Advanced materials for micro/nanorobotics

Autonomous micro/nanorobots capable of performing programmed missions are at the forefront of next-generation micromachinery. These small robotic systems are predominantly constructed using functional components sourced from micro- and nanoscale materials; therefore, combining them with various advanced materials represents a pivotal direction toward achieving a higher level of intelligence and multifunctionality. This review provides a comprehensive overview of advanced materials for innovative micro/nanorobotics, focusing on the five families of materials that have witnessed the most rapid advancements over the last decade: two-dimensional materials, metal-organic frameworks, semiconductors, polymers, and biological cells. Their unique physicochemical, mechanical, optical, and biological properties have been integrated into micro/nanorobots to achieve greater maneuverability, programmability, intelligence, and multifunctionality in collective behaviors. The design and fabrication methods for hybrid robotic systems are discussed based on the material categories. In addition, their promising potential for powering motion and/or (multi-)functionality is described and the fundamental principles underlying them are explained. Finally, their extensive use in a variety of applications, including environmental remediation, (bio)sensing, therapeutics, etc., and remaining challenges and perspectives for future research are discussed.

Formation of CdTe core and CdTe@ZnTe core-shell quantum dots via hydrothermal approach using dual capping agents: deciphering the food dye sensing and protein binding applications

Excessive use of food coloring agents in the food industry to make the food more attractive or improve the taste has caused various health and ecological problems. Therefore, it is necessary to develop a reliable, sensitive, and selective sensing probe to detect food dyes in different food products for future industrial processing and biosafety. In recent decades, surface-functionalized quantum dots (QDs), owing to their unique optical properties, have gained tremendous interest for a wide range of applications, including biomedical, bioimaging and sensing applications. Herein, we have reported the synthesis of excellent colloidal stable and highly luminescent CdTe core and CdTe@ZnTe core-shell QDs using dual functionalizing agents, polyvinyl pyrrolidone and vitamin C. The synthesized QDs were explored as excellent sensing probes for the food dyes carmoisine, Ponceau 4R and tartrazine with limit of detection (LOD) values of 0.097 ± 0.006, 0.147 ± 0.001 and 0.044 ± 0.001 μM for CdTe-PVP QDs and 0.079 ± 0.001, 0.114 ± 0.002 and 0.042 ± 0.001 μM for CdTe@ZnTe-PVP QDs, respectively. The sensitivity of the synthesized QDs for the food dyes was also investigated in real samples (soft drinks and medications). Moreover, considering the potential effects of QDs as therapeutics or nano-drug carriers, the interactions between the synthesized QDs and carrier protein human serum albumin (HSA) were investigated. The binding affinity was observed to be in the order of 104 M-1. QDs were found to quench the intrinsic fluorescence of HSA, and both types of quenching (static and dynamic) occur via electrostatic interactions in association with hydrophobic forces without any significant alteration in the protein structure.

Comprehensive modeling of corkscrew motion in micro-/nano-robots with general helical structures

Micro-/nano-robots (MNRs) have impressive potential in minimally invasive targeted therapeutics through blood vessels, which has disruptive impact to improving human health. However, the clinical use of MNRs has yet to happen due to intrinsic limitations, such as overcoming blood flow. These bottlenecks have not been empirically solved. To tackle them, a full understanding of MNR behaviors is necessary as the first step. The common movement principle of MNRs is corkscrew motion with a helical structure. The existing dynamic model is only applicable to standard helical MNRs. In this paper, we propose a dynamic model for general MNRs without structure limitations. Comprehensive simulations and experiments were conducted, which shows the validity and accuracy of our model. Such a model can serve as a reliable basis for the design, optimization, and control of MNRs and as a powerful tool for gaining fluid dynamic insights, thus accelerating the development of the field.

Dynamics and phase behavior of metallo-dielectric rod-shaped microswimmers driven by alternating current electric field

The ability to move and self-organize in response to external stimuli is a fascinating feature of living active matter. Here, the metallo-dielectric rod-shaped microswimmers are shown to have a similar behavior in the presence of an AC electric field. The silica-copper Janus microrods were fabricated using the physical vapor deposition-based glancing angle deposition technique (GLAD). When the aqueous solution of the microrods was under the influence of an external AC electric field, they were found to exhibit different phases such as clustering, swimming, and vertical standing in response to variation of the applied frequency. The swimming behavior (5-90 kHz) of the rods is attributed to the induced-charge electrophoresis (ICEP) phenomenon, whereas the dynamic clustering (<5 kHz) could be explained in terms of the electrohydrodynamic (EHD) interaction. Interestingly, the rods flip to attain the vertically standing position when responding to the applied electric field above 90 kHz. The reorientation and switching of the major axis of the rod along the field direction is attributed to the electro-orientation phenomenon. This is basically due to the dominance of the electric torque above the upper limit of the characteristic frequency, where the strength of slip flows around the microrods is predicted to be poor. The present study not only offers insight into the fundamental aspects of the dynamics and the phase behavior of rod-shaped microswimmers, but also opens an avenue to design reconfigurable active matter systems with features inspired by biological systems.

