1
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Wang C, Guo L, Zhu J, Zhu L, Li C, Zhu H, Song A, Lu L, Teng GJ, Navab N, Jiang Z. Review of robotic systems for thoracoabdominal puncture interventional surgery. APL Bioeng 2024; 8:021501. [PMID: 38572313 PMCID: PMC10987197 DOI: 10.1063/5.0180494] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2023] [Accepted: 03/11/2024] [Indexed: 04/05/2024] Open
Abstract
Cancer, with high morbidity and high mortality, is one of the major burdens threatening human health globally. Intervention procedures via percutaneous puncture have been widely used by physicians due to its minimally invasive surgical approach. However, traditional manual puncture intervention depends on personal experience and faces challenges in terms of precisely puncture, learning-curve, safety and efficacy. The development of puncture interventional surgery robotic (PISR) systems could alleviate the aforementioned problems to a certain extent. This paper attempts to review the current status and prospective of PISR systems for thoracic and abdominal application. In this review, the key technologies related to the robotics, including spatial registration, positioning navigation, puncture guidance feedback, respiratory motion compensation, and motion control, are discussed in detail.
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Affiliation(s)
- Cheng Wang
- Hanglok-Tech Co. Ltd., Hengqin 519000, People's Republic of China
| | - Li Guo
- Hanglok-Tech Co. Ltd., Hengqin 519000, People's Republic of China
| | | | - Lifeng Zhu
- State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, People's Republic of China
| | - Chichi Li
- School of Computer Science and Engineering, Macau University of Science and Technology, Macau, 999078, People's Republic of China
| | - Haidong Zhu
- Center of Interventional Radiology and Vascular Surgery, Department of Radiology, Zhongda Hospital, Medical School, Southeast University, Nanjing 210009, People's Republic of China
| | - Aiguo Song
- State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, People's Republic of China
| | | | - Gao-Jun Teng
- Center of Interventional Radiology and Vascular Surgery, Department of Radiology, Zhongda Hospital, Medical School, Southeast University, Nanjing 210009, People's Republic of China
| | | | - Zhongliang Jiang
- Computer Aided Medical Procedures, Technical University of Munich, Munich 80333, Germany
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2
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Masiero F, Sinibaldi E. Exact and Computationally Robust Solutions for Cylindrical Magnets Systems with Programmable Magnetization. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2301033. [PMID: 37460392 PMCID: PMC10477869 DOI: 10.1002/advs.202301033] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/14/2023] [Indexed: 09/06/2023]
Abstract
Magnetic systems based on permanent magnets are receiving growing attention, in particular for micro/millirobotics and biomedical applications. Their design landscape is expanded by the possibility to program magnetization, yet enabling analytical results, crucial for containing computational costs, are lacking. The dipole approximation is systematically used (and often strained), because exact and computationally robust solutions are to be unveiled even for common geometries such as cylindrical magnets, which are ubiquitously used in fundamental research and applications. In this study, exact solutions are disclosed for magnetic field and gradient of a cylindrical magnet with generic uniform magnetization, which can be robustly computed everywhere within and outside the magnet, and directly extend to magnets systems of arbitrary complexity. Based on them, exact and computationally robust solutions are unveiled for force and torque between coaxial magnets. The obtained analytical solutions overstep the dipole approximation, thus filling a long-standing gap, and offer strong computational gains versus numerical simulations (up to 106 , for the considered test-cases). Moreover, they bridge to a variety of applications, as illustrated through a compact magnets array that could be used to advance state-of-the-art biomedical tools, by creating, based on programmable magnetization patterns, circumferential and helical force traps for magnetoresponsive diagnostic/therapeutic agents.
