1
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Hu N, Ding L, Wang A, Zhou W, Zhang C, Zhang B, Yin R. Comprehensive modeling of corkscrew motion in micro-/nano-robots with general helical structures. Nat Commun 2024; 15:7399. [PMID: 39191756 DOI: 10.1038/s41467-024-51518-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/01/2023] [Accepted: 08/07/2024] [Indexed: 08/29/2024] Open
Abstract
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.
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Affiliation(s)
- Ningning Hu
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Lujia Ding
- Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK, Canada.
| | - Aihui Wang
- School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou, 450007, China
| | - Wenju Zhou
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Chris Zhang
- Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK, Canada
| | - Bing Zhang
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China.
| | - Ruixue Yin
- School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China.
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2
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Zhou C, Tang X, Shi R, Liu C, Zhu P, Wang L. All-Aqueous Soft Milli-swimmers. ACS APPLIED MATERIALS & INTERFACES 2024. [PMID: 39042714 DOI: 10.1021/acsami.4c05914] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/25/2024]
Abstract
Microscale swimmers are attractive for targeted drug delivery, noninvasive microsurgery and environmental remediation at different length scales, among which, Marangoni-based swimmers have garnered considerable attention due to their independence of external energy supply. However, applications of most existing chemical swimmers are limited by complex fabrication, high cost, utilization of organic (or even toxic) solvents, poor motility performance, and lack of controllability. To address these challenges, we propose an approach for all-aqueous soft milli-swimmers that utilizes biodegradable hydrogels and biocompatible fuels. This innovative method achieves swimmer body generation and fuel loading in one step by simply dripping one aqueous solution into another, saving fabrication time and minimizing fuel loss during transfer. These all-aqueous soft milli-swimmers have rove beetle-like self-propulsion, which stores low-surface-energy compounds within their body for propulsion on liquid surfaces. Isotropic and anisotropic all-aqueous soft milli-swimmers are formed with precise control over their dimension, morphology, and movement velocity. Through their motion within engineered channels, intricate labyrinths, dynamic air-liquid interfaces, and collective self-assemblies, their remarkable adaptability in complex aqueous environments is demonstrated. Furthermore, the integration of functional nanoparticles endows these all-aqueous milli-swimmers with multifunctionality, expanding their applications in cargo transportation, sensing, and environmental remediation.
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Affiliation(s)
- Chunmei Zhou
- Center for Complex Flows and Soft Matter Research, Southern University of Science and Technology, Shenzhen, Guangdong 518055, China
- Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, Guangdong 518055, China
| | - Xin Tang
- Center for Complex Flows and Soft Matter Research, Southern University of Science and Technology, Shenzhen, Guangdong 518055, China
- Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, Guangdong 518055, China
| | - Rui Shi
- College of Professional and Continuing Education, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Caihong Liu
- Center for Complex Flows and Soft Matter Research, Southern University of Science and Technology, Shenzhen, Guangdong 518055, China
- Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, Guangdong 518055, China
| | - Pingan Zhu
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong 999077, China
| | - Liqiu Wang
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China
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3
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Liu J, Fu Y, Wu Y, Ruan H. Propulsion mechanism of artificial flagellated micro-swimmers actuated by acoustic waves-theory and experimental verification. BIOINSPIRATION & BIOMIMETICS 2024; 19:056008. [PMID: 38991522 DOI: 10.1088/1748-3190/ad622d] [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: 05/16/2024] [Accepted: 07/11/2024] [Indexed: 07/13/2024]
Abstract
This work examines the acoustically actuated motions of artificial flagellated micro-swimmers (AFMSs) and compares the motility of these micro-swimmers with the predictions based on the corrected resistive force theory (RFT) and the bar-joint model proposed in our previous work. The key ingredient in the theory is the introduction of a correction factorKin drag coefficients to correct the conventional RFT so that the dynamics of an acoustically actuated AFMS with rectangular cross-sections can be accurately modeled. Experimentally, such AFMSs can be easily manufactured based on digital light processing of ultra-violet (UV)-curable resins. We first determined the viscoelastic properties of a UV-cured resin through dynamic mechanical analysis. In particular, the high-frequency storage moduli and loss factors were obtained based on the assumption of time-temperature superposition (TTS), which were then applied in theoretical calculations. Though the extrapolation based on the TTS implied the uncertainty of high-frequency material response and there is limited accuracy in determining head oscillation amplitude, the differences between the measured terminal velocities of the AFMSs and the predicted ones are less than 50%, which, to us, is well acceptable. These results indicate that the motions of acoustic AFMS can be predicted, and thus, designed, which pave the way for their long-awaited applications in targeted therapy.
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Affiliation(s)
- Jinan Liu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Yiqiang Fu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Yifei Wu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
| | - Haihui Ruan
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Special Administrative Region of China, People's Republic of China
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4
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Panda SK, Debata S, Kherani NA, Singh DP. Dynamics and phase behavior of metallo-dielectric rod-shaped microswimmers driven by alternating current electric field. SOFT MATTER 2024; 20:3971-3979. [PMID: 38686451 DOI: 10.1039/d4sm00206g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/02/2024]
Abstract
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.
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Affiliation(s)
- Suvendu Kumar Panda
- Department of Physics, IIT Bhilai, Kutelabhata, Durg, Chhattisgarh, 491002, India.
| | - Srikanta Debata
- Department of Physics, IIT Bhilai, Kutelabhata, Durg, Chhattisgarh, 491002, India.
| | - Nomaan Alam Kherani
- Department of Physics, IIT Bhilai, Kutelabhata, Durg, Chhattisgarh, 491002, India.
| | - Dhruv Pratap Singh
- Department of Physics, IIT Bhilai, Kutelabhata, Durg, Chhattisgarh, 491002, India.
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5
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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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6
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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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7
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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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8
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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: 2] [Impact Index Per Article: 2.0] [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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9
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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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10
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Voß J, Wittkowski R. Dependence of the acoustic propulsion of nano- and microcones on their orientation and aspect ratio. Sci Rep 2023; 13:12858. [PMID: 37553408 PMCID: PMC10409789 DOI: 10.1038/s41598-023-39231-1] [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: 02/25/2022] [Accepted: 07/21/2023] [Indexed: 08/10/2023] Open
Abstract
Recent research revealed the orientation-dependent propulsion of a cone-shaped colloidal particle that is exposed to a planar traveling ultrasound wave. Here, we extend the previous research by considering nano- and microcones with different aspect ratios and studying how the propulsion of a particle depends on its orientation and aspect ratio. We also study how the orientation-averaged propulsion of a cone-shaped particle, which corresponds to an isotropic ultrasound field, depends on its aspect ratio and identify an aspect ratio of 1/2 where the orientation-averaged propulsion is particularly strong. To make our simulation results easier reusable for follow-up research, we provide a corresponding simple analytic representation.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149, Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149, Münster, Germany.
