Cooperative transport by flocking phototactic micromotors

Advanced materials for micro/nanorobotics

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

Potential field mechanisms and distributed learning for enhancing the navigation of micro/nanorobot in biomedical environments

In complex systems, single micro/nanorobots encounter challenges related to limited loading capacity and navigation, hindering their effective utilization in targeted therapy and drug delivery. To solve these challenges, this paper explores potential field mechanisms as a means to simulate natural collective behavior. This approach aims to enhance the navigation and efficiency of micro/nanorobots in high-demand therapeutic areas. The mechanism enables micro/nanorobots to dynamically adapt to environmental gradients, minimizing off-target effects while maximizing therapeutic efficacy and enhancing robustness through redundancy. Additionally, this study introduces innovative distributed learning and cooperative control strategies. Each micro/nanorobot updates its navigation strategy through local interactions and influences with the dynamic environment. This allows micro/nanorobots to share information and improve their navigation toward therapeutic targets. The simulation results demonstrate that collective behavior and potential field mechanisms can enhance the precision and efficiency of targeted therapy and drug delivery in dynamically changing environments. In conclusion, the proposed approach can improve the limitations of single micro/nanobot, offering new possibilities for the development of advanced therapeutics and drug delivery systems.

Chemical herding as a multiplicative factor for top-down manipulation of colloids

Colloidal particles can create reconfigurable nanomaterials, with applications such as color-changing, self-repairing, and self-regulating materials and reconfigurable drug delivery systems. However, top-down methods for manipulating colloids are limited in the scale they can control. We consider here a new method for using chemical reactions to multiply the effects of existing top-down colloidal manipulation methods to arrange large numbers of colloids with single-particle precision, which we refer to as chemical herding. Using simulation-based methods, we show that if a set of chemically active colloids (herders) can be steered using external forces (i.e., electrophoretic, dielectrophoretic, magnetic, or optical forces), then a larger set of colloids (followers) that move in response to the chemical gradients produced by the herders can be steered using the control algorithms given in this paper. We also derive bounds that predict the maximum number of particles that can be steered in this way, and we illustrate the effectiveness of this approach using Brownian dynamics simulations. Based on the theoretical results and simulations, we conclude that chemical herding is a viable method for multiplying the effects of existing colloidal manipulation methods to create useful structures and materials.

Janus Micromotors for Photophoretic Motion and Photon Upconversion Applications Using a Single Near-Infrared Wavelength

External stimuli can trigger changes in temperature, concentration, and momentum between micromotors and the medium, causing their propulsion and enabling them to perform different tasks with improved kinetic efficiencies. Light-activated micromotors are attractive systems that achieve improved motion and have the potential for high spatiotemporal control. Photophoretic swarming motion represents an attractive means to induce micromotor movement through the generation of temperature gradients in the medium, enabling the micromotors to move from cold to hot regions. The micromotors studied herein are assembled with Fe3O4 nanoparticles, and NaGdF4:Yb3+,Er3+/NaGdF4:Yb3+ and LiYF4:Yb3+,Tm3+ upconverting nanoparticles. The Fe3O4 nanoparticles were localized to one hemisphere to produce a Janus architecture that facilitates improved upconversion luminescence with the upconverting nanoparticles distributed throughout. Under 976 nm excitation, Fe3O4 nanoparticles generate the temperature gradient, while the upconverting nanoparticles produce visible light that is used for micromotor motion tracking and triggering of reactive oxygen species generation. As such, the motion and application of the micromotors are achieved using a single excitation wavelength. To demonstrate the practicality of this system, curcumin was adsorbed to the micromotor surface and degradation of Rhodamine B was achieved with kinetic rates that were over twice as fast as the static micromotors. The upconversion luminescence was also used to track the motion of the micromotors from a single image frame, providing a convenient means to understand the trajectory of these systems. Together, this system provides a versatile approach to achieving light-driven motion while taking advantage of the potential applications of upconversion luminescence such as tracking and detection, sensing, nanothermometry, particle velocimetry, photodynamic therapy, and pollutant degradation.

Nano/Micromotors for Cancer Diagnosis and Therapy: Innovative Designs to Improve Biocompatibility

Nano/micromotors are artificial robots at the nano/microscale that are capable of transforming energy into mechanical movement. In cancer diagnosis or therapy, such "tiny robots" show great promise for targeted drug delivery, cell removal/killing, and even related biomarker sensing. Yet biocompatibility is still the most critical challenge that restricts such techniques from transitioning from the laboratory to clinical applications. In this review, we emphasize the biocompatibility aspect of nano/micromotors to show the great efforts made by researchers to promote their clinical application, mainly including non-toxic fuel propulsion (inorganic catalysts, enzyme, etc.), bio-hybrid designs, ultrasound propulsion, light-triggered propulsion, magnetic propulsion, dual propulsion, and, in particular, the cooperative swarm-based strategy for increasing therapeutic effects. Future challenges in translating nano/micromotors into real applications and the potential directions for increasing biocompatibility are also described.

