Mechanical tuning of mammalian sperm behaviour by hyperactivation, rheology and substrate adhesion: a numerical exploration

Fluid flow reconstruction around a free-swimming sperm in 3D

We investigate the dynamics and hydrodynamics of a human spermatozoa swimming freely in 3D. We simultaneously track the sperm flagellum and the sperm head orientation in the laboratory frame of reference via high-speed high-resolution 4D (3D+t) microscopy, and extract the flagellar waveform relative to the body frame of reference, as seen from a frame of reference that translates and rotates with the sperm in 3D. Numerical fluid flow reconstructions of sperm motility are performed utilizing the experimental 3D waveforms, with excellent accordance between predicted and observed 3D sperm kinematics. The reconstruction accuracy is validated by directly comparing the three linear and three angular sperm velocities with experimental measurements. Our microhydrodynamic analysis reveals a novel fluid flow pattern, characterized by a pair of vortices that circulate in opposition to each other along the sperm cell. Finally, we show that the observed sperm counter-vortices are not unique to the experimental beat, and can be reproduced by idealised waveform models, thus suggesting a fundamental flow structure for free-swimming sperm propelled by a 3D beating flagellum.

Bio-inspired progressive motile sperm separation using joint rheotaxis and boundary-following behavior

Infertility, as a daunting ever-increasing challenge, poses a worldwide issue to both couples and the healthcare sector. According to the World Health Organization, half of infertility cases are attributed to male factor infertility, either partly or completely. Semen parameters of concern including sperm count, morphology, and motility are deemed to play a vital role in the insemination process. Density gradient centrifugation, being a clinically established procedure for improving on the mentioned parameters, has long been proven to inflict damage on the DNA content of the sperm cells, inducing DNA fragmentation. Herein, a bio-inspired microfluidic device is proposed that capitalizes on the geometry of the uterotubal junction (UTJ) of the female reproductive tract, which can act as a rheological barrier. The device leverages sperm rheotaxis and boundary-following behavior which have been considered as major migratory mechanisms used by sperm during the fertilization process in the female body. The device consists of a series of parallel channels that guide progressive motile sperms into the main sorting channel, where the hydrodynamic barriers created by two consecutive UTJ-like constrictions select sperms based on their propulsive velocity and linearity of motion. The sequential sorting employed here allows for the fractionation of the sperm population into two subpopulations with varying degrees of motility. Both sorted populations showed a significant increase in straight line velocity, reaching 63.4 ± 14.4 μm s-1 and 74 ± 13.8 μm s-1 in the first and second pools, respectively from 35.2 ± 27.2 μm s-1 in raw semen. Additionally, sorted populations demonstrated over 30% reduction in DNA fragmentation index, an indication that the proposed device selects for undamaged sperms with high quality. Apart from the biological superiority of the sorted sperms, this device presents itself as an easy and clinically-applicable method for the separation of progressive motile sperms, while at the same time, benefiting from a straightforward procedure for sperm retrieval.

Construction of intelligent moving micro/nanomotors and their applications in biosensing and disease treatment

Micro/nanomotors are containers that pass through liquid media and carry cargo. Because they are tiny, micro/nanomotors exhibit excellent potential for biosensing and disease treatment applications. However, their size also makes overcoming random Brownian forces very challenging for micro/nanomotors moving on targets. Additionally, to achieve desired practical applications, the expensive materials, short lifetimes, poor biocompatibility, complex preparation methods, and side effects of micro/nanomotors must be addressed, and potential adverse effects must be evaluated both in vivo and in practical applications. This has led to the continuous development of key materials for driving micro/nanomotors. In this work, we review the working principles of micro/nanomotors. Metallic and nonmetallic nanocomplexes, enzymes, and living cells are explored as key materials for driving micro/nanomotors. We also consider the effects of exogenous stimulations and endogenous substance conditions on micro/nanomotor motions. The discussion focuses on micro/nanomotor applications in biosensing, treating cancer and gynecological diseases, and assisted fertilization. By addressing micro/nanomotor shortcomings, we propose directions for further developing and applying micro/nanomotors.