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Affiliation(s)
- Federico Masiero
- Biorobotics InstituteScuola Superiore Sant'Annaviale Rinaldo Piaggio 34Pontedera56025Italy
- Department of Excellence in Robotics and AIScuola Superiore Sant'Annapiazza Martiri della Libertà 33Pisa56127Italy
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3
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Zhang C, Ma S, Xu L. Velocity and Out-Step Frequencies for a Micro-Swimmer Based on Spiral Carbon Nanotubes. MICROMACHINES 2023; 14:1320. [PMID: 37512631 PMCID: PMC10385420 DOI: 10.3390/mi14071320] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/11/2023] [Revised: 06/24/2023] [Accepted: 06/26/2023] [Indexed: 07/30/2023]
Abstract
The existing producing processes of micro spiral swimmers are complex. Here, a microswimmer with a magnetic layer on the surface of the spiral carbon nanotubes is proposed, which has a simple producing process. For the microswimmer, its equations of the velocities and out-step frequency are deduced. Using these equations, the velocities and out-step frequency of the microswimmer and their changes with related parameters are investigated. Results show that its velocities are proportional to the radius and helix angle of the spiral carbon nanotubes, and its out-step frequencies are proportional to magnetic field strength, the helix angle and magnetic layer thicknesses of the spiral carbon nanotubes, and inversely proportional to the fluid viscosity. The out-step frequency of the microswimmer is measured, which is in good agreement with the calculative ones.
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Affiliation(s)
- Ce Zhang
- School of Mechanical Engineering, Yanshan University, Qinhuangdao 066000, China
| | - Shiqi Ma
- School of Mechanical Engineering, Yanshan University, Qinhuangdao 066000, China
| | - Lizhong Xu
- School of Mechanical Engineering, Yanshan University, Qinhuangdao 066000, China
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4
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Aziz A, Nauber R, Iglesias AS, Tang M, Ma L, Liz-Marzán LM, Schmidt OG, Medina-Sánchez M. Nanomaterial-decorated micromotors for enhanced photoacoustic imaging. JOURNAL OF MICRO-BIO ROBOTICS 2023; 19:37-45. [PMID: 38161388 PMCID: PMC10756870 DOI: 10.1007/s12213-023-00156-7] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/17/2023] [Revised: 03/07/2023] [Accepted: 04/12/2023] [Indexed: 01/03/2024]
Abstract
Micro-and nanorobots have the potential to perform non-invasive drug delivery, sensing, and surgery in living organisms, with the aid of diverse medical imaging techniques. To perform such actions, microrobots require high spatiotemporal resolution tracking with real-time closed-loop feedback. To that end, photoacoustic imaging has appeared as a promising technique for imaging microrobots in deep tissue with higher molecular specificity and contrast. Here, we present different strategies to track magnetically-driven micromotors with improved contrast and specificity using dedicated contrast agents (Au nanorods and nanostars). Furthermore, we discuss the possibility of improving the light absorption properties of the employed nanomaterials considering possible light scattering and coupling to the underlying metal-oxide layers on the micromotor's surface. For that, 2D COMSOL simulation and experimental results were correlated, confirming that an increased spacing between the Au-nanostructures and the increase of thickness of the underlying oxide layer lead to enhanced light absorption and preservation of the characteristic absorption peak. These characteristics are important when visualizing the micromotors in a complex in vivo environment, to distinguish them from the light absorption properties of the surrounding natural chromophores. Supplementary Information The online version contains supplementary material available at 10.1007/s12213-023-00156-7.
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Affiliation(s)
- Azaam Aziz
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Richard Nauber
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Ana Sánchez Iglesias
- CIC biomaGUNE, Basque Research and Technology Alliance (BRTA), Paseo de Miramon 182, 20014 Donostia-San Sebastián, Spain
- Biomedical Research Networking Center for Bioengineering, Biomaterials and Nanomedicine, CIBER-BBN, 20014 Donostia-San Sebastián, Spain
| | - Min Tang
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Libo Ma
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Luis M. Liz-Marzán
- CIC biomaGUNE, Basque Research and Technology Alliance (BRTA), Paseo de Miramon 182, 20014 Donostia-San Sebastián, Spain
- Biomedical Research Networking Center for Bioengineering, Biomaterials and Nanomedicine, CIBER-BBN, 20014 Donostia-San Sebastián, Spain
- Ikerbasque, Basque Foundation for Science, 48009 Bilbao, Spain
| | - Oliver G. Schmidt
- Center for Materials, Architectures and Integration of Nanomembranes (MAIN), TU Chemnitz, Reichenhainer Strasse 10, 09107 Chemnitz, Saxony Germany
- School of Science, TU Dresden, 01062 Dresden, Saxony Germany
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
- Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, Tatzberg 41, 01062 Dresden, Germany
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5
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Li B, Yang B, Xiang F, Guo J, Li H. The Source Structure Design of the Rotating Magnetic Beacon Based on Phase-Shift Direction Finding System. SENSORS (BASEL, SWITZERLAND) 2022; 22:8304. [PMID: 36366004 PMCID: PMC9656758 DOI: 10.3390/s22218304] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/22/2022] [Revised: 10/18/2022] [Accepted: 10/24/2022] [Indexed: 06/16/2023]
Abstract
Target azimuth information can help further improve the accuracy of magnetic orientation, but the current periodic magnetic field generated by the magnetic beacon is multivalued, so it is not suitable for azimuth measurement. According to the distribution of a rotating magnetic field and the phase angle measuring principle, we put forward a new magnetic source structure design of a multiple rotating permanent magnet array by adjusting the spacing d, the rotating speed ω and the initial rotation angle φ, and then verified the mathematical model using COMSOL simulation software. A triple structure was obtained by comparison (d3=3d1=3d2=43 m, d3=3d1=3d2=43 m, φ1=0, φ2=4π5 rad. φ3=π rad), which can produce a strong characteristic magnetic signal similar to a heart-shaped field pattern. Finally, a signal transceiver system was set up for the experiment. The experimental result shows that the waveform of the magnetic signal generated by the real beacon meets the requirement of having a unique maximum value and good directivity within a period, which proves the practical application effect of the structure.