Human serum albumin directed formation of cadmium telluride quantum dots: Applications in biosensing, anti-bacterial activities and cell cytotoxicity measurements

Although cadmium-based quantum dots (QDs) are highly promising candidates for numerous biological applications, their intrinsic toxicity limits their pertinency in living systems. Surface functionalization of QDs with appropriate molecules could reduce the toxicity level. Herein, we have synthesized the smaller sized (1-5 nm) aqueous-compatible biogenic CdTe QDs using human serum albumin (HSA) as a surface passivating agent via a greener approach. HSA-functionalized CdTe QDs have been explored in multiple in vitro sensing and biological applications, namely, (1) sensing, (2) anti-bacterial and (3) anti-cancer properties. Using CdTe-HSA QDs as a fluorescence probe, a simple fluorometric method has been developed for highly sensitive and selective detection of blood marker bilirubin and hazardous Hg2+ ion with a limit of detection (LOD) of 3.38 and 0.53 ng/mL, respectively. CdTe-HSA QDs also acts as a sensor for standard antibiotics, tetracycline and rifampicin with LOD values of 41.34 and 114.99 ng/mL, respectively. Nano-sized biogenic CdTe-HSA QDs have shown promising anti-bacterial activities against both gram-negative, E. coli and gram-positive, E. faecalis strains confirming more effectiveness against E. faecalis strains. The treatment of human cervical cancer cell lines (HeLa cells) with the synthesized QDs reflected the proficient cytotoxic properties of QDs.

Recent Advances in Light-Driven Semiconductor-Based Micro/Nanomotors: Optimization Strategies and Emerging Applications

Micro/nanomotors represent a burgeoning field of research featuring small devices capable of autonomous movement in liquid environments through catalytic reactions and/or external stimuli. This review delves into recent advancements in light-driven semiconductor-based micro/nanomotors (LDSM), focusing on optimized syntheses, enhanced motion mechanisms, and emerging applications in the environmental and biomedical domains. The survey commences with a theoretical introduction to micromotors and their propulsion mechanisms, followed by an exploration of commonly studied LDSM, emphasizing their advantages. Critical properties affecting propulsion, such as surface features, morphology, and size, are presented alongside discussions on external conditions related to light sources and intensity, which are crucial for optimizing the propulsion speed. Each property is accompanied by a theoretical background and conclusions drawn up to 2018. The review further investigates recent adaptations of LDSM, uncovering underlying mechanisms and associated benefits. A brief discussion is included on potential synergistic effects between different external conditions, aiming to enhance efficiency-a relatively underexplored topic. In conclusion, the review outlines emerging applications in biomedicine and environmental monitoring/remediation resulting from recent LDSM research, highlighting the growing significance of this field. The comprehensive exploration of LDSM advancements provides valuable insights for researchers and practitioners seeking to leverage these innovative micro/nanomotors in diverse applications.

Untethered Micro/Nanorobots for Remote Sensing: Toward Intelligent Platform

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities. Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems, enabling in situ detection of substances that traditional sensing methods struggle to achieve. Over the past decade of development, significant research progress has been made in designing sensing strategies based on micro/nanorobots, employing various coordinated control and sensing approaches. This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots, robot behavior, microrobotic manipulation, and robot-environment interactions. Providing recent studies and relevant applications in remote sensing, we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments, translating lab research achievements into widespread real applications.

Fabrication and Applications of Magnetic Polymer Composites for Soft Robotics

The emergence of magnetic polymer composites has had a transformative impact on the field of soft robotics. This overview will examine the various methods by which innovative materials can be synthesized and utilized. The advancement of soft robotic systems has been significantly enhanced by the utilization of magnetic polymer composites, which amalgamate the pliability of polymers with the reactivity of magnetic materials. This study extensively examines the production methodologies involved in dispersing magnetic particles within polymer matrices and controlling their spatial distribution. The objective is to gain insights into the strategies required to attain the desired mechanical and magnetic properties. Additionally, this study delves into the potential applications of these composites in the field of soft robotics, encompassing various devices such as soft actuators, grippers, and wearable gadgets. The study emphasizes the transformative capabilities of magnetic polymer composites, which offer a novel framework for the advancement of biocompatible, versatile soft robotic systems that utilize magnetic actuation.

Emerging Roles of Microrobots for Enhancing the Sensitivity of Biosensors

To meet the increasing needs of point-of-care testing in clinical diagnosis and daily health monitoring, numerous cutting-edge techniques have emerged to upgrade current portable biosensors with higher sensitivity, smaller size, and better intelligence. In particular, due to the controlled locomotion characteristics in the micro/nano scale, microrobots can effectively enhance the sensitivity of biosensors by disrupting conventional passive diffusion into an active enrichment during the test. In addition, microrobots are ideal to create biosensors with functions of on-demand delivery, transportation, and multi-objective detections with the capability of actively controlled motion. In this review, five types of portable biosensors and their integration with microrobots are critically introduced. Microrobots can enhance the detection signal in fluorescence intensity and surface-enhanced Raman scattering detection via the active enrichment. The existence and quantity of detection substances also affect the motion state of microrobots for the locomotion-based detection. In addition, microrobots realize the indirect detection of the bio-molecules by functionalizing their surfaces in the electrochemical current and electrochemical impedance spectroscopy detections. We pay a special focus on the roles of microrobots with active locomotion to enhance the detection performance of portable sensors. At last, perspectives and future trends of microrobots in biosensing are also discussed.