"Motile-targeting" drug delivery platforms based on micro/nanorobots for tumor therapy

Traditional drug delivery systems opened the gate for tumor-targeted therapy, but they generally took advantage of enhanced permeability and retention or ligand-receptor mediated interaction, and thus suffered from limited recognition range (<0.5 nm) and low targeting efficiency (0.7%, median). Alternatively, micro/nanorobots (MNRs) may act as emerging "motile-targeting" drug delivery platforms to deliver therapeutic payloads, thereby making a giant step toward effective and safe cancer treatment due to their autonomous movement and navigation in biological media. This review focuses on the most recent developments of MNRs in "motile-targeting" drug delivery. After a brief introduction to traditional tumor-targeted drug delivery strategies and various MNRs, the representative applications of MNRs in "motile-targeting" drug delivery are systematically streamlined in terms of the propelling mechanisms. Following a discussion of the current challenges of each type of MNR in biomedical applications, as well as future prospects, several promising designs for MNRs that could benefit in "motile-targeting" drug delivery are proposed. This work is expected to attract and motivate researchers from different communities to advance the creation and practical application of the "motile-targeting" drug delivery platforms.

Performance of a Helical Microswimmer Traversing a Discrete Viscoelastic Network with Dynamic Remodeling

Microorganisms often navigate a complex environment composed of a viscous fluid with suspended microstructures such as elastic polymers and filamentous networks. These microstructures can have similar length scales to the microorganisms, leading to complex swimming dynamics. Some microorganisms secrete enzymes that dynamically change the elastic properties of the viscoelastic networks through which they move. In addition to biological organisms, microrobots have been engineered with the goals of mucin gel penetration or dissolving blood clots. In order to gain insight into the coupling between swimming performance and network remodeling, we used a regularized Stokeslet boundary element method to compute the motion of a microswimmer consisting of a rotating spherical body and counter-rotating helical flagellum. The viscoelastic network is represented by a network of points connected by virtual elastic linkages immersed in a viscous fluid. Here, we model the enzymatic dissolution of the network by bacteria or microrobots by dynamically breaking elastic linkages when the cell body of the swimmer falls within a given distance from the link. We investigate the swimming performance of the microbes as they penetrate and move through networks of different material properties, and also examine the effect of network remodeling.

Driving a Microswimmer with Wall-Induced Flow

Active walls such as cilia and bacteria carpets generate background flows that can influence the trajectories of microswimmers moving nearby. Recent advances in artificial magnetic cilia carpets offer the potentiality to use a similar wall-generated background flow to steer bio-hybrid microrobots. In this paper, we provide some ground theoretical and numerical work assessing the viability of this novel means of swimmer guidance by setting up a simple model of a spherical swimmer in an oscillatory flow and analysing it from the control theory viewpoint. We show a property of local controllability around the reference free trajectories and investigate the bang-bang structure of the control for time-optimal trajectories, with an estimation of the minimal time for suitable objectives. By direct simulation, we have demonstrated that the wall actuation can improve the wall-following transport by nearly 50%, which can be interpreted by synchronous flow structure. Although an open-loop control with a periodic bang-bang actuation loses some robustness and effectiveness, a feedback control is found to improve its robustness and effective transport, even with hydrodynamic wall-swimmer interactions. The results shed light on the potentialities of flow control and open the way to future experiments on swimmer guidance.

Rolling controls sperm navigation in response to the dynamic rheological properties of the environment

Mammalian sperm rolling around their longitudinal axes is a long-observed component of motility, but its function in the fertilization process, and more specifically in sperm migration within the female reproductive tract, remains elusive. While investigating bovine sperm motion under simple shear flow and in a quiescent microfluidic reservoir and developing theoretical and computational models, we found that rolling regulates sperm navigation in response to the rheological properties of the sperm environment. In other words, rolling enables a sperm to swim progressively even if the flagellum beats asymmetrically. Therefore, a rolling sperm swims stably along the nearby walls (wall-dependent navigation) and efficiently upstream under an external fluid flow (rheotaxis). By contrast, an increase in ambient viscosity and viscoelasticity suppresses rolling, consequently, non-rolling sperm are less susceptible to nearby walls and external fluid flow and swim in two-dimensional diffusive circular paths (surface exploration). This surface exploration mode of swimming is caused by the intrinsic asymmetry in flagellar beating such that the curvature of a sperm's circular path is proportional to the level of asymmetry. We found that the suppression of rolling is reversible and occurs in sperm with lower asymmetry in their beating pattern at higher ambient viscosity and viscoelasticity. Consequently, the rolling component of motility may function as a regulatory tool allowing sperm to navigate according to the rheological properties of the functional region within the female reproductive tract.