Collective Behaviors of Isotropic Micromotors: From Assembly to Reconstruction and Motion Control under External Fields

Swarms of self-propelled micromotors can mimic the processes of natural systems and construct artificial intelligent materials to perform complex collective behaviors. Compared to self-propelled Janus micromotors, the isotropic colloid motors, also called micromotors or microswimmers, have advantages in self-assembly to form micromotor swarms, which are efficient in resistance to external disturbance and the delivery of large quantity of cargos. In this minireview, we summarize the fundamental principles and interactions for the assembly of isotropic active particles to generate micromotor swarms. Recent discoveries based on either catalytic or external physical field-stimulated micromotor swarms are also presented. Then, the strategy for the reconstruction and motion control of micromotor swarms in complex environments, including narrow channels, maze, raised obstacles, and high steps/low gaps, is summarized. Finally, we outline the future directions of micromotor swarms and the remaining challenges and opportunities.

Light-Powered Self-Adaptive Mesostructured Microrobots for Simultaneous Microplastics Trapping and Fragmentation via in situ Surface Morphing

Microplastics, which comprise one of the omnipresent threats to human health, are diverse in shape and composition. Their negative impacts on human and ecosystem health provide ample incentive to design and execute strategies to trap and degrade diversely structured microplastics, especially from water. This work demonstrates the fabrication of single-component TiO2 superstructured microrobots to photo-trap and photo-fragment microplastics. In a single reaction, rod-like microrobots diverse in shape and with multiple trapping sites, are fabricated to exploit the asymmetry of the microrobotic system advantageous for propulsion. The microrobots work synergistically to photo-catalytically trap and fragment microplastics in water in a coordinated fashion. Hence, a microrobotic model of "unity in diversity" is demonstrated here for the phototrapping and photofragmentation of microplastics. During light irradiation and subsequent photocatalysis, the surface morphology of microrobots transformed into porous flower-like networks that trap microplastics for subsequent degradation. This reconfigurable microrobotic technology represents a significant step forward in the efforts to degrade microplastics.

Swarming Responsive Photonic Nanorobots for Motile-Targeting Microenvironmental Mapping and Mapping-Guided Photothermal Treatment

Micro/nanorobots can propel and navigate in many hard-to-reach biological environments, and thus may bring revolutionary changes to biomedical research and applications. However, current MNRs lack the capability to collectively perceive and report physicochemical changes in unknown microenvironments. Here we propose to develop swarming responsive photonic nanorobots that can map local physicochemical conditions on the fly and further guide localized photothermal treatment. The RPNRs consist of a photonic nanochain of periodically-assembled magnetic Fe3O4 nanoparticles encapsulated in a responsive hydrogel shell, and show multiple integrated functions, including energetic magnetically-driven swarming motions, bright stimuli-responsive structural colors, and photothermal conversion. Thus, they can actively navigate in complex environments utilizing their controllable swarming motions, then visualize unknown targets (e.g., tumor lesion) by collectively mapping out local abnormal physicochemical conditions (e.g., pH, temperature, or glucose concentration) via their responsive structural colors, and further guide external light irradiation to initiate localized photothermal treatment. This work facilitates the development of intelligent motile nanosensors and versatile multifunctional nanotheranostics for cancer and inflammatory diseases.

Active Micro/Nanoparticles in Colloidal Microswarms

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.

Ultrasmall Fe2O3 Tubular Nanomotors: The First Example of Swarming Photocatalytic Nanomotors Operating in High-Electrolyte Media

Self-propelled chemical micro/nanomotors (MNMs) have demonstrated considerable potential in targeted drug delivery, (bio)sensing, and environmental remediation due to their autonomous nature and possible intelligent self-targeting behaviors (e.g., chemotaxis and phototaxis). However, these MNMs are commonly limited by their primary propulsion mechanisms of self-electrophoresis and electrolyte self-diffusiophoresis, making them prone to quenching in high electrolyte environments. Thus, the swarming behaviors of chemical MNMs in high-electrolyte media remain underexplored, despite their potential to enable the execution of complex tasks in high-electrolyte biological media or natural waters. In this study, we develop ultrasmall tubular nanomotors that exhibit ion-tolerant propulsions and collective behaviors. Upon vertical upward UV irradiation, the ultrasmall Fe₂O₃ tubular nanomotors (Fe₂O₃ TNMs) demonstrate positive superdiffusive photogravitaxis and can further self-organize into nanoclusters near the substrate in a reversible manner. After self-organization, the Fe₂O₃ TNMs exhibit a pronounced emergent behavior, allowing them to switch from random superdiffusions to ballistic motions near the substrate. Even at a high electrolyte concentration (C_e), the ultrasmall Fe₂O₃ TNMs retain a relatively thick electrical double layer (EDL) compared to their size, and the electroosmotic slip flow in their EDL is strong enough to propel them and induce phoretic interactions among them. As a result, the nanomotors can rapidly concentrate near the substrate and then gather into motile nanoclusters in high-electrolyte environments. This work opens a gate for designing swarming ion-tolerant chemical nanomotors and may expedite their applications in biomedicine and environmental remediation.