Intelligent sensing based on active micro/nanomotors

In the microscopic world, synthetic micro/nanomotors (MNMs) can convert a variety of energy sources into driving forces to help humans perform a number of complex tasks with greater ease and efficiency. These tiny machines have attracted tremendous attention in the field of drug delivery, minimally invasive surgery, in vivo sampling, and environmental management. By modifying their surface materials and functionalizing them with bioactive agents, these MNMs can also be transformed into dynamic micro/nano-biosensors that can detect biomolecules in real-time with high sensitivity. The extensive range of operations and uses combined with their minuscule size have opened up new avenues for tackling intricate analytical difficulties. Here, in this review, various driving methods are briefly introduced, followed by a focus on intelligent detection techniques based on MNMs. And we discuss the distinctive advantages, current issues, and challenges associated with MNM-based intelligent detection. It is believed that the future advancements of MNMs will greatly impact the diagnosis, treatment, and prevention of diseases.

Micro-/nanoscale robotics for chemical and biological sensing

The field of micro-/nanorobotics has attracted extensive interest from a variety of research communities and witnessed enormous progress in a broad array of applications ranging from basic research to global healthcare and to environmental remediation and protection. In particular, micro-/nanoscale robots provide an enabling platform for the development of next-generation chemical and biological sensing modalities, owing to their unique advantages as programmable, self-sustainable, and/or autonomous mobile carriers to accommodate and promote physical and chemical processes. In this review, we intend to provide an overview of the state-of-the-art development in this area and share our perspective in the future trend. This review starts with a general introduction of micro-/nanorobotics and the commonly used methods for propulsion of micro-/nanorobots in solution, along with the commonly used methods in their fabrication. Next, we comprehensively summarize the current status of the micro/nanorobotic research in relevance to chemical and biological sensing (e.g., motion-based sensing, optical sensing, and electrochemical sensing). Following that, we provide an overview of the primary challenges currently faced in the micro-/nanorobotic research. Finally, we conclude this review by providing our perspective detailing the future application of soft robotics in chemical and biological sensing.

Small-Scale Robotics with Tailored Wettability

Small-scale robots (SSRs) have emerged as promising and versatile tools in various biomedical, sensing, decontamination, and manipulation applications, as they are uniquely capable of performing tasks at small length scales. With the miniaturization of robots from the macroscale to millimeter-, micrometer-, and nanometer-scales, the viscous and surface forces, namely adhesive forces and surface tension have become dominant. These forces significantly impact motion efficiency. Surface engineering of robots with both hydrophilic and hydrophobic functionalization presents a brand-new pathway to overcome motion resistance and enhance the ability to target and regulate robots for various tasks. This review focuses on the current progress and future perspectives of SSRs with hydrophilic and hydrophobic modifications (including both tethered and untethered robots). The study emphasizes the distinct advantages of SSRs, such as improved maneuverability and reduced drag forces, and outlines their potential applications. With continued innovation, rational surface engineering is expected to endow SSRs with exceptional mobility and functionality, which can broaden their applications, enhance their penetration depth, reduce surface fouling, and inhibit bacterial adhesion.

Autonomous Microlasers for Profiling Extracellular Vesicles from Cancer Spheroids

Self-propelled micro/nanomotors are emergent intelligent sensors for analyzing extracellular biomarkers in circulating biological fluids. Conventional luminescent motors are often masked by a highly dynamic and scattered environment, creating challenges to characterize biomarkers or subtle binding dynamics. Here we introduce a strategy to amplify subtle signals by coupling strong light-matter interactions on micromotors. A smart whispering-gallery-mode microlaser that can self-propel and analyze extracellular biomarkers is demonstrated through a liquid crystal microdroplet. Lasing spectral responses induced by cavity energy transfer were employed to reflect the abundance of protein biomarkers, generating exclusive molecular labels for cellular profiling of exosomes derived from 3D multicellular cancer spheroids. Finally, a microfluidic biosystem with different tumor-derived exosomes was employed to elaborate its sensing capability in complex environments. The proposed autonomous microlaser exhibits a promising method for both fundamental biological science and applications in drug screening, phenotyping, and organ-on-chip applications.

Analyte Sensing with Catalytic Micromotors

Catalytic micromotors can be used to detect molecules of interest in several ways. The straightforward approach is to use such motors as sensors of their "fuel" (i.e., of the species consumed for self-propulsion). Another way is in the detection of species which are not fuel but still modulate the catalytic processes facilitating self-propulsion. Both of these require analysis of the motion of the micromotors because the speed (or the diffusion coefficient) of the micromotors is the analytical signal. Alternatively, catalytic micromotors can be used as the means to enhance mass transport, and thus increase the probability of specific recognition events in the sample. This latter approach is based on "classic" (e.g., electrochemical) analytical signals and does not require an analysis of the motion of the micromotors. Together with a discussion of the current limitations faced by sensing concepts based on the speed (or diffusion coefficient) of catalytic micromotors, we review the findings of the studies devoted to the analytical performances of catalytic micromotor sensors. We conclude that the qualitative (rather than quantitative) analysis of small samples, in resource poor environments, is the most promising niche for the catalytic micromotors in analytical chemistry.