Modelling Motility: The Mathematics of Spermatozoa

In one of the first examples of how mechanics can inform axonemal mechanism, Machin's study in the 1950s highlighted that observations of sperm motility cannot be explained by molecular motors in the cell membrane, but would instead require motors distributed along the flagellum. Ever since, mechanics and hydrodynamics have been recognised as important in explaining the dynamics, regulation, and guidance of sperm. More recently, the digitisation of sperm videomicroscopy, coupled with numerous modelling and methodological advances, has been bringing forth a new era of scientific discovery in this field. In this review, we survey these advances before highlighting the opportunities that have been generated for both recent research and the development of further open questions, in terms of the detailed characterisation of the sperm flagellum beat and its mechanics, together with the associated impact on cell behaviour. In particular, diverse examples are explored within this theme, ranging from how collective behaviours emerge from individual cell responses, including how these responses are impacted by the local microenvironment, to the integration of separate advances in the fields of flagellar analysis and flagellar mechanics.

Human spermbots for patient-representative 3D ovarian cancer cell treatment

Cellular micromotors are attractive for locally delivering high concentrations of drug, and targeting hard-to-reach disease sites such as cervical cancer and early ovarian cancer lesions by non-invasive means. Spermatozoa are highly efficient micromotors perfectly adapted to traveling up the female reproductive system. Indeed, bovine sperm-based micromotors have shown potential to carry drugs toward gynecological cancers. However, due to major differences in the molecular make-up of bovine and human sperm, a key translational bottleneck for bringing this technology closer to the clinic is to transfer this concept to human material. Here, we successfully load human sperm with Doxorubicin (DOX) and perform treatment of 3D cervical cancer and patient-representative ovarian cancer cell cultures, resulting in strong anticancer cell effects. Additionally, we define the subcellular localization of the chemotherapeutic drug within human sperm, using high-resolution optical microscopy. We also assess drug effects on sperm motility and viability over time, employing sperm samples from healthy donors as well as assisted reproduction patients. Finally, we demonstrate guidance and release of human drug-loaded sperm onto cancer tissues using magnetic microcaps, and show the sperm microcap loaded with a second anticancer drug, camptothecin (CPT), which unlike DOX is not suitable for directly loading into sperm due to its hydrophobic nature. This co-drug delivery approach opens up novel targeted combinatorial drug therapies for future applications.

Emergent three-dimensional sperm motility: coupling calcium dynamics and preferred curvature in a Kirchhoff rod model

Changes in calcium concentration along the sperm flagellum regulate sperm motility and hyperactivation, characterized by an increased flagellar bend amplitude and beat asymmetry, enabling the sperm to reach and penetrate the ovum (egg). The signalling pathways by which calcium increases within the flagellum are well established. However, the exact mechanisms of how calcium regulates flagellar bending are still under investigation. We extend our previous model of planar flagellar bending by developing a fluid-structure interaction model that couples the 3D motion of the flagellum in a viscous Newtonian fluid with the evolving calcium concentration. The flagellum is modelled as a Kirchhoff rod: an elastic rod with preferred curvature and twist. The calcium dynamics are represented as a 1D reaction-diffusion model on a moving domain, the flagellum. The two models are coupled assuming that the preferred curvature and twist of the sperm flagellum depend on the local calcium concentration. To investigate the effect of calcium on sperm motility, we compare model results of flagellar bend amplitude and swimming speed for three cases: planar, helical (spiral with equal amplitude in both directions), and quasi-planar (spiral with small amplitude in one direction). We observe that for the same parameters, the planar swimmer is faster and a turning motion is more clearly observed when calcium coupling is accounted for in the model. In the case of flagellar bending coupled to the calcium concentration, we observe emergent trajectories that can be characterized as a hypotrochoid for both quasi-planar and helical bending.