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6
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Pane S, Zhang M, Iacovacci V, Zhang L, Menciassi A. Contrast-enhanced ultrasound tracking of helical propellers with acoustic phase analysis and comparison with color Doppler. APL Bioeng 2022; 6:036102. [PMID: 35935094 PMCID: PMC9348897 DOI: 10.1063/5.0097145] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2022] [Accepted: 07/05/2022] [Indexed: 11/14/2022] Open
Abstract
Medical microrobots (MRs) hold the potential to radically transform several interventional procedures. However, to guarantee therapy success when operating in hard-to-reach body districts, a precise and robust imaging strategy is required for monitoring and controlling MRs in real-time. Ultrasound (US) may represent a powerful technology, but MRs' visibility with US needs to be improved, especially when targeting echogenic tissues. In this context, motions of MRs have been exploited to enhance their contrast, e.g., by Doppler imaging. To exploit a more selective contrast-enhancement mechanism, in this study, we analyze in detail the characteristic motions of one of the most widely adopted MR concepts, i.e., the helical propeller, with a particular focus on its interactions with the backscattered US waves. We combine a kinematic analysis of the propeller 3D motion with an US acoustic phase analysis (APA) performed on the raw radio frequency US data in order to improve imaging and tracking in bio-mimicking environments. We validated our US-APA approach in diverse scenarios, aimed at simulating realistic in vivo conditions, and compared the results to those obtained with standard US Doppler. Overall, our technique provided a precise and stable feedback to visualize and track helical propellers in echogenic tissues (chicken breast), tissue-mimicking phantoms with bifurcated lumina, and in the presence of different motion disturbances (e.g., physiological flows and tissue motions), where standard Doppler showed poor performance. Furthermore, the proposed US-APA technique allowed for real-time estimation of MR velocity, where standard Doppler failed.
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Affiliation(s)
| | - M Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | | | - L Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
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7
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Lu Y, Zhao H, Becker AT, Leclerc J. Steering Rotating Magnetic Swimmers in 2.5 Dimensions Using Only 2D Ultrasonography for Position Sensing. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3146560] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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8
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Micheal MM, Adel A, Kim CS, Park JO, Misra S, Khalil ISM. 2D Magnetic Actuation and Localization of a Surface Milli-Roller in Low Reynolds Numbers. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3148787] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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9
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Liu D, Wang T, Lu Y. Untethered Microrobots for Active Drug Delivery: From Rational Design to Clinical Settings. Adv Healthc Mater 2022; 11:e2102253. [PMID: 34767306 DOI: 10.1002/adhm.202102253] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/19/2021] [Indexed: 12/17/2022]
Abstract
Recent advances of untethered microrobots, which navigate the complex regions in vivo for therapeutics, have presented promising multiple applications on future healthcare. Microrobots used for active drug delivery system (DDS) have been demonstrated for advanced targeting distribution, improved delivery efficiency, and reduced systemic side effects. In this review, the therapeutic benefits of active DDS are presented compared to the traditional passive DDS, which illustrate the historical reasons for choosing active DDS. An integrated 5D radar chart analysis model containing the core capabilities of the active DDS is innovatively proposed. It would be a practical tool for measurement and mapping of the field of active delivery, followed by the evolutions and bottlenecks of each technical module. The comprehensive consideration of microrobots before clinical application is also discussed from the aspects of robot ethics, dosage, quality control and stability control in actual production. Gastrointestinal and blood administration, as two major clinical scenes of drug delivery, are discussed in detail as examples of the potential bedside applications of active DDS. Finally, combined with the reported analysis model, the current status and future outlook from the translation prospect to the clinical scenes of microrobots are provided.
