrobot has the unique feature of its directionality being switchable by simply tuning the acoustic frequency. We demonstrate this locomotion in 2D and 3D artificial vasculatures using a single sound source.
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Affiliation(s)
- Yong Deng
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon CH-8803, Switzerland
| | - Adrian Paskert
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Zhiyuan Zhang
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon CH-8803, Switzerland
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon CH-8803, Switzerland
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16
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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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17
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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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18
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Janiak J, Li Y, Ferry Y, Doinikov AA, Ahmed D. Acoustic microbubble propulsion, train-like assembly and cargo transport. Nat Commun 2023; 14:4705. [PMID: 37543657 PMCID: PMC10404234 DOI: 10.1038/s41467-023-40387-7] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/31/2021] [Accepted: 07/20/2023] [Indexed: 08/07/2023] Open
Abstract
Achieving controlled mobility of microparticles in viscous fluids can become pivotal in biologics, biotechniques, and biomedical applications. The self-assembly, trapping, and transport of microparticles are being explored in active matter, micro and nanorobotics, and microfluidics; however, little work has been done in acoustics, particularly in active matter and robotics. This study reports the discovery and characterization of microbubble behaviors in a viscous gel that is confined to a slight opening between glass boundaries in an acoustic field. Where incident waves encounter a narrow slit, acoustic pressure is amplified, causing the microbubbles to nucleate and cavitate within it. Intermittent activation transforms microbubbles from spherical to ellipsoidal, allowing them to be trapped within the interstice. Continuous activation propels ellipsoidal microbubbles through shape and volume modes that is developed at their surfaces. Ensembles of microbubbles self-assemble into a train-like arrangement, which in turn capture, transport, and release microparticles.
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Affiliation(s)
- Jakub Janiak
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland
| | - Yuyang Li
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland
| | - Yann Ferry
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland
| | - Alexander A Doinikov
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland.
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19
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Zhao Q, Cheng N, Sun X, Yan L, Li W. The application of nanomedicine in clinical settings. Front Bioeng Biotechnol 2023; 11:1219054. [PMID: 37441195 PMCID: PMC10335748 DOI: 10.3389/fbioe.2023.1219054] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/08/2023] [Accepted: 06/05/2023] [Indexed: 07/15/2023] Open
Abstract
As nanotechnology develops in the fields of mechanical engineering, electrical engineering, information and communication, and medical care, it has shown great promises. In recent years, medical nanorobots have made significant progress in terms of the selection of materials, fabrication methods, driving force sources, and clinical applications, such as nanomedicine. It involves bypassing biological tissues and delivering drugs directly to lesions and target cells using nanorobots, thus increasing concentration. It has also proved useful for monitoring disease progression, complementary diagnosis, and minimally invasive surgery. Also, we examine the development of nanomedicine and its applications in medicine, focusing on the use of nanomedicine in the treatment of various major diseases, including how they are generalized and how they are modified. The purpose of this review is to provide a summary and discussion of current research for the future development in nanomedicine.
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Affiliation(s)
- Qingsong Zhao
- Postdoctoral Programme of Meteria Medica Institute of Harbin University of Commerce, Harbin, China
| | - Nuo Cheng
- Department of Endocrinology, The Fourth Hospital of Harbin Medical University, Harbin, China
| | - Xuyan Sun
- Department of Endocrinology, The Fourth Hospital of Harbin Medical University, Harbin, China
| | - Lijun Yan
- Postdoctoral Programme of Meteria Medica Institute of Harbin University of Commerce, Harbin, China
| | - Wenlan Li
- Postdoctoral Programme of Meteria Medica Institute of Harbin University of Commerce, Harbin, China
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20
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Liang X, Chen Z, Deng Y, Liu D, Liu X, Huang Q, Arai T. Field-Controlled Microrobots Fabricated by Photopolymerization. CYBORG AND BIONIC SYSTEMS 2023; 4:0009. [PMID: 37287461 PMCID: PMC10243896 DOI: 10.34133/cbsystems.0009] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/18/2022] [Accepted: 12/11/2022] [Indexed: 01/19/2024] Open
Abstract
Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.
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Affiliation(s)
- Xiyue Liang
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Zhuo Chen
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Yan Deng
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Dan Liu
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Xiaoming Liu
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Qiang Huang
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Tatsuo Arai
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
- Center for Neuroscience and Biomedical Engineering,
The University of Electro-Communications, Tokyo 182-8585, Japan
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21
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Liu Y, Yin Q, Luo Y, Huang Z, Cheng Q, Zhang W, Zhou B, Zhou Y, Ma Z. Manipulation with sound and vibration: A review on the micromanipulation system based on sub-MHz acoustic waves. ULTRASONICS SONOCHEMISTRY 2023; 96:106441. [PMID: 37216791 PMCID: PMC10213378 DOI: 10.1016/j.ultsonch.2023.106441] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/27/2023] [Revised: 05/06/2023] [Accepted: 05/12/2023] [Indexed: 05/24/2023]
Abstract
Manipulation of micro-objects have been playing an essential role in biochemical analysis or clinical diagnostics. Among the diverse technologies for micromanipulation, acoustic methods show the advantages of good biocompatibility, wide tunability, a label-free and contactless manner. Thus, acoustic micromanipulations have been widely exploited in micro-analysis systems. In this article, we reviewed the acoustic micromanipulation systems that were actuated by sub-MHz acoustic waves. In contrast to the high-frequency range, the acoustic microsystems operating at sub-MHz acoustic frequency are more accessible, whose acoustic sources are at low cost and even available from daily acoustic devices (e.g. buzzers, speakers, piezoelectric plates). The broad availability, with the addition of the advantages of acoustic micromanipulation, make sub-MHz microsystems promising for a variety of biomedical applications. Here, we review recent progresses in sub-MHz acoustic micromanipulation technologies, focusing on their applications in biomedical fields. These technologies are based on the basic acoustic phenomenon, such as cavitation, acoustic radiation force, and acoustic streaming. And categorized by their applications, we introduce these systems for mixing, pumping and droplet generation, separation and enrichment, patterning, rotation, propulsion and actuation. The diverse applications of these systems hold great promise for a wide range of enhancements in biomedicines and attract increasing interest for further investigation.