Sperm Micromotors for Cargo Delivery through Flowing Blood

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.

Dynamics of Swimmers in Fluids with Resistance

Micro-swimmers such as spermatozoa are able to efficiently navigate through viscous fluids that contain a sparse network of fibers or other macromolecules. We utilize the Brinkman equation to capture the fluid dynamics of sparse and stationary obstacles that are represented via a single resistance parameter. The method of regularized Brinkmanlets is utilized to solve for the fluid flow and motion of the swimmer in 2-dimensions when assuming the flagellum (tail) propagates a curvature wave. Extending previous studies, we investigate the dynamics of swimming when varying the resistance parameter, head or cell body radius, and preferred beat form parameters. For a single swimmer, we determine that increased swimming speed occurs for a smaller cell body radius and smaller fluid resistance. Progression of swimmers exhibits complex dynamics when considering hydrodynamic interactions; attraction of two swimmers is a robust phenomenon for smaller beat amplitude of the tail and smaller fluid resistance. Wall attraction is also observed, with a longer time scale of wall attraction with a larger resistance parameter.

Micro/nanomachines: what is needed for them to become a real force in cancer therapy?

Conventional drug delivery systems face several issues in medical applications, such as cyto/genotoxicity and off-targeting. These issues are particularly significant for cancer therapeutics because many of the currently used systems are toxic in their free form. Self-propelled autonomous micro/nanomachines offer promising alternative drug delivery systems based on high cargo loading, fast autonomous movement, precise targeting and the on-demand release of therapeutics in vivo. With this unique set of properties, it is not surprising that they are receiving considerable research attention. However, much less is reported about the drawbacks that hinder their systemic in vivo application. In this review, a biomedical perspective is used to assess micro/nanomotor-based anticancer drug delivery systems reported to date. Advantages along with present issues are highlighted and recommendations which need to be considered to develop an effective biocompatible micro/nanomotor-based delivery system for cancer therapy are discussed.

Response of monoflagellate pullers to a shearing flow: A simulation study of microswimmer guidance

Microscale swimming may be intuited to be dominated by background flows, sweeping away any untethered bodies with the prevalent flow direction. However, it has been observed that many microswimmers utilize ambient flows as guidance cues, in some cases resulting in net motion upstream, contrary to the dominant background fluid direction and our accompanying intuition. Thus the hydrodynamic response of small-scale motile organisms requires careful analysis of the complex interaction between swimmer and environment. Here we investigate the effects of a Newtonian shear flow on monoflagellated swimmers with specified body symmetry, representing, for instance, the Leishmania mexicana promastigote, a parasitic hydrodynamic puller that inhabits the microenvironment of a sandfly vector midgut and is the cause of a major and neglected human tropical disease. We observe that a lack of symmetry-breaking cellular geometry results in the periodic tumbling of swimmers in the bulk, with the rotations exhibiting a linear response to changes in shearing rate enabling analytic approximation. In order to draw comparisons with the better-studied pushers, we additionally consider virtual Leishmania promastigotes in a confined but typical geometry, that of a no-slip planar solid boundary, and note that in general stable guided taxis is not exhibited amongst the range of observed behaviors. However, a repulsive boundary gives rise to significant continued taxis in the presence of shearing flow, a phenomenon that may be of particular pertinence to the infective lifecycle stage of such swimmers subject to the assumption of a Newtonian medium. We finally propose a viable and general in vitro method of controlling microswimmer boundary accumulation using temporally evolving background shear flows, based on the analysis of phase-averaged dynamics and verified in silico.