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11
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Lee JG, Raj RR, Thome CP, Day NB, Martinez P, Bottenus N, Gupta A, Shields CW. Bubble-Based Microrobots with Rapid Circular Motions for Epithelial Pinning and Drug Delivery. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2300409. [PMID: 37058137 PMCID: PMC10524026 DOI: 10.1002/smll.202300409] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/14/2023] [Revised: 03/14/2023] [Indexed: 06/19/2023]
Abstract
Remotely powered microrobots are proposed as next-generation vehicles for drug delivery. However, most microrobots swim with linear trajectories and lack the capacity to robustly adhere to soft tissues. This limits their ability to navigate complex biological environments and sustainably release drugs at target sites. In this work, bubble-based microrobots with complex geometries are shown to efficiently swim with non-linear trajectories in a mouse bladder, robustly pin to the epithelium, and slowly release therapeutic drugs. The asymmetric fins on the exterior bodies of the microrobots induce a rapid rotational component to their swimming motions of up to ≈150 body lengths per second. Due to their fast speeds and sharp fins, the microrobots can mechanically pin themselves to the bladder epithelium and endure shear stresses commensurate with urination. Dexamethasone, a small molecule drug used for inflammatory diseases, is encapsulated within the polymeric bodies of the microrobots. The sustained release of the drug is shown to temper inflammation in a manner that surpasses the performance of free drug controls. This system provides a potential strategy to use microrobots to efficiently navigate large volumes, pin at soft tissue boundaries, and release drugs over several days for a range of diseases.
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Affiliation(s)
- Jin Gyun Lee
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Ritu R. Raj
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Cooper P. Thome
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Nicole B. Day
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Payton Martinez
- Department of Mechanical Engineering, University of Colorado Boulder, 1111 Engineering Drive, UCB 427, Boulder, CO 80309, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
| | - Nick Bottenus
- Department of Mechanical Engineering, University of Colorado Boulder, 1111 Engineering Drive, UCB 427, Boulder, CO 80309, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
| | - Ankur Gupta
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - C. Wyatt Shields
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
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12
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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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13
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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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14
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Wang Q, Jin D. Active Micro/Nanoparticles in Colloidal Microswarms. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:1687. [PMID: 37242103 PMCID: PMC10220621 DOI: 10.3390/nano13101687] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/16/2023] [Revised: 05/18/2023] [Accepted: 05/18/2023] [Indexed: 05/28/2023]
Abstract
Colloidal microswarms have attracted increasing attention in the last decade due to their unique capabilities in various complex tasks. Thousands or even millions of tiny active agents are gathered with distinctive features and emerging behaviors, demonstrating fascinating equilibrium and non-equilibrium collective states. In recent studies, with the development of materials design, remote control strategies, and the understanding of pair interactions between building blocks, microswarms have shown advantages in manipulation and targeted delivery tasks with high adaptability and on-demand pattern transformation. This review focuses on the recent progress in active micro/nanoparticles (MNPs) in colloidal microswarms under the input of an external field, including the response of MNPs to external fields, MNP-MNP interactions, and MNP-environment interactions. A fundamental understanding of how building blocks behave in a collective system provides the foundation for designing microswarm systems with autonomy and intelligence, aiming for practical application in diverse environments. It is envisioned that colloidal microswarms will significantly impact active delivery and manipulation applications on small scales.
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Affiliation(s)
- Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211000, China
| | - Dongdong Jin
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518000, China
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15
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Ye M, Zhou Y, Zhao H, Wang X. Magnetic Microrobots with Folate Targeting for Drug Delivery. CYBORG AND BIONIC SYSTEMS 2023; 4:0019. [PMID: 37223549 PMCID: PMC10202387 DOI: 10.34133/cbsystems.0019] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/29/2022] [Accepted: 03/02/2023] [Indexed: 09/02/2023] Open
Abstract
Untethered microrobots can be used for cargo delivery (e.g., drug molecules, stem cells, and genes) targeting designated areas. However, it is not enough to just reach the lesion site, as some drugs can only play the best therapeutic effect within the cells. To this end, folic acid (FA) was introduced into microrobots in this work as a key to mediate endocytosis of drugs into cells. The microrobots here were fabricated with biodegradable gelatin methacryloyl (GelMA) and modified with magnetic metal-organic framework (MOF). The porous structure of MOF and the hydrogel network of polymerized GelMA were used for the loading of enough FA and anticancer drug doxorubicin (DOX) respectively. Utilizing the magnetic property of magnetic MOF, these microrobots can gather around the lesion site with the navigation of magnetic fields. The combination effects of FA targeting and magnetic navigation substantially improve the anticancer efficiency of these microrobots. The result shows that the cancer cells inhibition rate of microrobots with FA can be up to 93%, while that of the ones without FA was only 78%. The introduction of FA is a useful method to improve the drug transportation ability of microrobots, providing a meaningful reference for further research.
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Affiliation(s)
- Min Ye
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Yan Zhou
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Hongyu Zhao
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Xiaopu Wang
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
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16
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Liu J, Fu Y, Liu X, Ruan H. A bar-joint model based on the corrected resistive force theory for artificial flagellated micro-swimmers propelled by acoustic waves. BIOINSPIRATION & BIOMIMETICS 2023; 18:035003. [PMID: 36821864 DOI: 10.1088/1748-3190/acbe86] [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: 11/09/2022] [Accepted: 02/23/2023] [Indexed: 06/18/2023]
Abstract
In this work, we proposed a bar-joint model based on the corrected resistive force theory (CRFT) for studying artificial flagellated micro-swimmers (AFMSs) propelled by acoustic waves in a two-dimensional (2D) flow field or with a rectangular cross-section. Note that the classical resistive-force theory for 3D cylindrical flagellum leads to over 90% deviation in terminal velocity from those of 2D fluid-structure interaction (FSI) simulations, while the proposed CRFT bar-joint model can reduce the deviation to below 5%; hence, it enables a reliable prediction of the 2D locomotion of an acoustically actuated AFMS with a rectangular cross-section, which is the case in some experiments. Introduced in the CRFT is a single correction factorKdetermined by comparing the linear terminal velocities under acoustic actuation obtained from the CRFT with those from simulations. After the determination ofK, detailed comparisons of trajectories between the CRFT-based bar-joint AFMS model and the FSI simulation were presented, exhibiting an excellent consistency. Finally, a numerical demonstration of the purely acoustic or magneto-acoustic steering of an AFMS based on the CRFT was presented, which can be one of the choices for future AFMS-based precision therapy.