Light-powered swarming phoretic antimony chalcogenide-based microrobots with "on-the-fly" photodegradation abilities

Microrobots are at the forefront of research for biomedical and environmental applications. Whereas a single microrobot exhibits quite low performance in the large-scale environment, swarms of microrobots are representing a powerful tool in biomedical and environmental applications. Here, we fabricated phoretic Sb₂S₃-based microrobots that exhibited swarming behavior under light illumination without any addition of chemical fuel. The microrobots were prepared in an environmentally friendly way by reacting the precursors with bio-originated templates in aqueous solution in a microwave reactor. The crystalline Sb₂S₃ material provided the microrobots with interesting optical and semiconductive properties. Because of the formation of reactive oxygen species (ROS) upon light illumination, the microrobots possessed photocatalytic properties. To demonstrate the photocatalytic abilities, industrially used dyes, quinoline yellow and tartrazine were degraded using microrobots in the "on-the-fly" mode. Overall, this proof-of-concept work showed that Sb₂S₃ photoactive material is suitable for designing swarming microrobots for environmental remediation applications.

Smart micro- and nanorobots for water purification

Less than 1% of Earth's freshwater reserves is accessible. Industrialization, population growth and climate change are further exacerbating clean water shortage. Current water-remediation treatments fail to remove most pollutants completely or release toxic by-products into the environment. The use of self-propelled programmable micro- and nanoscale synthetic robots is a promising alternative way to improve water monitoring and remediation by overcoming diffusion-limited reactions and promoting interactions with target pollutants, including nano- and microplastics, persistent organic pollutants, heavy metals, oils and pathogenic microorganisms. This Review introduces the evolution of passive micro- and nanomaterials through active micro- and nanomotors and into advanced intelligent micro- and nanorobots in terms of motion ability, multifunctionality, adaptive response, swarming and mutual communication. After describing removal and degradation strategies, we present the most relevant improvements in water treatment, highlighting the design aspects necessary to improve remediation efficiency for specific contaminants. Finally, open challenges and future directions are discussed for the real-world application of smart micro- and nanorobots.

Determination of the swimming mechanism of Au@TiO2 active matter and implications on active-passive interactions

Non-equilibrium dynamic assembly attracts considerable attention due to the possibility of forming diverse structures that can potentially lead to functional materials. Despite significant progress in understanding and modelling, the complexity of the system implies that different phases of the assembly formation are governed by different interactions. It is clear that both, hydrodynamic and chemical interactions stem from the activity of the particle, but correlation to specific chemical species remains not yet understood. Here, we investigate the origin of the main driving forces for light-driven Au@TiO₂ micromotors and look at the implication this causes for the interactions between active and passive particles. We develop precision experimental measurements of the photochemical reaction rate, which are correlated with the observed speed of Au@TiO₂ micromotors. The comparison with two distinct models allows the conclusion that the dominant propulsion mechanism of the active particles is self-electrophoresis based on the self-generated H⁺ gradient. We verify this assumption by adding salt and confirm the dependence of the expected swimming behaviour on salt concentration and investigate the consequences for raft formation in COMSOL simulations.

Light-Powered, Fuel-Free Oscillation, Migration, and Reversible Manipulation of Multiple Cargo Types by Micromotor Swarms

Through experiments and simulations, we show that fuel-free photoactive TiO₂ microparticles can form mobile, coherent swarms in the presence of UV light, which track the subsequent movement of an irradiated spot in a fluid-filled microchamber. Multiple concurrent propulsion mechanisms (electrolyte diffusioosmotic swarming, photocatalytic expansion, and photothermal migration) control the rich collective behavior of the swarms, which provide a strategy to reversely manipulate cargo. The active swarms can autonomously pick up groups of inert particles, sort them by size, and sequentially release the sorted particles at particular locations in the microchamber. Hence, these swarms overcome three obstacles, limiting the utility of self-propelled particles. Namely, they can (1) undergo directed, long-range migration without the addition of a chemical fuel, (2) perform diverse collective behavior not possible with a single active particle, and (3) repeatedly and controllably isolate and deliver specific components of a multiparticle "cargo". Since light sources are easily fabricated, transported, and controlled, the results can facilitate the development of portable devices, providing broader access to the diagnostic and manufacturing advances enabled by microfluidics.

Microrobot collectives with reconfigurable morphologies, behaviors, and functions

Mobile microrobots, which can navigate, sense, and interact with their environment, could potentially revolutionize biomedicine and environmental remediation. Many self-organizing microrobotic collectives have been developed to overcome inherent limits in actuation, sensing, and manipulation of individual microrobots; however, reconfigurable collectives with robust transitions between behaviors are rare. Such systems that perform multiple functions are advantageous to operate in complex environments. Here, we present a versatile microrobotic collective system capable of on-demand reconfiguration to adapt to and utilize their environments to perform various functions at the air-water interface. Our system exhibits diverse modes ranging from isotropic to anisotrpic behaviors and transitions between a globally driven and a novel self-propelling behavior. We show the transition between different modes in experiments and simulations, and demonstrate various functions, using the reconfigurability of our system to navigate, explore, and interact with the environment. Such versatile microrobot collectives with globally driven and self-propelled behaviors have great potential in future medical and environmental applications.