Boundary behaviours of Leishmania mexicana: A hydrodynamic simulation study

It is well established that the parasites of the genus Leishmania exhibit complex surface interactions with the sandfly vector midgut epithelium, but no prior study has considered the details of their hydrodynamics. Here, the boundary behaviours of motile Leishmania mexicana promastigotes are explored in a computational study using the boundary element method, with a model flagellar beating pattern that has been identified from digital videomicroscopy. In particular a simple flagellar kinematics is observed and quantified using image processing and mode identification techniques, suggesting a simple mechanical driver for the Leishmania beat. Phase plane analysis and long-time simulation of a range of Leishmania swimming scenarios demonstrate an absence of stable boundary motility for an idealised model promastigote, with behaviours ranging from boundary capture to deflection into the bulk both with and without surface forces between the swimmer and the boundary. Indeed, the inclusion of a short-range repulsive surface force results in the deflection of all surface-bound promastigotes, suggesting that the documented surface detachment of infective metacyclic promastigotes may be the result of their particular morphology and simple hydrodynamics. Further, simulation elucidates a remarkable morphology-dependent hydrodynamic mechanism of boundary approach, hypothesised to be the cause of the well-established phenomenon of tip-first epithelial attachment of Leishmania promastigotes to the sandfly vector midgut.

Hydrodynamic Clustering of Human Sperm in Viscoelastic Fluids

We have numerically investigated sperm clustering behaviours, modelling cells as superpositions of regularised flow singularities, coarse-grained from experimentally obtained digital microscopy of human sperm, both in watery medium and a highly viscous-weakly elastic, methylcellulose medium. We find that the cell yaw and cell pulling dynamics inhibit clustering in low viscosity media. In contrast clustering is readily visible in simulations modelling sperm within a methylcellulose medium, in line with previous observations that bovine sperm clustering is much more prominent in a rheological polyacrylamide medium. Furthermore, the fine-scale details of sperm flagellar movement substantially impact large-scale collective behaviours, further motivating the need for the digital microscopy and characterization of sperm to understand their dynamics.

Human sperm swimming in a high viscosity mucus analogue

Remarkably, mammalian sperm maintain a substantive proportion of their progressive swimming speed within highly viscous fluids, including those of the female reproductive tract. Here, we analyse the digital microscopy of a human sperm swimming in a highly viscous, weakly elastic mucus analogue. We exploit principal component analysis to simplify its flagellar beat pattern, from which boundary element calculations are used to determine the time-dependent flow field around the sperm cell. The sperm flow field is further approximated in terms of regularised point forces, and estimates of the mechanical power consumption are determined, for comparison with analogous low viscosity media studies. This highlights extensive differences in the structure of the flows surrounding human sperm in different media, indicating how the cell-cell and cell-boundary hydrodynamic interactions significantly differ with the physical microenvironment. The regularised point force decomposition also provides cell-level information that may ultimately be incorporated into sperm population models. We further observe indications that the core feature in explaining the effectiveness of sperm swimming in high viscosity media is the loss of cell yawing, which is related with a greater density of regularised point force singularities along the axis of symmetry of the flagellar beat to represent the flow field. In turn this implicates a reduction of the wavelength of the distal beat pattern - and hence dynamical wavelength selection of the flagellar beat - as the dominant feature governing the effectiveness of sperm swimming in highly viscous media.

Sperm-Hybrid Micromotor for Targeted Drug Delivery

A sperm-driven micromotor is presented as a targeted drug delivery system, which is appealing to potentially treat diseases in the female reproductive tract. This system is demonstrated to be an efficient drug delivery vehicle by first loading a motile sperm cell with an anticancer drug (doxorubicin hydrochloride), guiding it magnetically, to an in vitro cultured tumor spheroid, and finally freeing the sperm cell to deliver the drug locally. The sperm release mechanism is designed to liberate the sperm when the biohybrid micromotor hits the tumor walls, allowing it to swim into the tumor and deliver the drug through the sperm-cancer cell membrane fusion. In our experiments, the sperm cells exhibited a high drug encapsulation capability and drug carrying stability, conveniently minimizing  toxic side effects and unwanted drug accumulation in healthy tissues. Overall, sperm cells are excellent candidates to operate in physiological environments, as they neither express pathogenic proteins nor proliferate to form undesirable colonies, unlike other cells or microorganisms. This sperm-hybrid micromotor is a biocompatible platform with potential application in gynecological healthcare, treating or detecting cancer or other diseases in the female reproductive system.