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Affiliation(s)
- Jinan Liu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
| | - Yiqiang Fu
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
| | - Xiongjun Liu
- State Key Laboratory for Advanced Metals and Materials, University of Science and Technology Beijing, Beijing 100083, People's Republic of China
| | - Haihui Ruan
- Research Center for Fluid-Structure Interactions, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, People's Republic of China
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17
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Hou Y, Wang H, Fu R, Wang X, Yu J, Zhang S, Huang Q, Sun Y, Fukuda T. A review on microrobots driven by optical and magnetic fields. LAB ON A CHIP 2023; 23:848-868. [PMID: 36629004 DOI: 10.1039/d2lc00573e] [Citation(s) in RCA: 22] [Impact Index Per Article: 22.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Due to their small sizes, microrobots are advantageous for accessing hard-to-reach spaces for delivery and measurement. However, their small sizes also bring challenges in on-board powering, thus usually requiring actuation by external energy. Microrobots actuated by external energy have been applied to the fields of physics, biology, medical science, and engineering. Among these actuation sources, light and magnetic fields show advantages in high precision and high biocompatibility. This paper reviews the recent advances in the design, actuation, and applications of microrobots driven by light and magnetic fields. For light-driven microrobots, we summarized the uses of optical tweezers, optoelectronic tweezers, and heat-mediated optical manipulation techniques. For magnetically driven microrobots, we summarized the uses of torque-driven microrobots, force-driven microrobots, and shape-deformable microrobots. Then, we compared the two types of field-driven microrobots and reviewed their advantages and disadvantages. The paper concludes with an outlook for the joint use of optical and magnetic field actuation in microrobots.
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Affiliation(s)
- Yaozhen Hou
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
| | - Huaping Wang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Rongxin Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Xian Wang
- Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto, ONT, M5G 1X8, Canada
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
| | - Shuailong Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Qiang Huang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto, ON, M5S 3G9, Canada
| | - Toshio Fukuda
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
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18
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Horvath D, Slabý C, Tomori Z, Hovan A, Miskovsky P, Bánó G. Bouncing dynamics of inertial self-propelled particles reveals directional asymmetry. Phys Rev E 2023; 107:024603. [PMID: 36932604 DOI: 10.1103/physreve.107.024603] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/19/2022] [Accepted: 01/23/2023] [Indexed: 06/18/2023]
Abstract
This study aims to examine experimental conditions in which active particles are forced by their surroundings to move forward and backward in a continuous oscillatory manner. The experimental design is based on using a vibrating self-propelled toyrobot called hexbug, which is placed inside a narrow channel closed on one end by a rigid moving wall. Using the end-wall velocity as a controlling factor, the main forward mode of the hexbug movement can be turned to mostly rearward mode. We investigate the bouncing hexbug motion on both experimental and theoretical grounds. The Brownian model of active particles with inertia is employed in the theoretical framework. The model itself uses a pulsed Langevin equation in order to simulate abrupt changes in velocity that mimic hexbug propulsion in the moments when its legs make contact with the base plate. Significant directional asymmetry is caused by the legs bending backward. We demonstrate that the simulation successfully reproduces the experimental characteristics of hexbug motion after regressing the spatial and temporal statistical characteristics, especially when directional asymmetry is under consideration.
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Affiliation(s)
- Denis Horvath
- Center for Interdisciplinary Biosciences, Technology and Innovation Park, P. J. Šafárik University in Košice, Jesenná 5, 041 54 Košice, Slovak Republic
| | - Cyril Slabý
- Department of Biophysics, Faculty of Science, P. J. Šafárik University in Košice, Jesenná 5, 041 54 Košice, Slovak Republic
| | - Zoltán Tomori
- Department of Biophysics, Institute of Experimental Physics SAS, Watsonova 47, 040 01 Košice, Slovak Republic
| | - Andrej Hovan
- Department of Biophysics, Faculty of Science, P. J. Šafárik University in Košice, Jesenná 5, 041 54 Košice, Slovak Republic
| | - Pavol Miskovsky
- Center for Interdisciplinary Biosciences, Technology and Innovation Park, P. J. Šafárik University in Košice, Jesenná 5, 041 54 Košice, Slovak Republic
| | - Gregor Bánó
- Department of Biophysics, Faculty of Science, P. J. Šafárik University in Košice, Jesenná 5, 041 54 Košice, Slovak Republic
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19
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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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20
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Binsley JL, Pagliara S, Ogrin FY. Numerical investigation of flexible Purcell-like integrated microfluidic pumps. JOURNAL OF APPLIED PHYSICS 2022; 132:164701. [PMID: 36313737 PMCID: PMC9605776 DOI: 10.1063/5.0109263] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/12/2022] [Accepted: 09/20/2022] [Indexed: 06/16/2023]
Abstract
Integrating miniature pumps within microfluidic devices is crucial for advancing point-of-care diagnostics. Understanding the emergence of flow from novel integrated pumping systems is the first step in their successful implementation. A Purcell-like elasto-magnetic integrated microfluidic pump has been simulated in COMSOL Multiphysics and its performance has been investigated and evaluated. An elastic, cilia-like element contains an embedded magnet, which allows for actuation via a weak, uniaxial, sinusoidally oscillating, external magnetic field. Pumping performance is correlated against a number of variables, such as the frequency of the driving field and the proximity of the pump to the channel walls, in order to understand the emergence of the pumping behavior. Crucially, these simulations capture many of the trends observed experimentally and shed light on the key interactions. The proximity of the channel walls in the in-plane direction strongly determines the direction of net fluid flow. This characterization has important implications for the design and optimization of this pump in practical applications.