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Affiliation(s)
- Yu Liu
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, No.800 Dongchuan Road, Shanghai 200240, China; Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China
| | - Qiu Yin
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yucheng Luo
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, No.800 Dongchuan Road, Shanghai 200240, China
| | - Ziyu Huang
- Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China
| | - Quansheng Cheng
- Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China
| | - Wenming Zhang
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Bingpu Zhou
- Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China
| | - Yinning Zhou
- Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China.
| | - Zhichao Ma
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, No.800 Dongchuan Road, Shanghai 200240, China.
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22
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Gao Q, Yang Z, Zhu R, Wang J, Xu P, Liu J, Chen X, Yan Z, Peng Y, Wang Y, Zheng H, Cai F, Wang W. Ultrasonic Steering Wheels: Turning Micromotors by Localized Acoustic Microstreaming. ACS NANO 2023; 17:4729-4739. [PMID: 36815761 DOI: 10.1021/acsnano.2c11070] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
The ability to steer micromotors in specific directions and at precise speeds is highly desired for their use in complex environments. However, a generic steering strategy that can be applied to micromotors of all types and surface coatings is yet to be developed. Here, we report that ultrasound of ∼100 kHz can spin a spherical micromotor so that it turns left or right when moving forward, or that it moves in full circles. The direction and angular speeds of their spinning and the radii of circular trajectories are precisely tunable by varying ultrasound voltages and frequencies, as well as particle properties such as its radius, materials, and coating thickness. Such spinning is hypothesized to originate from the circular microstreaming flows localized around a solid microsphere vibrating in ultrasound. In addition to causing a micromotor to spin, such streaming flows also helped release cargos from a micromotor during a capture-transport-release mission. Localized microstreaming does not depend on or interference with a specific propulsion mechanism and can steer a wide variety of micromotors. This work suggests that ultrasound can be used to steer microrobots in complex, biologically relevant environments as well as to steer microorganisms and cells.
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Affiliation(s)
- Qiang Gao
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Zhou Yang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Ruitong Zhu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Jinping Wang
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Pengzhao Xu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Jiayu Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Xiaowen Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Zuyao Yan
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yixin Peng
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yanping Wang
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Hairong Zheng
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Feiyan Cai
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Wei Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
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23
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Bryan MT. Assessing the Challenges of Nanotechnology-Driven Targeted Therapies: Development of Magnetically Directed Vectors for Targeted Cancer Therapies and Beyond. Methods Mol Biol 2023; 2575:105-123. [PMID: 36301473 DOI: 10.1007/978-1-0716-2716-7_6] [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: 06/16/2023]
Abstract
Targeted delivery, in which therapeutic agents are preferentially concentrated at the diseased site, has the potential to improve therapeutic outcomes by minimizing off-target interactions in healthy tissue. Both passive and active methods of targeting delivery have been proposed, often with particular emphasis on cancer treatment. Passive methods rely on the overexpression of a biomarker in diseased tissue that can then be used to target the therapy. Active techniques involve physically guiding therapeutic agents toward the target region. Since the motion of magnetic particles can be remotely controlled by external magnetic fields, magnetic technologies have the potential to drive and hold drugs or other cargo at the required therapeutic site, increasing the localized dose while minimizing overall exposure. Directed motion may be generated either by simple magnetic attraction or by causing the particles to perform swimming strokes to produce propulsion. This chapter will compare the different strategies using magnetic nanotechnology to produce directed motion compatible with that required for targeted cargo delivery and magnetically assisted therapies and assess their potential to meet the challenges of operating within the human body.
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Affiliation(s)
- Matthew T Bryan
- Department of Electronic Engineering, Royal Holloway, University of London, Egham, UK.
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24
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Lim S, Du Y, Lee Y, Panda SK, Tong D, Khalid Jawed M. Fabrication, control, and modeling of robots inspired by flagella and cilia. BIOINSPIRATION & BIOMIMETICS 2022; 18:011003. [PMID: 36533860 DOI: 10.1088/1748-3190/aca63d] [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: 06/21/2022] [Accepted: 11/25/2022] [Indexed: 06/17/2023]
Abstract
Flagella and cilia are slender structures that serve important functionalities in the microscopic world through their locomotion induced by fluid and structure interaction. With recent developments in microscopy, fabrication, biology, and modeling capability, robots inspired by the locomotion of these organelles in low Reynolds number flow have been manufactured and tested on the micro-and macro-scale, ranging from medicalin vivomicrobots, microfluidics to macro prototypes. We present a collection of modeling theories, control principles, and fabrication methods for flagellated and ciliary robots.
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Affiliation(s)
- Sangmin Lim
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yayun Du
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yongkyu Lee
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Shivam Kumar Panda
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Dezhong Tong
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - M Khalid Jawed
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
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25
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Zhang Z, Sukhov A, Harting J, Malgaretti P, Ahmed D. Rolling microswarms along acoustic virtual walls. Nat Commun 2022; 13:7347. [PMID: 36446799 PMCID: PMC9708833 DOI: 10.1038/s41467-022-35078-8] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/30/2022] [Accepted: 11/17/2022] [Indexed: 11/30/2022] Open
Abstract
Rolling is a ubiquitous transport mode utilized by living organisms and engineered systems. However, rolling at the microscale has been constrained by the requirement of a physical boundary to break the spatial homogeneity of surrounding mediums, which limits its prospects for navigation to locations with no boundaries. Here, in the absence of real boundaries, we show that microswarms can execute rolling along virtual walls in liquids, impelled by a combination of magnetic and acoustic fields. A rotational magnetic field causes individual particles to self-assemble and rotate, while the pressure nodes of an acoustic standing wave field serve as virtual walls. The acoustic radiation force pushes the microswarms towards a virtual wall and provides the reaction force needed to break their fore-aft motion symmetry and induce rolling along arbitrary trajectories. The concept of reconfigurable virtual walls overcomes the fundamental limitation of a physical boundary being required for universal rolling movements.
