1
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Cherukumilli S, Kirmizitas FC, Rivas DP, Sokolich M, Karakan MC, White AE, Das S. Programmable acoustic modular microrobots. JOURNAL OF MICRO-BIO ROBOTICS 2024; 20:11. [PMID: 39105158 PMCID: PMC11297829 DOI: 10.1007/s12213-024-00175-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/23/2024] [Revised: 07/24/2024] [Accepted: 07/26/2024] [Indexed: 08/07/2024]
Abstract
The field of microrobotics has emerged as a promising area of research with significant applications in biomedicine, both in vitro and in vivo, such as targeted cargo delivery, microsurgery, and cellular manipulation. Microrobots actuated with multiple modalities have the potential for greater adaptability, robustness, and capability to perform various tasks. Modular units that can reconfigure into various shapes, create structures that may be difficult to fabricate as one whole unit, and be assembled on-site, could provide more versatility by assembly and disassembly of units on demand. Such multi-modal modular microrobots have the potential to address challenging applications. Here, we present a biocompatible cylindrical microrobot with a dome-shaped cavity. The microrobot is actuated by both magnetic and acoustic fields and forms modular microstructures of various shapes. We demonstrate the use of these microrobots for cellular manipulation by creating patterns on a surface. Supplementary Information The online version contains supplementary material available at 10.1007/s12213-024-00175-y.
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Affiliation(s)
| | - Fatma Ceren Kirmizitas
- Department of Mechanical Engineering, University of Delaware, Newark, 19711 DE USA
- Department of Animal and Food Sciences, University of Delaware, Newark, 19711 DE USA
| | - David P. Rivas
- Department of Mechanical Engineering, University of Delaware, Newark, 19711 DE USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, 19711 DE USA
| | - M. Cagatay Karakan
- Department of Biomedical Engineering, Boston University, Boston, 02215 MA USA
| | - Alice E. White
- Department of Mechanical Engineering, and the Departments of Biomedical Engineering and Materials Science and Engineering, Boston University, Boston, 02215 MA USA
| | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, 19711 DE USA
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2
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Wang L, Sheng M, Chen L, Yang F, Li C, Li H, Nie P, Lv X, Guo Z, Cao J, Wang X, Li L, Hu AL, Guan D, Du J, Cui H, Zheng X. Sub-Nanogram Resolution Measurement of Inertial Mass and Density Using Magnetic-Field-Guided Bubble Microthruster. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2403867. [PMID: 38773950 PMCID: PMC11304303 DOI: 10.1002/advs.202403867] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/12/2024] [Revised: 05/12/2024] [Indexed: 05/24/2024]
Abstract
Artificial micro/nanomotors using active particles hold vast potential in applications such as drug delivery and microfabrication. However, upgrading them to micro/nanorobots capable of performing precise tasks with sophisticated functions remains challenging. Bubble microthruster (BMT) is introduced, a variation of the bubble-driven microrobot, which focuses the energy from a collapsing microbubble to create an inertial impact on nearby target microparticles. Utilizing ultra-high-speed imaging, the microparticle mass and density is determined with sub-nanogram resolution based on the relaxation time characterizing the microparticle's transient response. Master curves of the BMT method are shown to be dependent on the viscosity of the solution. The BMT, controlled by a gamepad with magnetic-field guidance, precisely manipulates target microparticles, including bioparticles. Validation involves measuring the polystyrene microparticle mass and hollow glass microsphere density, and assessing the mouse embryo mass densities. The BMT technique presents a promising chip-free, real-time, highly maneuverable strategy that integrates bubble microrobot-based manipulation with precise bioparticle mass and density detection, which can facilitate microscale bioparticle characterizations such as embryo growth monitoring.