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Affiliation(s)
- Jacob L. Binsley
- Department of Physics and Astronomy, University of Exeter, Exeter EX4 4QL, United Kingdom
| | - Stefano Pagliara
- Living Systems Institute and Biosciences, University of Exeter, Exeter EX4 4QD, United Kingdom
| | - Feodor Y. Ogrin
- Department of Physics and Astronomy, University of Exeter, Exeter EX4 4QL, United Kingdom
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21
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Abstract
Microrobots have attracted the attention of scientists owing to their unique features to accomplish tasks in hard-to-reach sites in the human body. Microrobots can be precisely actuated and maneuvered individually or in a swarm for cargo delivery, sampling, surgery, and imaging applications. In addition, microrobots have found applications in the environmental sector (e.g., water treatment). Besides, recent advancements of three-dimensional (3D) printers have enabled the high-resolution fabrication of microrobots with a faster design-production turnaround time for users with limited micromanufacturing skills. Here, the latest end applications of 3D printed microrobots are reviewed (ranging from environmental to biomedical applications) along with a brief discussion over the feasible actuation methods (e.g., on- and off-board), and practical 3D printing technologies for microrobot fabrication. In addition, as a future perspective, we discussed the potential advantages of integration of microrobots with smart materials, and conceivable benefits of implementation of artificial intelligence (AI), as well as physical intelligence (PI). Moreover, in order to facilitate bench-to-bedside translation of microrobots, current challenges impeding clinical translation of microrobots are elaborated, including entry obstacles (e.g., immune system attacks) and cumbersome standard test procedures to ensure biocompatibility. Microbots have attracted attention due to an ability to reach places and perform tasks which are not possible with conventional techniques in a wide range of applications. Here, the authors review the recent work in the field on the fabrication, application and actuation of 3D printed microbots offering a view of the direction of future microbot research.
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22
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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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23
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Soft microswimmers: Material capabilities and biomedical applications. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101609] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
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24
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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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25
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Khezri B, Villa K. Hybrid photoresponsive/biocatalytic micro- and nano-swimmers. Chem Asian J 2022; 17:e202200596. [PMID: 35785519 DOI: 10.1002/asia.202200596] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/06/2022] [Revised: 07/03/2022] [Indexed: 11/08/2022]
Abstract
Micro/nano biomimetic systems that convert energy from the surroundings into mechanical motion have emerged as promising tools to enhance the efficiencies of different biomedical and environmental processes. The inclusion of multiple engines into the same device has become a promising strategy to achieve dual/triple stimuli responses. Such hybrid micro/nanoswimmers combining different propulsion forces exhibit advanced motion behaviors and different physical features that are interesting not only to achieve strong propulsion capabilities in complex environments but also to modulate their movement according to the intended use. The development of hybrid systems that can be actuated by both light and biocompatible fuels is of particular interest. This minireview covers the main types of photoactive/biocatalytic micro/nanoswimmers developed so far. Their main photoresponsive and enzymatic components are discussed along with the most representative designs. The applicability of such hybrid machines for analyte sensing, antibacterial and therapeutical uses are also described. The remaining challenges and opportunities are then explored.
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Affiliation(s)
- Bahareh Khezri
- University of Chemistry and Technology Prague: Vysoka skola chemicko-technologicka v Praze, Chemistry, CZECH REPUBLIC
| | - Katherine Villa
- ICIQ: Institut Catala d'Investigacio Quimica, N/A, 16, Avinguda dels Països Catalans, 43007 Tarragona, 43007, Tarragona, SPAIN
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26
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Pavlic A, Nagpure P, Ermanni L, Dual J. Influence of particle shape and material on the acoustic radiation force and microstreaming in a standing wave. Phys Rev E 2022; 106:015105. [PMID: 35974560 DOI: 10.1103/physreve.106.015105] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2022] [Accepted: 06/16/2022] [Indexed: 06/15/2023]
Abstract
In view of its influence on the acoustic radiation force, we investigate the microstreaming around a small solid elastic particle in an ultrasonic standing wave in dependence of its material properties and shape. The configuration is axisymmetric, making it accessible to numerical methods, such as the finite element method. The results reveal a transition from viscous scattering- to microstreaming-dominated acoustic radiation force that depends on the particle density. When a deviation of the particle shape from a sphere becomes smaller than the viscous boundary layer thickness, we show that the influence of the shape on the viscous contributions to the acoustic radiation force diminishes, allowing the use of theoretical models for a spherical particle. However, extreme asymmetric shape perturbations, such as crowns with sharp edges, can give rise to noticeable viscous contributions for a dense particle that is larger than the viscous boundary layer thickness. We also introduce a hybrid analytical model for the acoustic radiation force on a spherical particle that accounts for the microstreaming and particle compressibility and shows a good agreement with numerical simulations for an arbitrary particle size and density.
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Affiliation(s)
- Alen Pavlic
- Institute for Mechanical Systems, ETH Zurich, 8092 Zurich, Switzerland
| | - Pushkin Nagpure
- Institute for Mechanical Systems, ETH Zurich, 8092 Zurich, Switzerland
| | - Lorenzo Ermanni
- Institute for Mechanical Systems, ETH Zurich, 8092 Zurich, Switzerland
| | - Jürg Dual
- Institute for Mechanical Systems, ETH Zurich, 8092 Zurich, Switzerland
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Gao C, Feng Y, Wilson DA, Tu Y, Peng F. Micro-Nano Motors with Taxis Behavior: Principles, Designs, and Biomedical Applications. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2106263. [PMID: 35032145 DOI: 10.1002/smll.202106263] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/14/2021] [Revised: 11/13/2021] [Indexed: 06/14/2023]
Abstract
As a novel mobile nanodevice, micro-nano motors (MNMs) can convert the energy of the surrounding environment into mechanical motion. With this unique ability, they promise revolutionary potential in bio-applications including precise drug delivery, bio-sensing, and noninvasive surgery. Yet for practically reaching the target and fulfilling these tasks in dynamically changing bio-environment, environment adaptivity beyond propulsion is important yet challenging. MNMs with taxis behavior/autonomous target-seeking ability offer a desirable solution. These motors can adaptively move to the target location and complete the task. Thanks to the persistent efforts of researchers, tactic MNMs have shown automatic navigation to target under various energy fields, not only in static environments, but also in shear rheological conditions that simulate blood flow. Therefore, tactic motors with self-targeting capability lay a concrete foundation for targeted drug delivery, cell transplantation, and thrombus ablation. This review systematically presents the moving principle, design, and biological applications of tactic MNMs under different energy fields. Through in-depth analysis of state-of-art progress, the obstacles of the field and possible solutions are discussed. With the continuous innovation and breakthroughs of multi-disciplinary researchers, MNMs with taxis behavior are expected to provide a revolutionary solution for cancer and other major diseases in the biomedical field.