Controlled propulsion of micro/nanomotors: operational mechanisms, motion manipulation and potential biomedical applications

Inspired by natural mobile microorganisms, researchers have developed micro/nanomotors (MNMs) that can autonomously move by transducing different kinds of energies into kinetic energy. The rapid development of MNMs has created tremendous opportunities for biomedical fields including diagnostics, therapeutics, and theranostics. Although the great progress has been made in MNM research, at a fundamental level, the accepted propulsion mechanisms are still a controversial matter. In practical applications such as precision nanomedicine, the precise control of the motion, including the speed and directionality, of MNMs is also important, which makes advanced motion manipulation desirable. Very recently, diverse MNMs with different propulsion strategies, morphologies, sizes, porosities and chemical structures have been fabricated and applied for various uses. Herein, we thoroughly summarize the physical principles behind propulsion strategies, as well as the recent advances in motion manipulation methods and relevant biomedical applications of these MNMs. The current challenges in MNM research are also discussed. We hope this review can provide a bird's eye overview of the MNM research and inspire researchers to create novel and more powerful MNMs.

Intelligent Micro-/Nanorobots for Cancer Theragnostic

Cancer is one of the most intractable diseases owing to its high mortality rate and lack of effective diagnostic and treatment tools. Advancements in micro-/nanorobot (MNR)-assisted sensing, imaging, and therapeutics offer unprecedented opportunities to develop MNR-based cancer theragnostic platforms. Unlike ordinary nanoparticles, which exhibit Brownian motion in biofluids, MNRs overcome viscous resistance in an ultralow Reynolds number (Re << 1) environment by effective self-propulsion. This unique locomotion property has motivated the advanced design and functionalization of MNRs as a basis for next-generation cancer-therapy platforms, which offer the potential for precise distribution and improved permeation of therapeutic agents. Enhanced barrier penetration, imaging-guided operation, and biosensing are additionally studied to enable the promising cancer-related applications of MNRs. Herein, the recent advances in MNR-based cancer therapy are comprehensively addresses, including actuation engines, diagnostics, medical imaging, and targeted drug delivery; promising research opportunities that can have a profound impact on cancer therapy over the next decade is highlighted.

Quantum Dot-Based Micromotors with NIR-I Light Photocatalytic Propulsion and NIR-II Fluorescence

Here, we report the first PbS quantum dot (QD)-based micromotors with NIR-I light-driven photocatalytic propulsion and NIR-II fluorescence. Under the irradiation of NIR-I light (808 nm), PbS QD-doped cuprous oxide (Cu₂O@PbS) micromotors can display efficient propulsion in a variety of biocompatible fuels such as malic acid, glucose, and urea. Among them, the Cu₂O@PbS micromotors exhibit the best propulsion performance in a very low concentration of malic acid, with an average speed as high as 11.86 μm/s. The enhanced NIR-I photocatalytic activity of Cu₂O@PbS micromotors benefits from the doping of NIR-I PbS QDs that can be excited by NIR-I light and exhibit high electron transport efficiency. The doped PbS QDs can effectively increase the absorption efficiency of the micromotors in the NIR-I region while also inhibiting the recombination of photogenerated electron-hole pairs. Interestingly, due to the presence of NIR PbS QDs, the Cu₂O@PbS micromotors demonstrate prominent and stable NIR-II fluorescence (emission wavelength: 1100 nm), which offer promising potential for visualization of their position in vivo. In comparison to other photocatalytic micromotors, the simple fabrication strategy, excellent NIR-II fluorescence, together with the NIR-I light-dependent propulsion behavior of the current Cu₂O@PbS micromotors, thus pave the way for further development of advanced smart "robots" for intelligent biomedical applications.

Lighting up Micro-/Nanorobots with Fluorescence

Micro-/nanorobots (MNRs) can be autonomously propelled on demand in complex biological environments and thus may bring revolutionary changes to biomedicines. Fluorescence has been widely used in real-time imaging, chemo-/biosensing, and photo-(chemo-) therapy. The integration of MNRs with fluorescence generates fluorescent MNRs with unique advantages of optical trackability, on-the-fly environmental sensitivity, and targeting chemo-/photon-induced cytotoxicity. This review provides an up-to-date overview of fluorescent MNRs. After the highlighted elucidation about MNRs of various propulsion mechanisms and the introductory information on fluorescence with emphasis on the fluorescent mechanisms and materials, we systematically illustrate the design and preparation strategies to integrate MNRs with fluorescent substances and their biomedical applications in imaging-guided drug delivery, intelligent on-the-fly sensing and photo-(chemo-) therapy. In the end, we summarize the main challenges and provide an outlook on the future directions of fluorescent MNRs. This work is expected to attract and inspire researchers from different communities to advance the creation and practical application of fluorescent MNRs on a broad horizon.