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Affiliation(s)
- Dong Liu
- Key Laboratory of Industrial Biocatalysis Ministry of Education Department of Chemical Engineering Tsinghua University Beijing 100084 China
| | - Ting Wang
- Key Laboratory of Industrial Biocatalysis Ministry of Education Department of Chemical Engineering Tsinghua University Beijing 100084 China
| | - Yuan Lu
- Key Laboratory of Industrial Biocatalysis Ministry of Education Department of Chemical Engineering Tsinghua University Beijing 100084 China
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10
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Ma W, Liu D, Ling S, Zhang J, Chen Z, Lu Y, Xu J. High-Throughput and Controllable Fabrication of Helical Microfibers by Hydrodynamically Focusing Flow. ACS APPLIED MATERIALS & INTERFACES 2021; 13:59392-59399. [PMID: 34851622 DOI: 10.1021/acsami.1c20720] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Due to the unique spiral geometry, different functional helical fibers are fabricated to perform vital tasks, including cargo transportation, medical treatment, cell manipulation, and so on. Although microfluidic techniques are widely used to fabricate helical fibers, the problems of channel blockage and spinning instability have not been well solved, which limits the mass preparation and practical application of spiral microfibers. In addition, the spinning mechanism is simply limited to liquid rope coiling, which has little impact on the design of microfluidic devices. Here, new types of microfluidic devices, which were easy to make and exhibited excellent spiral spinning performance, were designed. It was found that adding a sleeve layer outside the inner core needle in a coaxial microfluidic device could effectively promote the stable formation of helical microfibers. This novel microchannel could fabricate helical microfibers of more than 100 m in length continuously at one time with almost no blockage or deformation, and the key parameters of the fibers could be precisely adjusted. Combined with micro-particle image velocimetry (micro-PIV) measurements, it was confirmed that the improvement in the spinning performances was mainly attributed to the emergence of a focusing flow in the presence of the sleeve layer. After loading magnetic nanoparticles, the helical microfibers exhibited excellent motion manipulation capabilities, which showed great potential for drug delivery, cargo transportation, clogging removal, etc. This new design not only realized the high-throughput fabrication of helical microfibers but also provided deeper insights into the underlying mechanisms of spiral generation and new ideas for the design of microfluidic devices.
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Affiliation(s)
- Wenjun Ma
- The State Key Laboratory of Chemical Engineering, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Dong Liu
- The State Key Laboratory of Chemical Engineering, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Sida Ling
- The State Key Laboratory of Chemical Engineering, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Jingwei Zhang
- The State Key Laboratory of Chemical Engineering, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Zhuo Chen
- The State Key Laboratory of Chemical Engineering, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Yuan Lu
- The State Key Laboratory of Chemical Engineering, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Jianhong Xu
- The State Key Laboratory of Chemical Engineering, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
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Aziz A, Holthof J, Meyer S, Schmidt OG, Medina‐Sánchez M. Dual Ultrasound and Photoacoustic Tracking of Magnetically Driven Micromotors: From In Vitro to In Vivo. Adv Healthc Mater 2021; 10:e2101077. [PMID: 34382354 DOI: 10.1002/adhm.202101077] [Citation(s) in RCA: 26] [Impact Index Per Article: 8.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/05/2021] [Revised: 07/29/2021] [Indexed: 12/17/2022]
Abstract
The fast evolution of medical micro- and nanorobots in the endeavor to perform non-invasive medical operations in living organisms has boosted the use of diverse medical imaging techniques in the last years. Among those techniques, photoacoustic imaging (PAI), considered a functional technique, has shown to be promising for the visualization of micromotors in deep tissue with high spatiotemporal resolution as it possesses the molecular specificity of optical methods and the penetration depth of ultrasound. However, the precise maneuvering and function's control of medical micromotors, in particular in living organisms, require both anatomical and functional imaging feedback. Therefore, herein, the use of high-frequency ultrasound and PAI is reported to obtain anatomical and molecular information, respectively, of magnetically-driven micromotors in vitro and under ex vivo tissues. Furthermore, the steerability of the micromotors is demonstrated by the action of an external magnetic field into the uterus and bladder of living mice in real-time, being able to discriminate the micromotors' signal from one of the endogenous chromophores by multispectral analysis. Finally, the successful loading and release of a model cargo by the micromotors toward non-invasive in vivo medical interventions is demonstrated.