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Affiliation(s)
- Chao Gao
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Ye Feng
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Daniela A Wilson
- Institute for Molecules and Materials, Radboud University, Nijmegen, 6525 XZ, The Netherlands
| | - Yingfeng Tu
- School of Pharmaceutical Science, Guangdong Provincial Key Laboratory of New Drug Screening, Southern Medical University, Guangzhou, 510515, China
| | - Fei Peng
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
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28
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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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29
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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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30
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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: 75] [Impact Index Per Article: 37.5] [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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31
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Ahmad B, Gauthier M, Laurent GJ, Bolopion A. Mobile Microrobots for In Vitro Biomedical Applications: A Survey. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3085245] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Abstract
Living things in nature have evolved with unique morphologies, structures, materials, behaviors, and functions to survive in complex natural environments. Nature has inspired the design ideas, preparation methods, and applications of versatile micro/nanomotors. This review summarizes diverse nature-inspired micro/nanomotors, which can be divided into five groups: (i) natural morphology-inspired micro/nanomotors, whose shapes are designed to imitate the morphologies of plants, animals, and objects in nature. (ii) Natural structure-inspired micro/nanomotors, which use structures from plants, red blood cells, and platelet cells as components of micro/nanomotors, or directly use sperm cells and microorganisms as the engines of micro/nanomotors. (iii) Natural behavior-inspired micro/nanomotors, which are proposed to mimic natural behaviors such as motion behavior, swarm behavior, and communication behavior between individuals. (iv) Micro/nanomotors inspired by both natural morphology and behavior. Nature makes it possible for synthetic micro/nanomotors to possess interesting morphologies, novel preparation methods, new propulsion modes, innovative functions, and broad applications. The nature-inspired micro/nanomotors could provide a promising platform for various practical fields.
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Affiliation(s)
- Xiaocong Chang
- Key Laboratory of Micro-systems and Micro-Structures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin 150001, China
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, Southeast University, China
| | - Yiwen Feng
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
| | - Bin Guo
- Key Laboratory of Micro-systems and Micro-Structures Manufacturing (Harbin Institute of Technology), Ministry of Education, Harbin 150001, China
| | - Dekai Zhou
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
| | - Longqiu Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China.
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33
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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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34
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Celik Cogal G, Das PK, Yurdabak Karaca G, Bhethanabotla VR, Uygun Oksuz A. Fluorescence Detection of miRNA-21 Using Au/Pt Bimetallic Tubular Micromotors Driven by Chemical and Surface Acoustic Wave Forces. ACS APPLIED BIO MATERIALS 2021; 4:7932-7941. [PMID: 35006774 DOI: 10.1021/acsabm.1c00854] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Abstract
In this study, surface acoustic wave (SAW) systems are described for the removal of molecules that are unbound to micromotors, thereby lowering the detection limit of the cancer-related biomarker miRNA-21. For this purpose, in the first step, mass production of the Au/Pt bimetallic tubular micromotor was performed with a simple membrane template electrodeposition. The motions of catalytic Au/Pt micromotors in peroxide fuel media were analyzed under the SAW field effect. The changes in the micromotor speed were investigated depending on the type and concentration of surfactants in the presence and absence of SAW streaming. Our detection strategy was based on immobilization of probe dye-labeled single-stranded probe DNA (6-carboxyfluorescein dye-labeled-single-stranded DNA) to Au/Pt micromotors that recognize target miRNA-21. Before/after hybridization of miRNA-21 (for both w/o SAW and SAW streaming conditions), the changes in the speed of micromotors and their fluorescence intensities were studied. The response of fluorescence intensities was observed to be linearly varied with the increase of the miRNA-21 concentration from 0.5 to 5 nM under both w/o SAW and with SAW. The resulting fluorescence sensor showed a limit of detection of 0.19 nM, more than 2 folds lower compared to w/o SAW conditions. Thus, the sensor and behaviors of Au/Pt tubular micromotors were improved by acoustic removal systems.
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Affiliation(s)
- Gamze Celik Cogal
- Department of Chemistry, Suleyman Demirel University, Isparta 32260, Turkey
| | - Pradipta K Das
- Department of Chemical and Biomedical Engineering, University of South Florida, Tampa, Florida 33620-5250, United States
| | - Gozde Yurdabak Karaca
- Department of Chemistry, Suleyman Demirel University, Isparta 32260, Turkey.,Department of Bioengineering, Faculty of Engineering, Suleyman Demirel University, Isparta 32260, Turkey
| | - Venkat R Bhethanabotla
- Department of Chemical and Biomedical Engineering, University of South Florida, Tampa, Florida 33620-5250, United States
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35
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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: 48] [Impact Index Per Article: 16.0] [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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36
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Kubacková J, Slabý C, Horvath D, Hovan A, Iványi GT, Vizsnyiczai G, Kelemen L, Žoldák G, Tomori Z, Bánó G. Assessing the Viscoelasticity of Photopolymer Nanowires Using a Three-Parameter Solid Model for Bending Recovery Motion. NANOMATERIALS (BASEL, SWITZERLAND) 2021; 11:2961. [PMID: 34835725 PMCID: PMC8618069 DOI: 10.3390/nano11112961] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/22/2021] [Revised: 10/27/2021] [Accepted: 11/01/2021] [Indexed: 12/26/2022]
Abstract
Photopolymer nanowires prepared by two-photon polymerization direct laser writing (TPP-DLW) are the building blocks of many microstructure systems. These nanowires possess viscoelastic characteristics that define their deformations under applied forces when operated in a dynamic regime. A simple mechanical model was previously used to describe the bending recovery motion of deflected nanowire cantilevers in Newtonian liquids. The inverse problem is targeted in this work; the experimental observations are used to determine the nanowire physical characteristics. Most importantly, based on the linear three-parameter solid model, we derive explicit formulas to calculate the viscoelastic material parameters. It is shown that the effective elastic modulus of the studied nanowires is two orders of magnitude lower than measured for the bulk material. Additionally, we report on a notable effect of the surrounding aqueous glucose solution on the elasticity and the intrinsic viscosity of the studied nanowires made of Ormocomp.