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Affiliation(s)
- Zhiyuan Zhang
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Laboratory, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, 8803 Switzerland
| | - Alexander Sukhov
- grid.8385.60000 0001 2297 375XHelmholtz Institute Erlangen-Nürnberg for Renewable Energy (IEK-11), Forschungszentrum Jülich, Erlangen, 91058 Germany
| | - Jens Harting
- grid.8385.60000 0001 2297 375XHelmholtz Institute Erlangen-Nürnberg for Renewable Energy (IEK-11), Forschungszentrum Jülich, Erlangen, 91058 Germany ,grid.5330.50000 0001 2107 3311Department of Chemical and Biological Engineering and Department of Physics, Friedrich-Alexander-Universität Erlangen-Nürnberg, Nuremberg, 90429 Germany
| | - Paolo Malgaretti
- grid.8385.60000 0001 2297 375XHelmholtz Institute Erlangen-Nürnberg for Renewable Energy (IEK-11), Forschungszentrum Jülich, Erlangen, 91058 Germany
| | - Daniel Ahmed
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Laboratory, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, 8803 Switzerland
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Shah ZH, Wu B, Das S. Multistimuli-responsive microrobots: A comprehensive review. Front Robot AI 2022; 9:1027415. [PMID: 36420129 PMCID: PMC9676497 DOI: 10.3389/frobt.2022.1027415] [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: 08/25/2022] [Accepted: 10/24/2022] [Indexed: 11/16/2023] Open
Abstract
Untethered robots of the size of a few microns have attracted increasing attention for the potential to transform many aspects of manufacturing, medicine, health care, and bioengineering. Previously impenetrable environments have become available for high-resolution in situ and in vivo manipulations as the size of the untethered robots goes down to the microscale. Nevertheless, the independent navigation of several robots at the microscale is challenging as they cannot have onboard transducers, batteries, and control like other multi-agent systems, due to the size limitations. Therefore, various unconventional propulsion mechanisms have been explored to power motion at the nanoscale. Moreover, a variety of combinations of actuation methods has also been extensively studied to tackle different issues. In this survey, we present a thorough review of the recent developments of various dedicated ways to actuate and control multistimuli-enabled microrobots. We have also discussed existing challenges and evolving concepts associated with each technique.
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Affiliation(s)
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE, United States
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27
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Cao HX, Nguyen VD, Jung D, Choi E, Kim CS, Park JO, Kang B. Acoustically Driven Cell-Based Microrobots for Targeted Tumor Therapy. Pharmaceutics 2022; 14:pharmaceutics14102143. [PMID: 36297578 PMCID: PMC9609374 DOI: 10.3390/pharmaceutics14102143] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/09/2022] [Revised: 10/06/2022] [Accepted: 10/06/2022] [Indexed: 11/06/2022] Open
Abstract
Targeted drug delivery using microrobots manipulated by an external actuator has significant potential to be a practical approach for wireless delivery of therapeutic agents to the targeted tumor. This work aimed to develop a novel acoustic manipulation system and macrophage-based microrobots (Macbots) for a study in targeted tumor therapy. The Macbots containing superparamagnetic iron oxide nanoparticles (SPIONs) can serve as drug carriers. Under an acoustic field, a microrobot cluster of the Macbots is manipulated by following a predefined trajectory and can reach the target with a different contact angle. As a fundamental validation, we investigated an in vitro experiment for targeted tumor therapy. The microrobot cluster could be manipulated to any point in the 4 × 4 × 4 mm region of interest with a position error of less than 300 μm. Furthermore, the microrobot could rotate in the O-XY plane with an angle step of 45 degrees without limitation of total angle. Finally, we verified that the Macbots could penetrate a 3D tumor spheroid that mimics an in vivo solid tumor. The outcome of this study suggests that the Macbots manipulated by acoustic actuators have potential applications for targeted tumor therapy.
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Affiliation(s)
- Hiep Xuan Cao
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Van Du Nguyen
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Daewon Jung
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Eunpyo Choi
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
| | - Chang-Sei Kim
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
| | - Byungjeon Kang
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea
- College of AI Convergence, Chonnam National University, Gwangju 61186, Korea
- Graduate School of Data Science, Chonnam National University, Gwangju 61186, Korea
- Correspondence: (C.-S.K.); (J.-O.P.); (B.K.)
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28
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Voß J, Wittkowski R. Acoustic Propulsion of Nano- and Microcones: Dependence on the Viscosity of the Surrounding Fluid. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2022; 38:10736-10748. [PMID: 35998334 DOI: 10.1021/acs.langmuir.2c00603] [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
This article investigates how the acoustic propulsion of cone-shaped colloidal particles that are exposed to a traveling ultrasound wave depends on the viscosity of the fluid surrounding the particles. Using acoustofluidic computer simulations, we found that the propulsion of such nano- and microcones decreases strongly and even changes sign for increasing shear viscosity. In contrast, we found only a weak dependence of the propulsion on the bulk viscosity. The obtained results are in line with the findings of previous theoretical and experimental studies.
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Affiliation(s)
- Johannes Voß
- Institute of Theoretical Physics, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Raphael Wittkowski
- Institute of Theoretical Physics, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
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Lin CH, Kinane C, Zhang Z, Pena-Francesch A. Functional Chemical Motor Coatings for Modular Powering of Self-Propelled Particles. ACS APPLIED MATERIALS & INTERFACES 2022; 14:39332-39342. [PMID: 35972784 DOI: 10.1021/acsami.2c08061] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Inspired by the locomotion of semiaquatic insects, a variety of surface swimming microrobots propelled by surface tension Marangoni forces have been developed over the years. However, most Marangoni micromotor systems present limitations in their applications due to poor performance, short lifetime, low efficiency, and toxicity. We have developed a functional chemical motor coating consisting of protein microfilms with entrapped fuel to functionalize inactive substrates or particles. This motor material system generates large Marangoni propulsive forces with extremely small amounts of fuel due to a self-regulated fuel release mechanism based on dynamic nanostructural changes in the protein matrix, enhancing the lifetime and efficiency performance over other material systems and motors. These motor functional coatings offer great versatility as they can be coated on a wide array of substrates and materials across length scales, with opportunities as modular power sources for microrobots and small-scale devices. The synergy between the protein motor matrix and the chemical fuel enables the wider design of self-powered surface microrobots without previous limitations in their fabrication and performance, including the new design of hybrid microrobots with protein functional coatings as a modular power source.