Micro/nanomotor technology: the new era for food safety control

Food poisoning caused by eating contaminated food remains a threat to global public health. Making the situation even worse is the aggravated global environmental pollution, which poses a major threat to the safety of agricultural resources. Food adulteration has been rampant owing to negligent national food safety regulations. The speed at which contaminated food is detected and disposed of determines the extent to which consumers' lives are safeguarded and agricultural economic losses are prevented. Micro/nanomotors offer a high-speed mobile loading platform that substantially increases the chemical reaction rates and, accordingly, exhibit great potential as alternatives to conventional detection and degradation techniques. This review summarizes the propulsion modes applicable to micro/nanomotors in food systems and the advantages of using micro/nanomotors, highlighting examples of their potential use in recent years for the detection and removal of food contaminants. Micro/nanomotors are an emerging technology for food applications that is moving toward mass production, simple preparation, and important functions.

Self-Propelled Multifunctional Microrobots Harboring Chiral Supramolecular Selectors for "Enantiorecognition-on-the-Fly"

Herein, a general procedure for the synthesis of multifunctional MRs, which simultaneously exhibit i) chiral, ii) magnetic, and iii) fluorescent properties in combination with iv) self-propulsion, is reported. Self-propelled Ni@Pt superparamagnetic microrockets have been functionalized with fluorescent CdS quantum dots carrying a chiral host biomolecule as β-cyclodextrin (β-CD). The "on-the-fly" chiral recognition potential of MRs has been interrogated by taking advantage of the β-CD affinity to supramolecularly accommodate different chiral biomolecules (i.e., amino acids). As a proof-of-concept, tryptophan enantiomers have been discriminated with a dual-mode (optical and electrochemical) readout. This approach paves the way to devise intelligent cargo micromachines with "built-in" chiral supramolecular recognition capabilities to elucidate the concept of "enantiorecognition-on-the-fly", which might be facilely customized by tailoring the supramolecular host-guest encapsulation.

Pick up and dispose of pollutants from water via temperature-responsive micellar copolymers on magnetite nanorobots

Nano/micromotor technology is evolving as an effective method for water treatment applications in comparison to existing static mechanisms. The dynamic nature of the nano/micromotor particles enable faster mass transport and a uniform mixing ensuring an improved pollutant degradation and removal. Here we develop thermosensitive magnetic nanorobots (TM nanorobots) consisting of a pluronic tri-block copolymer (PTBC) that functions as hands for pollutant removal. These TM nanorobots are incorporated with iron oxide (Fe3O4) nanoparticles as an active material to enable magnetic propulsion. The pickup and disposal of toxic pollutants are monitored by intermicellar agglomeration and separation of PTBC at different temperatures. The as-prepared TM nanorobots show excellent arsenic and atrazine removal efficiency. Furthermore, the adsorbed toxic contaminants on the TM nanorobots can be disposed by a simple cooling process and exhibit good recovery retention after multiple reuse cycles. This combination of temperature sensitive aggregation/separation coupled with magnetic propulsion opens a plethora of opportunities in the applicability of nanorobots in water treatment and targeted pollutant removal approaches.

On-board smartphone micromotor-based fluorescence assays

Herein, we describe the design of a portable device integrated with micromotors for real-time fluorescence sensing of (bio)markers. The system comprises a universal 3D printed platform to hold a commercial smartphone, which is equipped with an external magnification optical lens (20-400×) and tailor-made emission filters directly attached to the camera, an adjustable sample holder to accommodate a glass slide and laser excitation sources. On a first approach, we illustrate the suitability of the platform using magnetic Janus micromotors modified with fluorescent ZnS@Cd_xSe_1-x quantum dots for real-time ON-OFF mercury detection. On a second approach, graphdiyne tubular catalytic micromotors modified with a rhodamine labelled affinity peptide are used for the OFF-ON detection of cholera toxin B. The micromotor-based smartphone for fluorescence sensing approach was compared to a high-performance optical microscope, and similar analytical features were obtained. This versatility allows for easy integration of micromotor fluorescence sensing strategies based on different propulsion mechanisms, allowing for its future use with a myriad of biomarkers and even multiplexed schemes.

Biomedical Micro-/Nanomotors: From Overcoming Biological Barriers to In Vivo Imaging

Self-propelled micro- and nanomotors (MNMs) have shown great potential for applications in the biomedical field, such as active targeted delivery, detoxification, minimally invasive diagnostics, and nanosurgery, owing to their tiny size, autonomous motion, and navigation capacities. To enter the clinic, biomedical MNMs request the biodegradability of their manufacturing materials, the biocompatibility of chemical fuels or externally physical fields, the capability of overcoming various biological barriers (e.g., biofouling, blood flow, blood-brain barrier, cell membrane), and the in vivo visual positioning for autonomous navigation. Herein, the recent advances of synthetic MNMs in overcoming biological barriers and in vivo motion-tracking imaging techniques are highlighted. The challenges and future research priorities are also addressed. With continued attention and innovation, it is believed that, in the future, biomedical MNMs will pave the way to improve the targeted drug delivery efficiency.