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Affiliation(s)
- Leilei Wang
- State Key Laboratory of Nonlinear MechanicsBeijing Key Laboratory of Engineered Construction and MechanobiologyInstitute of MechanicsChinese Academy of SciencesBeijing100190China
| | - Minjia Sheng
- School of Building Services Science and EngineeringXi'an University of Architecture and TechnologyXi'an710055China
| | - Li Chen
- School of Building Services Science and EngineeringXi'an University of Architecture and TechnologyXi'an710055China
| | - Fengchang Yang
- State Key Laboratory of Nonlinear MechanicsBeijing Key Laboratory of Engineered Construction and MechanobiologyInstitute of MechanicsChinese Academy of SciencesBeijing100190China
| | - Chenlu Li
- School of Building Services Science and EngineeringXi'an University of Architecture and TechnologyXi'an710055China
| | - Hangyu Li
- State Key Laboratory of Nonlinear MechanicsBeijing Key Laboratory of Engineered Construction and MechanobiologyInstitute of MechanicsChinese Academy of SciencesBeijing100190China
- School of Engineering ScienceUniversity of Chinese Academy of SciencesBeijing100049China
| | - Pengcheng Nie
- State Key Laboratory of Nonlinear MechanicsBeijing Key Laboratory of Engineered Construction and MechanobiologyInstitute of MechanicsChinese Academy of SciencesBeijing100190China
- School of Engineering ScienceUniversity of Chinese Academy of SciencesBeijing100049China
| | - Xinxin Lv
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of EducationBeijing Advanced Innovation Center for Biomedical EngineeringSchool of Biological Science and Medical EngineeringBeihang UniversityBeijing100083China
| | - Zheng Guo
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of EducationBeijing Advanced Innovation Center for Biomedical EngineeringSchool of Biological Science and Medical EngineeringBeihang UniversityBeijing100083China
| | - Jialing Cao
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of EducationBeijing Advanced Innovation Center for Biomedical EngineeringSchool of Biological Science and Medical EngineeringBeihang UniversityBeijing100083China
| | - Xiaohuan Wang
- State Key Laboratory of Nonlinear MechanicsBeijing Key Laboratory of Engineered Construction and MechanobiologyInstitute of MechanicsChinese Academy of SciencesBeijing100190China
| | - Long Li
- State Key Laboratory of Nonlinear MechanicsBeijing Key Laboratory of Engineered Construction and MechanobiologyInstitute of MechanicsChinese Academy of SciencesBeijing100190China
| | - Anthony L. Hu
- The High School Affiliated to Renmin University of ChinaBeijing100080China
| | - Dongshi Guan
- State Key Laboratory of Nonlinear MechanicsBeijing Key Laboratory of Engineered Construction and MechanobiologyInstitute of MechanicsChinese Academy of SciencesBeijing100190China
- School of Engineering ScienceUniversity of Chinese Academy of SciencesBeijing100049China
| | - Jing Du
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of EducationBeijing Advanced Innovation Center for Biomedical EngineeringSchool of Biological Science and Medical EngineeringBeihang UniversityBeijing100083China
| | - Haihang Cui
- School of Building Services Science and EngineeringXi'an University of Architecture and TechnologyXi'an710055China
| | - Xu Zheng
- State Key Laboratory of Nonlinear MechanicsBeijing Key Laboratory of Engineered Construction and MechanobiologyInstitute of MechanicsChinese Academy of SciencesBeijing100190China
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3
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Wei K, Tang C, Ma H, Fang X, Yang R. 3D-printed microrobots for biomedical applications. Biomater Sci 2024. [PMID: 39041236 DOI: 10.1039/d4bm00674g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/24/2024]
Abstract
Microrobots, which can perform tasks in difficult-to-reach parts of the human body under their own or external power supply, are potential tools for biomedical applications, such as drug delivery, microsurgery, imaging and monitoring, tissue engineering, and sensors and actuators. Compared with traditional fabrication methods for microrobots, recent improvements in 3D printers enable them to print high-precision microrobots, breaking through the limitations of traditional micromanufacturing technologies that require high skills for operators and greatly shortening the design-to-production cycle. Here, this review first introduces typical 3D printing technologies used in microrobot manufacturing. Then, the structures of microrobots with different functions and application scenarios are discussed. Next, we summarize the materials (body materials, propulsion materials and intelligent materials) used in 3D microrobot manufacturing to complete body construction and realize biomedical applications (e.g., drug delivery, imaging and monitoring). Finally, the challenges and future prospects of 3D printed microrobots in biomedical applications are discussed in terms of materials, manufacturing and advancement.