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Affiliation(s)
- Chia-Heng Lin
- Department of Materials Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
| | - Cecelia Kinane
- Macromolecular Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
| | - Zenghao Zhang
- Department of Materials Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
| | - Abdon Pena-Francesch
- Department of Materials Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
- Macromolecular Science and Engineering, University of Michigan, Ann Arbor, Michigan 48109, United States
- Robotics Institute, University of Michigan, Ann Arbor, Michigan 48109, United States
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30
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Zhou Y, Dai L, Jiao N. Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly. MICROMACHINES 2022; 13:1068. [PMID: 35888885 PMCID: PMC9324494 DOI: 10.3390/mi13071068] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/07/2022] [Revised: 06/30/2022] [Accepted: 07/01/2022] [Indexed: 02/01/2023]
Abstract
In recent years, microbubbles have been widely used in the field of microrobots due to their unique properties. Microbubbles can be easily produced and used as power sources or tools of microrobots, and the bubbles can even serve as microrobots themselves. As a power source, bubbles can propel microrobots to swim in liquid under low-Reynolds-number conditions. As a manipulation tool, microbubbles can act as the micromanipulators of microrobots, allowing them to operate upon particles, cells, and organisms. As a microrobot, microbubbles can operate and assemble complex microparts in two- or three-dimensional spaces. This review provides a comprehensive overview of bubble applications in microrobotics including propulsion, micromanipulation, and microassembly. First, we introduce the diverse bubble generation and control methods. Then, we review and discuss how bubbles can play a role in microrobotics via three functions: propulsion, manipulation, and assembly. Finally, by highlighting the advantages and current challenges of this progress, we discuss the prospects of microbubbles in microrobotics.
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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
| | - Liguo Dai
- College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, 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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31
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Abstract
The concept of creating all-mechanical soft microrobotic systems has great potential to address outstanding challenges in biomedical applications, and introduce more sustainable and multifunctional products. To this end, magnetic fields and light have been extensively studied as potential energy sources. On the other hand, coupling the response of materials to pressure waves has been overlooked despite the abundant use of acoustics in nature and engineering solutions. In this study, we show that programmed commands can be contained on 3D nanoprinted polymer systems with the introduction of selectively excited air bubbles and rationally designed compliant mechanisms. A repertoire of micromechanical systems is engineered using experimentally validated computational models that consider the effects of primary and secondary pressure fields on entrapped air bubbles and the surrounding fluid. Coupling the dynamics of bubble oscillators reveals rich acoustofluidic interactions that can be programmed in space and time. We prescribe kinematics by harnessing the forces generated through these interactions to deform structural elements, which can be remotely reconfigured on demand with the incorporation of mechanical switches. These basic actuation and analog control modules will serve as the building blocks for the development of a novel class of micromechanical systems powered and programmed by acoustic signals.
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Affiliation(s)
- Murat Kaynak
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Amit Dolev
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Mahmut Selman Sakar
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
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32
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Nabil M, Frankowski A, Orosa A, Fuller A, Nourhani A. Modulating drift dynamics of circle swimmers by periodic potentials. Phys Rev E 2022; 105:054610. [PMID: 35706311 DOI: 10.1103/physreve.105.054610] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/06/2022] [Accepted: 04/22/2022] [Indexed: 06/15/2023]
Abstract
We propose a method to modulate the drifting motion of overdamped circle swimmers in steady fluid flows by means of static sinusoidal potentials. Using Langevin formalism, we study drift velocity as a function of potential strength and wavelength with and without diffusional motion. Drift velocity is essentially quantized without diffusion, but in the presence of noise, the displacement per cycle has a continuous range. As a function of dimensionless potential wave number, domains of damped oscillatory and plateau regimes are observed in the drift velocity diagram. At weak potential and fluid velocity less than powered velocity, there is also a regime where drift velocity exceeds the fluid velocity. Methods based on these results can be used to separate biological and artificial circle swimmers based on their dynamical properties.
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Affiliation(s)
- Mohammad Nabil
- Department of Mechanical Engineering, University of Akron, Akron, Ohio 44325, USA
- Biomimicry Research and Innovation Center, University of Akron, Akron, Ohio 44325, USA
| | - Andrew Frankowski
- Department of Mechanical Engineering, University of Akron, Akron, Ohio 44325, USA
- Biomimicry Research and Innovation Center, University of Akron, Akron, Ohio 44325, USA
| | - Ashton Orosa
- Department of Mechanical Engineering, University of Akron, Akron, Ohio 44325, USA
- Biomimicry Research and Innovation Center, University of Akron, Akron, Ohio 44325, USA
| | - Andrew Fuller
- Department of Mechanical Engineering, University of Akron, Akron, Ohio 44325, USA
- Biomimicry Research and Innovation Center, University of Akron, Akron, Ohio 44325, USA
| | - Amir Nourhani
- Department of Mechanical Engineering, University of Akron, Akron, Ohio 44325, USA
- Biomimicry Research and Innovation Center, University of Akron, Akron, Ohio 44325, USA
- Departments of Biology, Mathematics, and Chemical, Biomolecular, and Corrosion Engineering, University of Akron, Akron, Ohio 44325, USA
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33
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Jooss VM, Bolten JS, Huwyler J, Ahmed D. In vivo acoustic manipulation of microparticles in zebrafish embryos. SCIENCE ADVANCES 2022; 8:eabm2785. [PMID: 35333569 PMCID: PMC8956268 DOI: 10.1126/sciadv.abm2785] [Citation(s) in RCA: 25] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/05/2023]
Abstract
In vivo micromanipulation using ultrasound is an exciting technology with promises for cancer research, brain research, vasculature biology, diseases, and treatment development. In the present work, we demonstrate in vivo manipulation of gas-filled microparticles using zebrafish embryos as a vertebrate model system. Micromanipulation methods often are conducted in vitro, and they do not fully reflect the complex environment associated in vivo. Four piezoelectric actuators were positioned orthogonally to each other around an off-centered fluidic channel that allowed for two-dimensional manipulation of intravenously injected microbubbles. Selective manipulation of microbubbles inside a blood vessel with micrometer precision was achieved without interfering with circulating blood cells. Last, we studied the viability of zebrafish embryos subjected to the acoustic field. This successful high-precision, in vivo acoustic manipulation of intravenously injected microbubbles offers potentially promising therapeutic options.