Trends in Micro-/Nanorobotics: Materials Development, Actuation, Localization, and System Integration for Biomedical Applications

Micro-/nanorobots (m-bots) have attracted significant interest due to their suitability for applications in biomedical engineering and environmental remediation. Particularly, their applications in in vivo diagnosis and intervention have been the focus of extensive research in recent years with various clinical imaging techniques being applied for localization and tracking. The successful integration of well-designed m-bots with surface functionalization, remote actuation systems, and imaging techniques becomes the crucial step toward biomedical applications, especially for the in vivo uses. This review thus addresses four different aspects of biomedical m-bots: design/fabrication, functionalization, actuation, and localization. The biomedical applications of the m-bots in diagnosis, sensing, microsurgery, targeted drug/cell delivery, thrombus ablation, and wound healing are reviewed from these viewpoints. The developed biomedical m-bot systems are comprehensively compared and evaluated based on their characteristics. The current challenges and the directions of future research in this field are summarized.

Magnetically steerable iron oxides-manganese dioxide core-shell micromotors for organic and microplastic removals

Because of micro/nanoscale manipulation and task-performing capability, micro/nanomotors (MNMs) have attracted lots of research interests for potential applications in biomedical and environmental applications. Owing to the low-cost, good motion behavior, and environmental friendliness, various low-cost metal oxides based MNMs become promising alternatives to the precious metal based MNMs, in particular for environmental remediation applications. Hereby, we demonstrate the facile and scalable fabrication of two types of bubble-propelled iron oxides-MnO₂ core-shell micromotors (Fe₃O₄-MnO₂ and Fe₂O₃-MnO₂) for pollutant removal. The Fe₂O₃-MnO₂ micromotor exhibits efficient removals of both aqueous organics and suspended microplastics via the synergy of catalytic degradation, surface adsorption, and adsorptive bubbles separations mechanisms. The adsorptive bubbles separation achieved more than 10% removal of the suspended microplastics from the polluted water in 2 h. We clarified the major contributions of different remediation mechanisms in pollutants removals, and the findings may be beneficial to a wide range of environmental applications of MNMs.

Medical Imaging of Microrobots: Toward In Vivo Applications

Medical microrobots (MRs) have been demonstrated for a variety of non-invasive biomedical applications, such as tissue engineering, drug delivery, and assisted fertilization, among others. However, most of these demonstrations have been carried out in in vitro settings and under optical microscopy, being significantly different from the clinical practice. Thus, medical imaging techniques are required for localizing and tracking such tiny therapeutic machines when used in medical-relevant applications. This review aims at analyzing the state of the art of microrobots imaging by critically discussing the potentialities and limitations of the techniques employed in this field. Moreover, the physics and the working principle behind each analyzed imaging strategy, the spatiotemporal resolution, and the penetration depth are thoroughly discussed. The paper deals with the suitability of each imaging technique for tracking single or swarms of MRs and discusses the scenarios where contrast or imaging agent's inclusion is required, either to absorb, emit, or reflect a determined physical signal detected by an external system. Finally, the review highlights the existing challenges and perspective solutions which could be promising for future in vivo applications.

Magnetic Nanomotor-Based Maneuverable SERS Probe

Surface-enhanced Raman spectroscopy (SERS) is a powerful sensing technique capable of capturing ultrasensitive fingerprint signal of analytes with extremely low concentration. However, conventional SERS probes are passive nanoparticles which are usually massively applied for biochemical sensing, lacking controllability and adaptability for precise and targeted sensing at a small scale. Herein, we report a "rod-like" magnetic nanomotor-based SERS probe (MNM-SP) that integrates a mobile and controllable platform of micro-/nanomotors with a SERS sensing technique. The "rod-like" structure is prepared by coating a thin layer of silica onto the self-assembled magnetic nanoparticles. Afterwards, SERS hotspots of silver nanoparticles (AgNPs) are decorated as detecting nanoprobes. The MNM-SPs can be navigated on-demand to avoid obstacles and target sensing sites by the guidance of an external gradient magnetic field. Through applying a rotating magnetic field, the MNM-SPs can actively rotate to efficiently stir and mix surrounding fluid and thus contact with analytes quickly for SERS sensing. Innovatively, we demonstrate the self-cleaning capability of the MNM-SPs which can be used to overcome the contamination problem of traditional single-use SERS probes. Furthermore, the MNM-SPs could precisely approach the targeted single cell and then enter into the cell by endocytosis. It is worth mentioning that by the effective mixing of intracellular biocomponents, much more informative Raman signals with improved signal-to-noise ratio can be captured after active rotation. Therefore, the demonstrated magnetically activated MNM-SPs that are endowed with SERS sensing capability pave way to the future development of smart sensing probes with maneuverability for biochemical analysis at the micro-/nanoscale.

Visible-Light-Driven Janus Microvehicles in Biological Media

A light-driven multifunctional Janus micromotor for the removal of bacterial endotoxins and heavy metals is described. The micromotor was assembled by using the biocompatible polymer polycaprolactone for the encapsulation of CdTe or CdSe@ZnS quantum dots (QDs) as photoactive materials and an asymmetric Fe₃ O₄ patch for propulsion. The micromotors can be activated with visible light (470-490 nm) to propel in peroxide or glucose media by a diffusiophoretic mechanism. Efficient propulsion was observed for the first time in complex samples such as human blood serum. These properties were exploited for efficient endotoxin removal using lipopolysaccharides from Escherichia coli O111:B4 as a model toxin. The micromotors were also used for mercury removal by cationic exchange with the CdSe@ZnS core-shell QDs. Cytotoxicity assays in HeLa cell lines demonstrated the high biocompatibility of the micromotors for future detoxification applications.