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Affiliation(s)
- Azaam Aziz
- Institute for Integrative Nanosciences Leibniz IFW Dresden Helmholtzstrasse 20 01069 Dresden Germany
| | - Joost Holthof
- FUJIFILM VisualSonics Inc. Amsterdam 1114 AB The Netherlands
| | - Sandra Meyer
- FUJIFILM VisualSonics Inc. Amsterdam 1114 AB The Netherlands
| | - Oliver G. Schmidt
- Institute for Integrative Nanosciences Leibniz IFW Dresden Helmholtzstrasse 20 01069 Dresden Germany
- Center for Materials, Architectures and Integration of Nanomembranes (MAIN) TU Chemnitz Reichenhainer Strasse 10 09107 Chemnitz Germany
- School of Science TU Dresden 01062 Dresden Germany
| | - Mariana Medina‐Sánchez
- Institute for Integrative Nanosciences Leibniz IFW Dresden Helmholtzstrasse 20 01069 Dresden Germany
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12
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Study the effect of static magnetic field intensity on drug delivery by magnetic nanoparticles. Sci Rep 2021; 11:18056. [PMID: 34508159 PMCID: PMC8433372 DOI: 10.1038/s41598-021-97499-7] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/27/2021] [Accepted: 08/06/2021] [Indexed: 11/14/2022] Open
Abstract
Employing the magnets in therapy has a long history of treating diseases, and currently new applications such as drug delivery by magnetic nanoparticles are gaining more attention. This research tried to study the effect of static magnetic field intensity on drug delivery by magnetic nanoparticles carrying thrombolytic agents. In this research, Fe3O4@SiO2 nanoparticles carrying streptokinase were applied. The efficiency of thrombolysis and micro-CT-scan images are utilized to study the effect of different magnetic fields (0.1, 0.2, 0.3 and 0.5 T) on thrombolysis. The results confirm that increasing the static magnetic field intensity accelerated the thrombolysis. Increasing the intensity of the magnetic field from 0.1 to 0.3 T leads to an increase in clot dissolution rate from 55 to 89%, respectively. Moreover, micro-CT-scan images revealed that magnetic nanoparticles carrying a thrombolytic agent penetrated deeper into the mesh-like structure of clot as the magnetic field intensities increased, which could lead to further dissolution of the clot.
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13
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Xiao X, Ma H, Zhang X. Flexible Photodriven Actuator Based on Gradient-Paraffin-Wax-Filled Ti 3C 2T x MXene Film for Bionic Robots. ACS NANO 2021; 15:12826-12835. [PMID: 34240849 DOI: 10.1021/acsnano.1c03950] [Citation(s) in RCA: 25] [Impact Index Per Article: 8.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Due to their high flexibility and adaptability, bionic robots have great potential in applications such as healthcare, rescue, and surveillance. The flexible actuator is an essential component of the bionic robot and determines its performance. Even though much progress has been achieved in bionic robot research, there still exists a great challenge in preparing a flexible actuator with a large stroke, high sensitivity, fast response, low triggering power, and long lifetime. This study presents a flexible actuator based on a paraffin wax and Ti3C2Tx MXene (PW-MX) film composite. Such a flexible actuator delivers an excellent actuation performance, including a large curvature change (2.2 × 102 m-1), high thermal sensitivity (4.6 m-1/°C), low triggering power of light (76 mW/cm2), wavelength selectivity, fast response (0.38 s), and long lifetime (>20000 cycles). Due to the high thermal sensitivity and the strong infrared absorption of the PW-MX film, crawling motion of an inchworm robot based on PW-MX film can be triggered by infrared irradiation from the human finger. To mimic living organisms with bioluminescence, we prepared a PW-MX actuator with green fluorescence by doping PW-MX film with CdSe/ZnS quantum dots. The integration of luminescent function enables the PW-MX actuator to deliver information under light stimulation and to camouflage under a background of green foliage actively. With its merits of ease of fabrication and high actuation performance, the flexible PW-MX actuator is expected to lend itself to more applications in the future.