CASA in the medical laboratory: CASA in diagnostic andrology and assisted conception

CASA has been used in reproductive medicine and pathology laboratories for over 25 years, yet the ‘fertility industry’ generally remains sceptical and has avoided automation, despite clear weaknesses in manual semen analysis. Early implementers had difficulty in validating CASA-Mot instruments against recommended manual methods (haemocytometer) due to the interference of seminal debris and non-sperm cells, which also affects the accuracy of grading motility. Both the inability to provide accurate sperm counts and a lack of consensus as to the value of sperm kinematic parameters appear to have continued to have a negative effect on CASA-Mot’s reputation. One positive interpretation from earlier work is that at least one or more measures of sperm velocity adds clinical value to the semen analysis, and these are clearly more objective than any manual motility analysis. Moreover, recent CASA-Mot systems offer simple solutions to earlier problems in eliminating artefacts and have been successfully validated for sperm concentration; as a result, they should be viewed with more confidence in relation to motility grading. Sperm morphology and DNA testing both require an evidence-based consensus and a well-validated (reliable, reproducible) assay to be developed before automation of either can be of real clinical benefit.

Guidance of microswimmers by wall and flow: Thigmotaxis and rheotaxis of unsteady squirmers in two and three dimensions

The motions of an unsteady circular-disk squirmer and a spherical squirmer have been investigated in the presence of a no-slip infinite wall and a background shear flow in order to clarify the similarities and differences between two- and three-dimensional motions. Despite the similar bifurcation structure of the dynamical system, the stability of the fixed points differs due to the Hamiltonian structure of the disk squirmer. Once the unsteady oscillating surface velocity profile is considered, the disk squirmer can behave in a chaotic manner and cease to be confined in a near-wall region. In contrast, in an unsteady spherical squirmer, the dynamics is well attracted by a stable fixed point. Additional wall contact interactions lead to stable fixed points for the disk squirmer, and, in turn, the surface entrapment of the disk squirmer can be stabilized, regardless of the existence of the background flow. Finally, we consider spherical motion under a background flow. The separated time scales of the surface entrapment (thigmotaxis) and the turning toward the flow direction (rheotaxis) enable us to reduce the dynamics to two-dimensional phase space, and simple weather-vane mechanics can predict squirmer rheotaxis. The analogous structure of the phase plane with the wall contact in two and three dimensions implies that the two-dimensional disk swimmer successfully captures the nonlinear interactions, and thus two-dimensional approximation could be useful in designing microfluidic devices for the guidance of microswimmers and for clarifying the locomotions in a complex geometry.

Biomechanics of the human uterus

The appropriate biomechanical function of the uterus is required for the execution of human reproduction. These functions range from aiding the transport of the embryo to the implantation site, to remodeling its tissue walls to host the placenta, to protecting the fetus during gestation, to contracting forcefully for a safe parturition and postpartum, to remodeling back to its nonpregnant condition to renew the cycle of menstruation. To serve these remarkably diverse functions, the uterus is optimally geared with evolving and contractile muscle and tissue layers that are cued by chemical, hormonal, electrical, and mechanical signals. The relationship between these highly active biological signaling mechanisms and uterine biomechanical function is not completely understood for normal reproductive processes and pathological conditions such as adenomyosis, endometriosis, infertility and preterm labor. Animal studies have illuminated the rich structural function of the uterus, particularly in pregnancy. In humans, medical imaging techniques in ultrasound and magnetic resonance have been combined with computational engineering techniques to characterize the uterus in vivo, and advanced experimental techniques have explored uterine function using ex vivo tissue samples. The collective evidence presented in this review gives an overall perspective on uterine biomechanics related to both its nonpregnant and pregnant function, highlighting open research topics in the field. Additionally, uterine disease and infertility are discussed in the context of tissue injury and repair processes and the role of computational modeling in uncovering etiologies of disease. WIREs Syst Biol Med 2017, 9:e1388. doi: 10.1002/wsbm.1388 For further resources related to this article, please visit the WIREs website.