Magnetic Fields Enhanced the Performance of Tubular Dichalcogenide Micromotors at Low Hydrogen Peroxide Levels

Propulsion at the microscale has attracted significant research interest. In this work, a numerical simulation to explain the speed boost of up to 34 % experienced by transition metal dichalcogenides (TMD) based micromotors under the effect of applied magnetic fields is described. The simulations show that, when an external magnetic field is applied, the flow regime changes from turbulent to laminar. This causes an increase in the residence time of the fuel over the catalyst surface, which enhances the oxygen production. The more efficient generation and growth of the bubbles lead to an increase of the capillary force exerted by them. Interestingly, the effect is more pronounced as the level of fuel decrease. The validity of the model is also proven by comparing both theoretical and experimental results. Interestingly, the speed enhancement in magnetic mode depends on geometrical factors only, as a similar phenomenon was observed in a variety of microjets with a variable surface roughness. The understanding of such phenomena will open new avenues for understanding and controlling the motion behavior of high-towing-force catalytic micromotors.

An Automated Microrobotic Platform for Rapid Detection of C. diff Toxins

OBJECTIVE

Clostridium difficile (C. diff) infection leads to hundreds of nosocomial infections, and early diagnosis of this toxin-mediated disease is important. This paper aims to develop a microrobotic system and related methods that enable the automated and rapid detection of toxins secreted by C. diff that exist in patient's stool.

METHODS

We utilize the fluorescent magnetic spore-based microrobot (FMSM), a microscale mobile sensing tool, to efficiently detect C. diff toxins by utilizing its property of selective fluorescence responses to C. diff toxins. A plug-and-play (PnP) electromagnetic coil system integrated with fluorescence microscopy is developed for actuation, control and observation of FMSMs. In order to track in real time and accurately obtain the fluorescence parameters of a FMSM under varied background noise in fluorescence signal, an image gradient-based method is proposed. For accelerating the FMSM-toxin interaction in different samples, an automated navigation control scheme for the FMSM is proposed and implemented. Moreover, data post-processing methods that can optimally extract the fluorescence decay trend from the dense and fluctuated fluorescence data are developed.

RESULTS

This automated mobile detection process finishes within only 20 minutes, and the toxin detection result is immediately given by adopting the proposed system and methods. Experimental results on different biological samples confirm the qualitative detection capability. And, C. diff toxins are automatically detected from the clinical stool of infectious patients and the relationship between the fluorescence decay and the toxin concentration is calibrated for semi-quantitative detection purpose.

SIGNIFICANCE

The proposed automated microrobotic platform provides a rapid and low-cost detection technique for C. diff toxins, and it has good competency for future clinical use.

A Bubble-Dragged Catalytic Polymer Microrocket

We report the bubble dragged microrocket consisting of functionalized multilayer polymer covered asymmetrically by platinum nanoparticles. The microrocket is pushed back during bubble growth over a small step and dragged forward over a big step during bubble explosion. Each bubble explosion induced a shock wave of gas which propagates in water at ultrafast speed. The bubble dragged microrocket can move along an approximate straight line instead of a fluctuating circle which is the trajectory of a bubble-pushed microrocket in most cases, which makes it a promising candidate for drug delivery and simulating rod-shaped bacteria.

Novel heparin-loaded mesoporous tubular micromotors formed via template-assisted electrochemical deposition

Based on the concept of the active drug delivery of micro- and nanomotors and the longer cycle time in the blood for drug-loaded tubular particles, it is important to develop novel tubular micromotors that could increase drug loading and achieve more effective treatments in the biomedical field. Here, a novel kind of mesoporous tubular micromotor used to load heparin (Hep) and formed via template-assisted electrochemical deposition is presented. Firstly, the mesoporous tubular micromotors were composed of poly(3,4-ethylenedioxythiophene) (PEDOT), mesoporous silica (MS) and manganese dioxide (MnO₂), and were simply fabricated via template-assisted electrochemical growth. Then, the drug Hep was loaded into PEDOT/MS/MnO₂via a simple soaking process. Finally, the release process, cytotoxicity, and blood compatibility tests and motion study for these mesoporous tubular micromotors of PEDOT/MS/MnO₂-Hep were performed. Results indicated that the micromotors we prepared showed good controlled release of Hep, anticoagulant effects, non-cytotoxicity and autonomous motion ability. The new drug carrier and motion mode will give rise to more potential applications of Hep in the biomedical field.

Micro- and Nanomotors as Active Environmental Microcleaners and Sensors

The quest to provide clean water to the entire population has led to a tremendous boost in the development of environmental nanotechnology. Toward this end, micro/nanomotors are emerging as attractive tools to improve the removal of various pollutants. The micro/nanomotors either are designed with functional materials in their structure or are modified to target pollutants. The active motion of these motors improves the mixing and mass transfer, greatly enhancing the rate of various remediation processes. Their motion can also be used as an indicator of the presence of a pollutant for sensing purposes. In this Perspective, we discuss different chemical aspects of micromotors mediated environmental cleanup and sensing strategies along with their scalability, reuse, and cost associated challenges.