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Affiliation(s)
- Viktor Manuel Jooss
- Acoustics Robotics Systems Lab (ARSL), ETH-Zürich, Rüschlikon CH-8803, Switzerland
| | - Jan Stephan Bolten
- Department of Pharmaceutical Sciences, Division of Pharmaceutical Technology, University of Basel, Basel CH-4056, Switzerland
| | - Jörg Huwyler
- Department of Pharmaceutical Sciences, Division of Pharmaceutical Technology, University of Basel, Basel CH-4056, Switzerland
| | - Daniel Ahmed
- Acoustics Robotics Systems Lab (ARSL), ETH-Zürich, Rüschlikon CH-8803, Switzerland
- Corresponding author.
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34
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Voß J, Wittkowski R. Orientation-Dependent Propulsion of Triangular Nano- and Microparticles by a Traveling Ultrasound Wave. ACS NANO 2022; 16:3604-3612. [PMID: 35263102 DOI: 10.1021/acsnano.1c02302] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Previous studies on ultrasound-propelled nano- and microparticles have considered only systems in which the particle orientation is perpendicular to the direction of propagation of the ultrasound. However, in future applications of these particles, they will typically be able to attain other orientations. Therefore, using direct acoustofluidic simulations, here we study how the propulsion of triangular nano- and microparticles, which are known to have a particularly efficient acoustic propulsion and are therefore promising candidates for future applications, depends on their orientation relative to the propagation direction of a traveling ultrasound wave. Our results reveal that the propulsion of the particles depends strongly on their orientation relative to the direction of wave propagation and that the particles tend to orient perpendicularly to the wave direction. We also address the orientation-averaged translational and angular velocities of the particles, which correspond to the particles' effective propulsion for an isotropic exposure to ultrasound. Our results allow assessment of how free ultrasound-propelled colloidal particles move in three spatial dimensions and thus constitute an important step toward the realization of envisaged future applications of such particles.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, D-48149 Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, D-48149 Münster, Germany
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35
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Xiao Y, Zhang J, Fang B, Zhao X, Hao N. Acoustics-Actuated Microrobots. MICROMACHINES 2022; 13:481. [PMID: 35334771 PMCID: PMC8949854 DOI: 10.3390/mi13030481] [Citation(s) in RCA: 20] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/26/2022] [Revised: 03/13/2022] [Accepted: 03/17/2022] [Indexed: 02/06/2023]
Abstract
Microrobots can operate in tiny areas that traditional bulk robots cannot reach. The combination of acoustic actuation with microrobots extensively expands the application areas of microrobots due to their desirable miniaturization, flexibility, and biocompatibility features. Herein, an overview of the research and development of acoustics-actuated microrobots is provided. We first introduce the currently established manufacturing methods (3D printing and photolithography). Then, according to their different working principles, we divide acoustics-actuated microrobots into three categories including bubble propulsion, sharp-edge propulsion, and in-situ microrotor. Next, we summarize their established applications from targeted drug delivery to microfluidics operation to microsurgery. Finally, we illustrate current challenges and future perspectives to guide research in this field. This work not only gives a comprehensive overview of the latest technology of acoustics-actuated microrobots, but also provides an in-depth understanding of acoustic actuation for inspiring the next generation of advanced robotic devices.
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Affiliation(s)
- Yaxuan Xiao
- Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi’an Jiaotong University, 28 Xianning West Road, Xi’an 710049, China; (Y.X.); (B.F.)
- Laboratory of Microscale Green Chemical Process Intensification, School of Chemical Engineering and Technology, Xi’an Jiaotong University, 28 Xianning West Road, Xi’an 710049, China;
| | - Jinhua Zhang
- Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi’an Jiaotong University, 28 Xianning West Road, Xi’an 710049, China; (Y.X.); (B.F.)
| | - Bin Fang
- Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi’an Jiaotong University, 28 Xianning West Road, Xi’an 710049, China; (Y.X.); (B.F.)
| | - Xiong Zhao
- Laboratory of Microscale Green Chemical Process Intensification, School of Chemical Engineering and Technology, Xi’an Jiaotong University, 28 Xianning West Road, Xi’an 710049, China;
| | - Nanjing Hao
- Laboratory of Microscale Green Chemical Process Intensification, School of Chemical Engineering and Technology, Xi’an Jiaotong University, 28 Xianning West Road, Xi’an 710049, China;
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36
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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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37
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Athanassiadis AG, Ma Z, Moreno-Gomez N, Melde K, Choi E, Goyal R, Fischer P. Ultrasound-Responsive Systems as Components for Smart Materials. Chem Rev 2022; 122:5165-5208. [PMID: 34767350 PMCID: PMC8915171 DOI: 10.1021/acs.chemrev.1c00622] [Citation(s) in RCA: 71] [Impact Index Per Article: 35.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/14/2021] [Indexed: 02/06/2023]
Abstract
Smart materials can respond to stimuli and adapt their responses based on external cues from their environments. Such behavior requires a way to transport energy efficiently and then convert it for use in applications such as actuation, sensing, or signaling. Ultrasound can carry energy safely and with low losses through complex and opaque media. It can be localized to small regions of space and couple to systems over a wide range of time scales. However, the same characteristics that allow ultrasound to propagate efficiently through materials make it difficult to convert acoustic energy into other useful forms. Recent work across diverse fields has begun to address this challenge, demonstrating ultrasonic effects that provide control over physical and chemical systems with surprisingly high specificity. Here, we review recent progress in ultrasound-matter interactions, focusing on effects that can be incorporated as components in smart materials. These techniques build on fundamental phenomena such as cavitation, microstreaming, scattering, and acoustic radiation forces to enable capabilities such as actuation, sensing, payload delivery, and the initiation of chemical or biological processes. The diversity of emerging techniques holds great promise for a wide range of smart capabilities supported by ultrasound and poses interesting questions for further investigations.