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Affiliation(s)
- Xiao Xiao
- Faculty of Science, Beijing University of Technology, Beijing 100124, China
| | - He Ma
- Faculty of Science, Beijing University of Technology, Beijing 100124, China
| | - Xinping Zhang
- Faculty of Science, Beijing University of Technology, Beijing 100124, China
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14
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Venugopalan PL, Ghosh A. Investigating the Dynamics of the Magnetic Micromotors in Human Blood. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2021; 37:289-296. [PMID: 33351633 DOI: 10.1021/acs.langmuir.0c02881] [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
The field of micromotors has been growing exponentially with increased emphasis on biomedical applications, with various in vivo demonstrations of targeted drug delivery, biosensing, and gene delivery, among others. In parallel, these micromotors have been recently used for probing the rheological properties of both intra- and extracellular environments. Here, we demonstrate the application of magnetic micromotors for investigation of rheological properties of human blood. While there are several techniques to sense mechanical properties of blood, such as deformability of the red blood cells, this is the first experimental observation of using micromotors for these biophysical investigations. We hope that this will lead to a better understanding of the nature of interactions of micromotors with biological systems and expand the scope of micromotors for probing other related systems, such as interstitial fluids and other complex biological fluids.
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Affiliation(s)
| | - Ambarish Ghosh
- Centre for Nano Science and Engineering, Indian Institute of Science, Bengaluru 560012, India
- Department of Physics, Indian Institute of Science, Bengaluru 560012, India
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15
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Li D, Dong D, Lam W, Xing L, Wei T, Sun D. Automated In Vivo Navigation of Magnetic-Driven Microrobots Using OCT Imaging Feedback. IEEE Trans Biomed Eng 2020; 67:2349-2358. [DOI: 10.1109/tbme.2019.2960530] [Citation(s) in RCA: 19] [Impact Index Per Article: 4.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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16
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Abstract
Nanotherapies based on micelles, liposomes, polymersomes, nanocapsules, magnetic nanoparticles, and noble metal nanoparticles have been at the forefront of drug delivery in the past few decades. Some of these nanopharmaceuticals have been commercially applied to treat a wide range of diseases, from dry eye syndrome to cancer. However, the majority involve particles that are passive, meaning that they do not change shape, and they lack motility; the static features can limit their therapeutic efficacy. In this review, we take a critical look at an emerging field that seeks to utilize active matter for therapeutics. In this context, active matter can be broadly referred to as micro or nanosized constructs that energetically react with their environment or external fields and translate, rotate, vibrate or change shape. Essentially, the recent literature suggests that such particles could significantly augment present-day drug delivery, by enhancing transport and increasing permeability across anatomical barriers by transporting drugs within solid tumor microenvironments or disrupting cardiovascular plaque. We discuss examples of such particles and link the transport and permeability properties of active matter to potential therapeutic applications in the context of two major diseases, namely cancer and heart disease. We also discuss potential challenges, opportunities, and translational hurdles.
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Affiliation(s)
- Arijit Ghosh
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, Maryland 21218, USA
| | - Weinan Xu
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, Maryland 21218, USA
| | - Neha Gupta
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, Maryland 21218, USA
| | - David H. Gracias
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, Maryland 21218, USA
- Department of Materials Science and Engineering, Johns Hopkins University, Baltimore, Maryland 21218, USA
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17
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Xu H, Medina-Sánchez M, Maitz MF, Werner C, Schmidt OG. Sperm Micromotors for Cargo Delivery through Flowing Blood. ACS NANO 2020; 14:2982-2993. [PMID: 32096976 DOI: 10.1021/acsnano.9b07851] [Citation(s) in RCA: 116] [Impact Index Per Article: 29.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Micromotors are recognized as promising candidates for untethered micromanipulation and targeted cargo delivery in complex biological environments. However, their feasibility in the circulatory system has been limited due to the low thrust force exhibited by many of the reported synthetic micromotors, which is not sufficient to overcome the high flow and complex composition of blood. Here we present a hybrid sperm micromotor that can actively swim against flowing blood (continuous and pulsatile) and perform the function of heparin cargo delivery. In this biohybrid system, the sperm flagellum provides a high propulsion force while the synthetic microstructure serves for magnetic guidance and cargo transport. Moreover, single sperm micromotors can assemble into a train-like carrier after magnetization, allowing the transport of multiple sperm or medical cargoes to the area of interest, serving as potential anticoagulant agents to treat blood clots or other diseases in the circulatory system.