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Affiliation(s)
- Jana Kubacková
- Department of Biophysics, Institute of Experimental Physics SAS, Watsonova 47, 040 01 Košice, Slovakia; (J.K.); (Z.T.)
| | - Cyril Slabý
- Department of Biophysics, Faculty of Science, P. J. Šafárik University, Jesenná 5, 041 54 Košice, Slovakia; (C.S.); (A.H.)
| | - Denis Horvath
- Center for Interdisciplinary Biosciences, Technology and Innovation Park, P. J. Šafárik University, Jesenná 5, 041 54 Košice, Slovakia; (D.H.); (G.Ž.)
| | - Andrej Hovan
- Department of Biophysics, Faculty of Science, P. J. Šafárik University, Jesenná 5, 041 54 Košice, Slovakia; (C.S.); (A.H.)
| | - Gergely T. Iványi
- Faculty of Science and Informatics, University of Szeged, Dugonics Square 13, 6720 Szeged, Hungary;
- Biological Research Centre, Institute of Biophysics, Eötvös Loránd Research Network (ELKH), Temesvári krt. 62, 6726 Szeged, Hungary; (G.V.); (L.K.)
| | - Gaszton Vizsnyiczai
- Biological Research Centre, Institute of Biophysics, Eötvös Loránd Research Network (ELKH), Temesvári krt. 62, 6726 Szeged, Hungary; (G.V.); (L.K.)
| | - Lóránd Kelemen
- Biological Research Centre, Institute of Biophysics, Eötvös Loránd Research Network (ELKH), Temesvári krt. 62, 6726 Szeged, Hungary; (G.V.); (L.K.)
| | - Gabriel Žoldák
- Center for Interdisciplinary Biosciences, Technology and Innovation Park, P. J. Šafárik University, Jesenná 5, 041 54 Košice, Slovakia; (D.H.); (G.Ž.)
| | - Zoltán Tomori
- Department of Biophysics, Institute of Experimental Physics SAS, Watsonova 47, 040 01 Košice, Slovakia; (J.K.); (Z.T.)
| | - Gregor Bánó
- Department of Biophysics, Faculty of Science, P. J. Šafárik University, Jesenná 5, 041 54 Košice, Slovakia; (C.S.); (A.H.)
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37
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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: 22] [Impact Index Per Article: 7.3] [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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A Review of Microrobot's System: Towards System Integration for Autonomous Actuation In Vivo. MICROMACHINES 2021; 12:mi12101249. [PMID: 34683300 PMCID: PMC8540518 DOI: 10.3390/mi12101249] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/18/2021] [Revised: 10/07/2021] [Accepted: 10/11/2021] [Indexed: 12/30/2022]
Abstract
Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo clinically. However, the most important question is how to get microrobots to a given position accurately. Therefore, autonomous actuation technology based on medical imaging has become the solution receiving the most attention considering its low precision and efficiency of manual control. This paper investigates key components of microrobot’s autonomous actuation systems, including actuation systems, medical imaging systems, and control systems, hoping to help realize system integration of them. The hardware integration has two situations according to sharing the transmitting equipment or not, with the consideration of interference, efficiency, microrobot’s material and structure. Furthermore, system integration of hybrid actuation and multimodal imaging can improve the navigation effect of the microrobot. The software integration needs to consider the characteristics and deficiencies of the existing actuation algorithms, imaging algorithms, and the complex 3D working environment in vivo. Additionally, considering the moving distance in the human body, the autonomous actuation system combined with rapid delivery methods can deliver microrobots to specify position rapidly and precisely.
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39
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Moreau C, Ishimoto K, Gaffney EA, Walker BJ. Control and controllability of microswimmers by a shearing flow. ROYAL SOCIETY OPEN SCIENCE 2021; 8:211141. [PMID: 34430052 PMCID: PMC8355676 DOI: 10.1098/rsos.211141] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/08/2021] [Accepted: 07/16/2021] [Indexed: 06/13/2023]
Abstract
With the continuing rapid development of artificial microrobots and active particles, questions of microswimmer guidance and control are becoming ever more relevant and prevalent. In both the applications and theoretical study of such microscale swimmers, control is often mediated by an engineered property of the swimmer, such as in the case of magnetically propelled microrobots. In this work, we will consider a modality of control that is applicable in more generality, effecting guidance via modulation of a background fluid flow. Here, considering a model swimmer in a commonplace flow and simple geometry, we analyse and subsequently establish the efficacy of flow-mediated microswimmer positional control, later touching upon a question of optimal control. Moving beyond idealized notions of controllability and towards considerations of practical utility, we then evaluate the robustness of this control modality to sources of variation that may be present in applications, examining in particular the effects of measurement inaccuracy and rotational noise. This exploration gives rise to a number of cautionary observations, which, overall, demonstrate the need for the careful assessment of both policy and behavioural robustness when designing control schemes for use in practice.