Progress toward Catalytic Micro- and Nanomotors for Biomedical and Environmental Applications

Synthetic micro- and nanomotors (MNMs) are tiny objects that can autonomously move under the influence of an appropriate source of energy, such as a chemical fuel, magnetic field, ultrasound, or light. Chemically driven MNMs are composed of or contain certain reactive material(s) that convert chemical energy of a fuel into kinetic energy (motion) of the particles. Several different materials have been explored over the last decade for the preparation of a wide variety of MNMs. Here, the discovery of materials and approaches to enhance the efficiency of chemically driven MNMs are reviewed. Several prominent applications of the MNMs, especially in the fields of biomedicine and environmental science, are also discussed, as well as the limitations of existing materials and future research directions.

High-speed graphene@Ag-MnO2 micromotors at low peroxide levels

Platinum (Pt) free micro/nanomotors (MNMs) using a low content of fuels are highly desired for many applications. Herein, we demonstrate that cathodic electrofabrication can produce modified MnO₂ based microtubes and microrods as highly efficient MNMs in hydrogen peroxide (H₂O₂) as low as 0.2%. The speed of graphene/Ag-MnO₂ micromotors could be smartly regulated using a surfactant and the maximum speed of an individual micromotor exceeds 1.3 mm s^-1 in 0.5% H₂O₂. The propelling force and output power of the micromotors are 3.4 and 10 times as high as those of the best Pt-based micromotors reported. These Ag-MnO₂ based micromotors are envisioned to be a great promise for practical applications from biomedical delivery to environmental decontamination.

Facile one-pot synthesis of multifunctional polyphosphazene nanoparticles as multifunctional platform for tumor imaging

By integrating imaging and drug-delivery in a single system, fluorescent nano-multifunctional imaging platforms can offer simultaneous diagnosis and therapy to diseases like cancer. However, the synthesis of such system involves a tedious, time-consuming, and multi-step process. Herein we report a facile method based on simple ultrasonication to synthesize highly cross-linked, monodispersed fluorescent polyphosphazene nanoparticles from hexachlorocyclotriphosphazene (HCCP) and dichlorofluorescein (FD). Various functional groups (folic acid, PEG-NH₂, and methylene blue) can be "fastened" in situ onto the poly(cyclotriphosphazene-co-dichlorofluorescein) (PCTPDF) nanoparticles to expand its application as nano-multifunctional platform. All the nanoparticles were characterized spectrophotometrically, and morphology was established by the images obtained from scanning electron microscope (SEM). The synthesized multifunctional nanoparticles exhibited low toxicity and penetrated through the cytomembranes of human colon cancer (HCT 116) cells. When applied to in vivo tumor imaging using biologically engineered mouse model, methylene blue functionalized (PCTPDF@MB) nanoparticles exhibited excellent photodynamic activity and imaging ability. Thus, PCTPDF nanoplatform based on multi-functional fluorescent nanoparticles might offer an efficient solution to new age theranostics. Apart from diagnostics application, PCTPDF, as a nanoplatform, could also be utilized to achieve more comprehensive application in modern analytic chemistry. Graphical Abstract The table of contents.

Polymer platforms for micro- and nanomotor fabrication

Artificial, self-propelled micro- and nanomotors are small devices capable of autonomous movement, which are a powerful scientific innovation for solving various medical and environmental issues. Their design is frequently inspired by complex biological structures which are composed of biopolymers and their composites. The choice of materials for nano- and micromachines is crucial for their shape, mechanism and efficiency of propulsion. In this review, we discuss the utilization and fabrication of polymers as soft components of micro- and nanomotors.

Tubular Micro/Nanomotors: Propulsion Mechanisms, Fabrication Techniques and Applications

Micro/nanomotors are self-propelled machines that can convert various energy sources into autonomous movement. With the great advances of nanotechnology, Micro/Nanomotors of various geometries have been designed and fabricated over the past few decades. Among them, the tubular Micro/Nanomotors have a unique morphology of hollow structures, which enable them to possess a strong driving force and easy surface functionalization. They are promising for environmental and biomedical applications, ranging from water remediation, sensing to active drug delivery and precise surgery. This article gives a comprehensive and clear review of tubular Micro/Nanomotors, including propulsion mechanisms, fabrication techniques and applications. In the end, we also put forward some realistic problems and speculate about corresponding methods to improve existing tubular Micro/Nanomotors.

Geometry Design, Principles and Assembly of Micromotors

Discovery of bio-inspired, self-propelled and externally-powered nano-/micro-motors, rotors and engines (micromachines) is considered a potentially revolutionary paradigm in nanoscience. Nature knows how to combine different elements together in a fluidic state for intelligent design of nano-/micro-machines, which operate by pumping, stirring, and diffusion of their internal components. Taking inspirations from nature, scientists endeavor to develop the best materials, geometries, and conditions for self-propelled motion, and to better understand their mechanisms of motion and interactions. Today, microfluidic technology offers considerable advantages for the next generation of biomimetic particles, droplets and capsules. This review summarizes recent achievements in the field of nano-/micromotors, and methods of their external control and collective behaviors, which may stimulate new ideas for a broad range of applications.