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Affiliation(s)
- Haifeng Xu
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069 Dresden, Germany
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), TU Chemnitz, Rosenbergstraße 6, 09126 Chemnitz, Germany
| | - Mariana Medina-Sánchez
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069 Dresden, Germany
| | - Manfred F Maitz
- Max Bergmann Center of Biomaterials, Leibniz Institute of Polymer Research Dresden, 01069 Dresden, Germany
| | - Carsten Werner
- Max Bergmann Center of Biomaterials, Leibniz Institute of Polymer Research Dresden, 01069 Dresden, Germany
| | - Oliver G Schmidt
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstraße 20, 01069 Dresden, Germany
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), TU Chemnitz, Rosenbergstraße 6, 09126 Chemnitz, Germany
- School of Science, TU Dresden, 01062 Dresden, Germany
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Berkelman P, Tix B. Simultaneous Independent Translational and Rotational Feedback Motion Control System for a Cylindrical Magnet using Planar Arrays of Magnetic Sensors and Cylindrical Coils. IEEE MAGNETICS LETTERS 2020; 11:1-5. [PMID: 33777328 PMCID: PMC7996633 DOI: 10.1109/lmag.2020.3038586] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/10/2023]
Abstract
This letter describes an electromagnetic feedback control system for rigid-body motion control of a magnet. Its novel features are that sensing and actuation using magnetometer sensors and actuator coils operate simultaneously, and magnetic field models from the controlled magnet and each of the actuator coil currents are used together to calculate the 3D position and orientation of the magnet to control motion simultaneously and independently in multiple degrees of freedom including planar translation and two in rotation, leaving rotation about the cylindrical axis of magnetization uncontrolled. The system configuration and the localization and actuation methods are presented with experimental results of magnet localization with constant and varying coil currents, and during feedback control of trajectory following motion of the magnet in multiple directions on a planar surface and with controlled changes in orientation. The intended application of the system is for motion control of magnetic endoscope capsules and other miniature medical devices inside the human body.
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Affiliation(s)
- Peter Berkelman
- Department of Mechanical Engineering at the University of Hawaii-Manoa, Honolulu, HI, 96822 USA
| | - Bernadette Tix
- Information and Computer Sciences Department at the University of Hawaii-Manoa
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19
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Cai QW, Ju XJ, Zhang SY, Chen ZH, Hu JQ, Zhang LP, Xie R, Wang W, Liu Z, Chu LY. Controllable Fabrication of Functional Microhelices with Droplet Microfluidics. ACS APPLIED MATERIALS & INTERFACES 2019; 11:46241-46250. [PMID: 31739661 DOI: 10.1021/acsami.9b17763] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/28/2023]
Abstract
Microhelices with unique three-dimensional (3D) helical structures have attracted great attention due to applications in various fields, especially magnetic microhelices can be applied as microrobots for removal of clogging substance in microchannels, cargo transport, cell manipulation, and so on. Here, a facile and flexible strategy is developed to controllably fabricate microhelices with droplet microfluidics. On-flow fabrication of microhelices is simply achieved by generating monodisperse droplets first, transforming the spherical droplets into helical templates subsequently due to the liquid rope coiling effect, followed by polymerizing monomers in the templates via on-line UV irradiation and then degrading the shells of helical fibers. Benefitting from the flexible controllability of microfluidics, the morphologies of microhelices can be precisely controlled by adjusting the flow rates of fluids and the structures of microfluidic devices. Functional microhelices can be easily prepared by introducing functional components or elements into inner fluids. By introducing magnetic nanoparticles into inner fluids, magnetic microhelices are easily fabricated as microrobots that featured with magnetic-field-driven corkscrew-like motion for efficient cargo transport and removal of clogging substance in microchannels. This novel microfabrication method allows a precise morphological control and easy functionalization of microhelices, providing a flexible and versatile strategy for fabricating designer functional microhelices for diverse applications.
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