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Affiliation(s)
- Clément Moreau
- Research Institute for Mathematical Sciences, Kyoto University, Kyoto, 606-8502, Japan
| | - Kenta Ishimoto
- Research Institute for Mathematical Sciences, Kyoto University, Kyoto, 606-8502, Japan
| | - Eamonn A. Gaffney
- Wolfson Centre for Mathematical Biology, Mathematical Institute, University of Oxford, Oxford OX2 6GG, UK
| | - Benjamin J. Walker
- Wolfson Centre for Mathematical Biology, Mathematical Institute, University of Oxford, Oxford OX2 6GG, UK
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40
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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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Salari A, Appak-Baskoy S, Coe IR, Abousawan J, Antonescu CN, Tsai SSH, Kolios MC. Dosage-controlled intracellular delivery mediated by acoustofluidics for lab on a chip applications. LAB ON A CHIP 2021; 21:1788-1797. [PMID: 33734246 DOI: 10.1039/d0lc01303j] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Biological research and many cell-based therapies rely on the successful delivery of cargo materials into cells. Intracellular delivery in an in vitro setting refers to a variety of physical and biochemical techniques developed for conducting rapid and efficient transport of materials across the plasma membrane. Generally, the techniques that are time-efficient (e.g., electroporation) suffer from heterogeneity and low cellular viability, and those that are precise (e.g., microinjection) suffer from low-throughput and are labor-intensive. Here, we present a novel in vitro microfluidic strategy for intracellular delivery, which is based on the acoustic excitation of adherent cells. Strong mechanical oscillations, mediated by Lamb waves, inside a microfluidic channel facilitate the cellular uptake of different size (e.g., 3-500 kDa, plasmid encoding EGFP) cargo materials through endocytic pathways. We demonstrate successful delivery of 500 kDa dextran to various adherent cell lines with unprecedented efficiency in the range of 65-85% above control. We also show that actuation voltage and treatment duration can be tuned to control the dosage of delivered substances. High viability (≥91%), versatility across different cargo materials and various adherent cell lines, scalability to hundreds of thousands of cells per treatment, portability, and ease-of-operation are among the unique features of this acoustofluidic strategy. Potential applications include targeting through endocytosis-dependant pathways in cellular disorders, such as lysosomal storage diseases, which other physical methods are unable to address. This novel acoustofluidic method achieves rapid, uniform, and scalable delivery of material into cells, and may find utility in lab-on-a-chip applications.
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Affiliation(s)
- Alinaghi Salari
- Institute for Biomedical Engineering, Science and Technology (iBEST), Toronto, ON M5B 1T8, Canada and Biomedical Engineering Graduate Program, Ryerson University, Toronto, ON M5B 2K3, Canada
| | - Sila Appak-Baskoy
- Institute for Biomedical Engineering, Science and Technology (iBEST), Toronto, ON M5B 1T8, Canada and Department of Chemistry and Biology, Ryerson University, Toronto, ON M5B 2K3, Canada
| | - Imogen R Coe
- Institute for Biomedical Engineering, Science and Technology (iBEST), Toronto, ON M5B 1T8, Canada and Department of Chemistry and Biology, Ryerson University, Toronto, ON M5B 2K3, Canada and Molecular Science Graduate Program, Ryerson University, Toronto, ON M5B2K3, Canada
| | - John Abousawan
- Department of Chemistry and Biology, Ryerson University, Toronto, ON M5B 2K3, Canada and Molecular Science Graduate Program, Ryerson University, Toronto, ON M5B2K3, Canada
| | - Costin N Antonescu
- Department of Chemistry and Biology, Ryerson University, Toronto, ON M5B 2K3, Canada and Molecular Science Graduate Program, Ryerson University, Toronto, ON M5B2K3, Canada
| | - Scott S H Tsai
- Institute for Biomedical Engineering, Science and Technology (iBEST), Toronto, ON M5B 1T8, Canada and Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada.
| | - Michael C Kolios
- Institute for Biomedical Engineering, Science and Technology (iBEST), Toronto, ON M5B 1T8, Canada and Department of Physics, Ryerson University, Toronto, ON M5B 2K3, Canada.
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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: 24] [Impact Index Per Article: 8.0] [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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Aghakhani A, Cetin H, Erkoc P, Tombak GI, Sitti M. Flexural wave-based soft attractor walls for trapping microparticles and cells. LAB ON A CHIP 2021; 21:582-596. [PMID: 33355319 PMCID: PMC7612665 DOI: 10.1039/d0lc00865f] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
Acoustic manipulation of microparticles and cells, called acoustophoresis, inside microfluidic systems has significant potential in biomedical applications. In particular, using acoustic radiation force to push microscopic objects toward the wall surfaces has an important role in enhancing immunoassays, particle sensors, and recently microrobotics. In this paper, we report a flexural-wave based acoustofluidic system for trapping micron-sized particles and cells at the soft wall boundaries. By exciting a standard microscope glass slide (1 mm thick) at its resonance frequencies <200 kHz, we show the wall-trapping action in sub-millimeter-size rectangular and circular cross-sectional channels. For such low-frequency excitation, the acoustic wavelength can range from 10-150 times the microchannel width, enabling a wide design space for choosing the channel width and position on the substrate. Using the system-level acousto-structural simulations, we confirm the acoustophoretic motion of particles near the walls, which is governed by the competing acoustic radiation and streaming forces. Finally, we investigate the performance of the wall-trapping acoustofluidic setup in attracting the motile cells, such as Chlamydomonas reinhardtii microalgae, toward the soft boundaries. Furthermore, the rotation of microalgae at the sidewalls and trap-escape events under pulsed ultrasound are demonstrated. The flexural-wave driven acoustofluidic system described here provides a biocompatible, versatile, and label-free approach to attract particles and cells toward the soft walls.
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Affiliation(s)
- Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.
| | - Hakan Cetin
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany. and Electrical and Electronics Engineering Department, Özyeğin University, 34794 Istanbul, Turkey
| | - Pelin Erkoc
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany. and Faculty of Engineering and Natural Sciences, Bahcesehir University, 34353 Istanbul, Turkey
| | - Guney Isik Tombak
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany. and Electrical and Electronics Engineering Department, Boğaziçi University, 34342 Istanbul, Turkey
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany. and Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland and School of Medicine and School of Engineering, Koç University, 34450 Istanbul, Turkey
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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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Wang Q, Zhang L. External Power-Driven Microrobotic Swarm: From Fundamental Understanding to Imaging-Guided Delivery. ACS NANO 2021; 15:149-174. [PMID: 33417764 DOI: 10.1021/acsnano.0c07753] [Citation(s) in RCA: 89] [Impact Index Per Article: 29.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Untethered micro/nanorobots have been widely investigated owing to their potential in performing various tasks in different environments. The significant progress in this emerging interdisciplinary field has benefited from the distinctive features of those tiny active agents, such as wireless actuation, navigation under feedback control, and targeted delivery of small-scale objects. In recent studies, collective behaviors of these tiny machines have received tremendous attention because swarming agents can enhance the delivery capability and adaptability in complex environments and the contrast of medical imaging, thus benefiting the imaging-guided navigation and delivery. In this review, we summarize the recent research efforts on investigating collective behaviors of external power-driven micro/nanorobots, including the fundamental understanding of swarm formation, navigation, and pattern transformation. The fundamental understanding of swarming tiny machines provides the foundation for targeted delivery. We also summarize the swarm localization using different imaging techniques, including the imaging-guided delivery in biological environments. By highlighting the critical steps from understanding the fundamental interactions during swarm control to swarm localization and imaging-guided delivery applications, we envision that the microrobotic swarm provides a promising tool for delivering agents in an active, controlled manner.