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Affiliation(s)
- Athanasios G. Athanassiadis
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Zhichao Ma
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Nicolas Moreno-Gomez
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
| | - Kai Melde
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Eunjin Choi
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
| | - Rahul Goyal
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
| | - Peer Fischer
- Micro,
Nano, and Molecular Systems Group, Max Planck
Institute for Intelligent Systems, Heisenbergstrasse 3, 70569 Stuttgart, Germany
- Institute
of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
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38
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Pané S, Wendel-Garcia P, Belce Y, Chen XZ, Puigmartí-Luis J. Powering and Fabrication of Small-Scale Robotics Systems. CURRENT ROBOTICS REPORTS 2022; 2:427-440. [PMID: 35036926 PMCID: PMC8721937 DOI: 10.1007/s43154-021-00066-1] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Accepted: 08/30/2021] [Indexed: 02/07/2023]
Abstract
Purpose of Review The increasing number of contributions in the field of small-scale robotics is significantly associated with the progress in material science and process engineering during the last half century. With the objective of integrating the most optimal materials for the propulsion of these motile micro- and nanosystems, several manufacturing strategies have been adopted or specifically developed. This brief review covers some recent advances in materials and fabrication of small-scale robots with a focus on the materials serving as components for their motion and actuation. Recent Findings Integration of a wealth of materials is now possible in several micro- and nanorobotic designs owing to the advances in micro- and nanofabrication and chemical synthesis. Regarding light-driven swimmers, novel photocatalytic materials and deformable liquid crystal elastomers have been recently reported. Acoustic swimmers are also gaining attention, with several prominent examples of acoustic bubble-based 3D swimmers being recently reported. Magnetic micro- and nanorobots are increasingly investigated for their prospective use in biomedical applications. The adoption of different materials and novel fabrication strategies based on 3D printing, template-assisted electrodeposition, or electrospinning is briefly discussed. Summary A brief review on fabrication and powering of small-scale robotics is presented. First, a concise introduction to the world of small-scale robotics and their propulsion by means of magnetic fields, ultrasound, and light is provided. Recent examples of materials and fabrication methodologies for the realization of these devices follow thereafter.
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Affiliation(s)
- Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, CH-8092 Zurich, Switzerland
| | - Pedro Wendel-Garcia
- Institute of Intensive Care Medicine, University Hospital of Zürich, Zürich, Switzerland
| | - Yonca Belce
- Departament de Ciència Dels Materials I Química Física, Institut de Química Teòrica I Computacional, 08028 Barcelona, Spain
| | - Xiang-Zhong Chen
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, CH-8092 Zurich, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència Dels Materials I Química Física, Institut de Química Teòrica I Computacional, 08028 Barcelona, Spain
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39
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Voß J, Wittkowski R. Acoustically propelled nano- and microcones: fast forward and backward motion. NANOSCALE ADVANCES 2021; 4:281-293. [PMID: 36132955 PMCID: PMC9417971 DOI: 10.1039/d1na00655j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/01/2021] [Accepted: 10/21/2021] [Indexed: 05/07/2023]
Abstract
We focus on cone-shaped nano- and microparticles, which have recently been found to show particularly strong propulsion when they are exposed to a traveling ultrasound wave, and study based on direct acoustofluidic computer simulations how their propulsion depends on the cones' aspect ratio. The simulations reveal that the propulsion velocity and even its sign are very sensitive to the aspect ratio, where short particles move forward whereas elongated particles move backward. Furthermore, we identify a cone shape that allows for a particularly large propulsion speed. Our results contribute to the understanding of the propulsion of ultrasound-propelled colloidal particles, suggest a method for separation and sorting of nano- and microcones concerning their aspect ratio, and provide useful guidance for future experiments and applications.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster D-48149 Münster Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster D-48149 Münster Germany
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40
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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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41
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Choi H, Yi J, Cho SH, Hahn SK. Multifunctional micro/nanomotors as an emerging platform for smart healthcare applications. Biomaterials 2021; 279:121201. [PMID: 34715638 DOI: 10.1016/j.biomaterials.2021.121201] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/05/2021] [Revised: 09/23/2021] [Accepted: 10/20/2021] [Indexed: 01/06/2023]
Abstract
Self-propelling micro- and nano-motors (MNMs) are emerging as a multifunctional platform for smart healthcare applications such as biosensing, bioimaging, and targeted drug delivery with high tissue penetration, stirring effect, and rapid drug transport. MNMs can be propelled and/or guided by chemical substances or external stimuli including ultrasound, magnetic field, and light. In addition, enzymatically powered MNMs and biohybrid micromotors have been developed using the biological components in the body. In this review, we describe emerging MNMs focusing on their smart propulsion systems, and diagnostic and therapeutic applications. Finally, we highlight several MNMs for in vivo applications and discuss the future perspectives of MNMs on their current limitations and possibilities toward further clinical applications.
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Affiliation(s)
- Hyunsik Choi
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| | - Jeeyoon Yi
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| | - Seong Hwi Cho
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea
| | - Sei Kwang Hahn
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk, 37673, South Korea.
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42
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Luo T, Wu M. Biologically inspired micro-robotic swimmers remotely controlled by ultrasound waves. LAB ON A CHIP 2021; 21:4095-4103. [PMID: 34549766 DOI: 10.1039/d1lc00575h] [Citation(s) in RCA: 21] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
We 3D print micro-robotic swimmers with the size of animal cells using a Nanoscribe. The micro-swimmers are powered by the microstreaming flows induced by the oscillating air bubbles entrapped within the micro-robotic swimmers. Previously, micro-swimmers propelled by acoustic streaming require the use of a magnetic field or an additional ultrasound transducer to steer their direction. Here, we show a two-bubble based micro-swimmer that can be propelled and steered entirely using one ultrasound transducer. The swimmer displays boundary following traits similar to those biological swimmers that are known to be important for performing robust biological functions. The micro-robotic swimmer has the potential to advance the current technology in targeted drug delivery and remote microsurgery.
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Affiliation(s)
- Tao Luo
- Departments of Biological and Environmental Engineering, Cornell University, Ithaca, NY 14853, USA.
- Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361005, China
| | - Mingming Wu
- Departments of Biological and Environmental Engineering, Cornell University, Ithaca, NY 14853, USA.