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Affiliation(s)
- Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
- T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
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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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Zhang K, Ren Y, Zhao M, Jiang T, Hou L, Jiang H. Flexible Microswimmer Manipulation in Multiple Microfluidic Systems Utilizing Thermal Buoyancy-Capillary Convection. Anal Chem 2021; 93:2560-2569. [DOI: 10.1021/acs.analchem.0c04614] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/29/2022]
Affiliation(s)
- Kailiang Zhang
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P.R. China
| | - Yukun Ren
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P.R. China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P.R. China
| | - Meiying Zhao
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P.R. China
| | - Tianyi Jiang
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P.R. China
| | - Likai Hou
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P.R. China
| | - Hongyuan Jiang
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P.R. China
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Bunea AI, Taboryski R. Recent Advances in Microswimmers for Biomedical Applications. MICROMACHINES 2020; 11:E1048. [PMID: 33261101 PMCID: PMC7760273 DOI: 10.3390/mi11121048] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/10/2020] [Revised: 11/24/2020] [Accepted: 11/26/2020] [Indexed: 12/14/2022]
Abstract
Microswimmers are a rapidly developing research area attracting enormous attention because of their many potential applications with high societal value. A particularly promising target for cleverly engineered microswimmers is the field of biomedical applications, where many interesting examples have already been reported for e.g., cargo transport and drug delivery, artificial insemination, sensing, indirect manipulation of cells and other microscopic objects, imaging, and microsurgery. Pioneered only two decades ago, research studies on the use of microswimmers in biomedical applications are currently progressing at an incredibly fast pace. Given the recent nature of the research, there are currently no clinically approved microswimmer uses, and it is likely that several years will yet pass before any clinical uses can become a reality. Nevertheless, current research is laying the foundation for clinical translation, as more and more studies explore various strategies for developing biocompatible and biodegradable microswimmers fueled by in vivo-friendly means. The aim of this review is to provide a summary of the reported biomedical applications of microswimmers, with focus on the most recent advances. Finally, the main considerations and challenges for clinical translation and commercialization are discussed.
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Affiliation(s)
- Ada-Ioana Bunea
- National Centre for Nano Fabrication and Characterization (DTU Nanolab), Technical University of Denmark, Ørsted Plads 347, 2800 Lyngby, Denmark;
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Binsley JL, Martin EL, Myers TO, Pagliara S, Ogrin FY. Microfluidic devices powered by integrated elasto-magnetic pumps. LAB ON A CHIP 2020; 20:4285-4295. [PMID: 33094306 PMCID: PMC7654506 DOI: 10.1039/d0lc00935k] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/15/2020] [Accepted: 10/18/2020] [Indexed: 06/11/2023]
Abstract
We show how an asymmetric elasto-magnetic system provides a novel integrated pumping solution for lab-on-a-chip and point of care devices. This monolithic pumping solution, inspired by Purcell's 3-link swimmer, is integrated within a simple microfluidic device, bypassing the requirement of external connections. We experimentally prove that this system can provide tuneable fluid flow with a flow rate of up to 600 μL h-1. This fluid flow is achieved by actuating the pump using a weak, uniform, uniaxial, oscillating magnetic field, with field amplitudes in the range of 3-6 mT. Crucially, the fluid flow can be reversed by adjusting the driving frequency. We experimentally prove that this device can successfully operate on fluids with a range of viscosities, where pumping at higher viscosity correlates with a decreasing optimal driving frequency. The fluid flow produced by this device is understood here by examining the non-reciprocal motion of the elasto-magnetic component. This device has the capability to replace external pumping systems with a simple, integrated, lab-on-a-chip component.
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Affiliation(s)
- Jacob L Binsley
- Department of Physics and Astronomy, University of Exeter, Physics Building, Stocker Road, Exeter, EX4 4QL, UK.
| | - Elizabeth L Martin
- Department of Physics and Astronomy, University of Exeter, Physics Building, Stocker Road, Exeter, EX4 4QL, UK.
| | - Thomas O Myers
- Platform Kinetics Limited, Pegholme, Wharfebank Mills, Otley, LS21 3JP, UK
| | - Stefano Pagliara
- Department of Biosciences, University of Exeter, Living Systems Institute, Stocker Road, Exeter, EX4 4QD, UK
| | - Feodor Y Ogrin
- Department of Physics and Astronomy, University of Exeter, Physics Building, Stocker Road, Exeter, EX4 4QL, UK.
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50
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Mohanty S, Khalil ISM, Misra S. Contactless acoustic micro/nano manipulation: a paradigm for next generation applications in life sciences. Proc Math Phys Eng Sci 2020; 476:20200621. [PMID: 33363443 PMCID: PMC7735305 DOI: 10.1098/rspa.2020.0621] [Citation(s) in RCA: 29] [Impact Index Per Article: 7.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2020] [Accepted: 10/20/2020] [Indexed: 12/14/2022] Open
Abstract
Acoustic actuation techniques offer a promising tool for contactless manipulation of both synthetic and biological micro/nano agents that encompass different length scales. The traditional usage of sound waves has steadily progressed from mid-air manipulation of salt grains to sophisticated techniques that employ nanoparticle flow in microfluidic networks. State-of-the-art in microfabrication and instrumentation have further expanded the outreach of these actuation techniques to autonomous propulsion of micro-agents. In this review article, we provide a universal perspective of the known acoustic micromanipulation technologies in terms of their applications and governing physics. Hereby, we survey these technologies and classify them with regards to passive and active manipulation of agents. These manipulation methods account for both intelligent devices adept at dexterous non-contact handling of micro-agents, and acoustically induced mechanisms for self-propulsion of micro-robots. Moreover, owing to the clinical compliance of ultrasound, we provide future considerations of acoustic manipulation techniques to be fruitfully employed in biological applications that range from label-free drug testing to minimally invasive clinical interventions.
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Affiliation(s)
- Sumit Mohanty
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
| | - Islam S. M. Khalil
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University Medical Center Groningen, 9713 AV Groningen, The Netherlands
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