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43
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Wang W, Mallouk TE. A Practical Guide to Analyzing and Reporting the Movement of Nanoscale Swimmers. ACS NANO 2021; 15:15446-15460. [PMID: 34636550 DOI: 10.1021/acsnano.1c07503] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
The recent invention of nanoswimmers-synthetic, powered objects with characteristic lengths in the range of 10-500 nm-has sparked widespread interest among scientists and the general public. As more researchers from different backgrounds enter the field, the study of nanoswimmers offers new opportunities but also significant experimental and theoretical challenges. In particular, the accurate characterization of nanoswimmers is often hindered by strong Brownian motion, convective effects, and the lack of a clear way to visualize them. When coupled with improper experimental designs and imprecise practices in data analysis, these issues can translate to results and conclusions that are inconsistent and poorly reproducible. This Perspective follows the course of a typical nanoswimmer investigation from synthesis through to applications and offers suggestions for best practices in reporting experimental details, recording videos, plotting trajectories, calculating and analyzing mobility, eliminating drift, and performing control experiments, in order to improve the reliability of the reported results.
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Affiliation(s)
- Wei Wang
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Thomas E Mallouk
- Department of Chemistry, University of Pennsylvania, Philadelphia, Pennsylvania 19104-6243, United States
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44
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Singh S, Moran JL. Autonomously Propelled Colloids for Penetration and Payload Delivery in Complex Extracellular Matrices. MICROMACHINES 2021; 12:mi12101216. [PMID: 34683267 PMCID: PMC8541468 DOI: 10.3390/mi12101216] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/11/2021] [Revised: 10/01/2021] [Accepted: 10/03/2021] [Indexed: 11/30/2022]
Abstract
For effective treatment of diseases such as cancer or fibrosis, it is essential to deliver therapeutic agents such as drugs to the diseased tissue, but these diseased sites are surrounded by a dense network of fibers, cells, and proteins known as the extracellular matrix (ECM). The ECM forms a barrier between the diseased cells and blood circulation, the main route of administration of most drug delivery nanoparticles. Hence, a stiff ECM impedes drug delivery by limiting the transport of drugs to the diseased tissue. The use of self-propelled particles (SPPs) that can move in a directional manner with the application of physical or chemical forces can help in increasing the drug delivery efficiency. Here, we provide a comprehensive look at the current ECM models in use to mimic the in vivo diseased states, the different types of SPPs that have been experimentally tested in these models, and suggest directions for future research toward clinical translation of SPPs in diverse biomedical settings.
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Affiliation(s)
- Shrishti Singh
- Department of Bioengineering, George Mason University, Fairfax, VA 22030, USA;
| | - Jeffrey L. Moran
- Department of Bioengineering, George Mason University, Fairfax, VA 22030, USA;
- Department of Mechanical Engineering, George Mason University, Fairfax, VA 22030, USA
- Correspondence:
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45
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Cafarelli A, Marino A, Vannozzi L, Puigmartí-Luis J, Pané S, Ciofani G, Ricotti L. Piezoelectric Nanomaterials Activated by Ultrasound: The Pathway from Discovery to Future Clinical Adoption. ACS NANO 2021; 15:11066-11086. [PMID: 34251189 PMCID: PMC8397402 DOI: 10.1021/acsnano.1c03087] [Citation(s) in RCA: 53] [Impact Index Per Article: 17.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/12/2021] [Accepted: 07/06/2021] [Indexed: 05/19/2023]
Abstract
Electrical stimulation has shown great promise in biomedical applications, such as regenerative medicine, neuromodulation, and cancer treatment. Yet, the use of electrical end effectors such as electrodes requires connectors and batteries, which dramatically hamper the translation of electrical stimulation technologies in several scenarios. Piezoelectric nanomaterials can overcome the limitations of current electrical stimulation procedures as they can be wirelessly activated by external energy sources such as ultrasound. Wireless electrical stimulation mediated by piezoelectric nanoarchitectures constitutes an innovative paradigm enabling the induction of electrical cues within the body in a localized, wireless, and minimally invasive fashion. In this review, we highlight the fundamental mechanisms of acoustically mediated piezoelectric stimulation and its applications in the biomedical area. Yet, the adoption of this technology in a clinical practice is in its infancy, as several open issues, such as piezoelectric properties measurement, control of the ultrasound dose in vitro, modeling and measurement of the piezo effects, knowledge on the triggered bioeffects, therapy targeting, biocompatibility studies, and control of the ultrasound dose delivered in vivo, must be addressed. This article explores the current open challenges in piezoelectric stimulation and proposes strategies that may guide future research efforts in this field toward the translation of this technology to the clinical scene.
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Affiliation(s)
- Andrea Cafarelli
- The
BioRobotics Institute, Scuola Superiore
Sant’Anna, 56127 Pisa, Italy
- Department
of Excellence in Robotics & AI, Scuola
Superiore Sant’Anna, 56127 Pisa, Italy
| | - Attilio Marino
- Smart
Bio-Interfaces, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy
| | - Lorenzo Vannozzi
- The
BioRobotics Institute, Scuola Superiore
Sant’Anna, 56127 Pisa, Italy
- Department
of Excellence in Robotics & AI, Scuola
Superiore Sant’Anna, 56127 Pisa, Italy
| | - Josep Puigmartí-Luis
- Departament
de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, 08028 Barcelona, Spain
- Institució
Catalana de Recerca i Estudis Avançats (ICREA), 08010 Barcelona, Spain
| | - Salvador Pané
- Multi-Scale
Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems
(IRIS), ETH Zurich, 8092 Zurich, Switzerland
| | - Gianni Ciofani
- Smart
Bio-Interfaces, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy
| | - Leonardo Ricotti
- The
BioRobotics Institute, Scuola Superiore
Sant’Anna, 56127 Pisa, Italy
- Department
of Excellence in Robotics & AI, Scuola
Superiore Sant’Anna, 56127 Pisa, Italy
- Tel: +39 050 883074. Mobile: +39 366 6868242.
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46
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Ahmed S, Perez-Mercader J. Autonomous Low-Reynolds-Number Soft Robots with Structurally Encoded Motion and Their Thermodynamic Efficiency. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2021; 37:8148-8156. [PMID: 34185996 DOI: 10.1021/acs.langmuir.1c00765] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Soft low-Reynolds-number robotics hold the potential to significantly impact numerous fields including drug delivery, sensing, and diagnostics. Realizing this potential is predicated upon the ability to design soft robots tailored to their intended function. In this work, we identify the effect of different geometric and symmetry parameters on the motion of soft, autonomous robots that operate in the low-Reynolds-number regime and use organic fuel. The ability to power low-Reynolds-number soft robots using an organic fuel would provide a new avenue for their potential use in biomedical applications, as is the use of a polymeric biocompatible material as is done here. We introduce a simple and cost-effective 3D-printer-assisted method to fabricate robots of different shapes that is scalable and widely applicable for a variety of materials. The efficiency of chemical energy to mechanical energy conversion is measured in soft low-Reynolds-number robots for the first time, and their mechanism of motion is assessed. Motion is a result of a periodic and oscillatory change in the charge state of the gel. This work lays the groundwork for the structure-function design of soft, chemically operated, and autonomous low-Reynolds-number robots.
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Affiliation(s)
- Suzanne Ahmed
- Department of Earth and Planetary Sciences and Origins of Life Initiative, Harvard University, 20 Oxford Street, Cambridge, Massachusetts 02138, United States
| | - Juan Perez-Mercader
- Department of Earth and Planetary Sciences and Origins of Life Initiative, Harvard University, 20 Oxford Street, Cambridge, Massachusetts 02138, United States
- Santa Fe Institute, Santa Fe, New Mexico 87501, United States
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47
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Li Y, Liu X, Huang Q, Ohta AT, Arai T. Bubbles in microfluidics: an all-purpose tool for micromanipulation. LAB ON A CHIP 2021; 21:1016-1035. [PMID: 33538756 DOI: 10.1039/d0lc01173h] [Citation(s) in RCA: 19] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/25/2023]
Abstract
In recent decades, the integration of microfluidic devices and multiple actuation technologies at the microscale has greatly contributed to the progress of related fields. In particular, microbubbles are playing an increasingly important role in microfluidics because of their unique characteristics that lead to specific responses to different energy sources and gas-liquid interactions. Many effective and functional bubble-based micromanipulation strategies have been developed and improved, enabling various non-invasive, selective, and precise operations at the microscale. This review begins with a brief introduction of the morphological characteristics and formation of microbubbles. The theoretical foundations and working mechanisms of typical micromanipulations based on acoustic, thermodynamic, and chemical microbubbles in fluids are described. We critically review the extensive applications and the frontline advances of bubbles in microfluidics, including microflow patterns, position and orientation control, biomedical applications, and development of bubble-based microrobots. We lastly present an outlook to provide directions for the design and application of microbubble-based micromanipulation tools and attract the attention of relevant researchers to the enormous potential of microbubbles in microfluidics.
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Affiliation(s)
- Yuyang Li
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
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48
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Soto F, Karshalev E, Zhang F, Esteban Fernandez de Avila B, Nourhani A, Wang J. Smart Materials for Microrobots. Chem Rev 2021; 122:5365-5403. [DOI: 10.1021/acs.chemrev.0c00999] [Citation(s) in RCA: 69] [Impact Index Per Article: 23.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Affiliation(s)
- Fernando Soto
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
| | - Emil Karshalev
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
| | - Fangyu Zhang
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
| | - Berta Esteban Fernandez de Avila
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
| | - Amir Nourhani
- Department of Mechanical Engineering, Department of Mathematics, Biology, Biomimicry Research and Innovation Center, University of Akron, Akron, Ohio 44325, United States
| | - Joseph Wang
- Department of Nanoengineering, Chemical Engineering Program and Contextual Robotics Institute, University of California San Diego, La Jolla, California 92093, United States
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49
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Demirörs AF, Stauffer A, Lauener C, Cossu J, Ramakrishna SN, de Graaf J, Alcantara CCJ, Pané S, Spencer N, Studart AR. Magnetic propulsion of colloidal microrollers controlled by electrically modulated friction. SOFT MATTER 2021; 17:1037-1047. [PMID: 33289746 DOI: 10.1039/d0sm01449d] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Precise control over the motion of magnetically responsive particles in fluidic chambers is important for probing and manipulating tasks in prospective microrobotic and bio-analytical platforms. We have previously exploited such colloids as shuttles for the microscale manipulation of objects. Here, we study the rolling motion of magnetically driven Janus colloids on solid substrates under the influence of an orthogonal external electric field. Electrically induced attractive interactions were used to tune the load on the Janus colloid and thereby the friction with the underlying substrate, leading to control over the forward velocity of the particle. Our experimental data suggest that the frictional coupling required to achieve translation, transitions from a hydrodynamic regime to one of mixed contact coupling with increasing load force. Based on this insight, we show that our colloidal microrobots can probe the local friction coefficient of various solid surfaces, which makes them potentially useful as tribological microsensors. Lastly, we precisely manipulate porous cargos using our colloidal rollers, a feat that holds promise for bio-analytical applications.
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Affiliation(s)
- Ahmet F Demirörs
- Complex Materials, Department of Materials, ETH Zurich, 8093 Zurich, Switzerland.
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50
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Abstract
Mobile microrobots that maneuver in liquid environments and navigate inside the human body have drawn a great interest due to their possibility for medical uses serving as an in vivo cargo. For this system, the effective self-propelling method, which should be powered wirelessly and controllable in 3-D space, is of paramount importance. This article describes a bubble-powered swimming microdrone that can navigate in 3-D space in a controlled manner. To enable 3-D propulsion with steering capability, air bubbles of three lengths are trapped in microtubes that are embedded and three-dimensionally aligned inside the drone body using two-photon polymerization. These bubbles can generate on-demand 3-D propulsion through microstreaming when they are selectively excited at their individual resonance frequencies that depend on the bubble sizes. In order to equip the drone with highly stable maneuverability, a non-uniform mass distribution of the drone body is carefully designed to spontaneously restore the drone to the upright position from disturbances. A mathematical model of the restoration mechanism is developed to predict the restoration behavior showing a good agreement with the experimental data. The present swimming microdrone potentially lends itself to a robust 3-D maneuverable microscale mobile cargo navigating in vitro and in vivo for biomedical applications.
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Affiliation(s)
- Fang-Wei Liu
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA 15261, USA.
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