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Affiliation(s)
- Kun Wei
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Chenlong Tang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Hui Ma
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Xingmiao Fang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
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4
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He T, Yang Y, Chen XB. Propulsion mechanisms of micro/nanorobots: a review. NANOSCALE 2024; 16:12696-12734. [PMID: 38940742 DOI: 10.1039/d4nr01776e] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/29/2024]
Abstract
Micro/nanomotors (MNMs) are intelligent, efficient and promising micro/nanorobots (MNR) that can respond to external stimuli (e.g., chemical energy, temperature, light, pH, ultrasound, magnetic, biosignals, ions) and perform specific tasks. The MNR can adapt to different external stimuli and transform into various functional forms to match different application scenarios. So far, MNR have found extensive application in targeted therapy, drug delivery, tissue engineering, environmental remediation, and other fields. Despite the promise of MNR, there are few reviews that focus on them. To shed new light on the further development of the field, it is necessary to provide an overview of the current state of development of these MNR. Therefore, this paper reviews the research progress of MNR in terms of propulsion mechanisms, and points out the pros and cons of different stimulus types. Finally, this paper highlights the current challenges faced by MNR and proposes possible solutions to facilitate the practical application of MNR.
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Affiliation(s)
- Tao He
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
| | - Yonghui Yang
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
| | - Xue-Bo Chen
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China.
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5
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Lu L, Zhao H, Lu Y, Zhang Y, Wang X, Fan C, Li Z, Wu Z. Design and Control of the Magnetically Actuated Micro/Nanorobot Swarm toward Biomedical Applications. Adv Healthc Mater 2024; 13:e2400414. [PMID: 38412402 DOI: 10.1002/adhm.202400414] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/02/2024] [Revised: 02/22/2024] [Indexed: 02/29/2024]
Abstract
Recently, magnetically actuated micro/nanorobots hold extensive promises in biomedical applications due to their advantages of noninvasiveness, fuel-free operation, and programmable nature. While effectively promised in various fields such as targeted delivery, most past investigations are mainly displayed in magnetic control of individual micro/nanorobots. Facing practical medical use, the micro/nanorobots are required for the development of swarm control in a closed-loop control manner. This review outlines the recent developments in magnetic micro/nanorobot swarms, including their actuating fundamentals, designs, controls, and biomedical applications. The fundamental principles and interactions involved in the formation of magnetic micro/nanorobot swarms are discussed first. The recent advances in the design of artificial and biohybrid micro/nanorobot swarms, along with the control devices and methods used for swarm manipulation, are presented. Furthermore, biomedical applications that have the potential to achieve clinical application are introduced, such as imaging-guided therapy, targeted delivery, embolization, and biofilm eradication. By addressing the potential challenges discussed toward the end of this review, magnetic micro/nanorobot swarms hold promise for clinical treatments in the future.
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Affiliation(s)
- Lu Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Hongqiao Zhao
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yucong Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yuxuan Zhang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Xinran Wang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Chengjuan Fan
- The Second Affiliated Hospital of Harbin Medical University, Harbin, 150001, China
| | - Zesheng Li
- Laboratory for Space Environment and Physical Sciences, Harbin Institute of Technology, Harbin, 150001, China
| | - Zhiguang Wu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), Harbin Institute of Technology, Harbin, 150001, China
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6
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Zhou Y, Cheng W, Dai L, Guo S, Wu J, Wang X, Wu A, Liu L, Jiao N. Novel Operation Mechanism and Multifunctional Applications of Bubble Microrobots. Adv Healthc Mater 2024; 13:e2303767. [PMID: 38230855 DOI: 10.1002/adhm.202303767] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2023] [Indexed: 01/18/2024]
Abstract
Microrobots have emerged as powerful tools for manipulating particles, cells, and assembling biological tissue structures at the microscale. However, achieving precise and flexible operation of arbitrary-shaped microstructures in 3D space remains a challenge. In this study, three novel operation methods based on bubble microrobots are proposed to enable delicate and multifunctional manipulation of various microstructures. These methods include 3D turnover, fixed-point rotation, and 3D ejection. By harnessing the combined principles of the effect of the heat flow field and surface tension of an optothermally generated bubble, the bubble microrobot can perform tasks such as flipping an SIA humanoid structure, rotating a bird-like structure, and launching a hollow rocket-like structure. The proposed multi-mode operation of bubble microrobots enables diverse attitude adjustments of microstructures with different sizes and shapes in both 2D and 3D spaces. As a demonstration, a biological microenvironment of brain glioblastoma is constructed by the bubble microrobot. The simplicity, versatility, and flexibility of this proposed method hold great promise for applications in micromanipulation, assembly, and tissue engineering.
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Affiliation(s)
- Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Wen Cheng
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Liguo Dai
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou, 450002, China
| | - Songyi Guo
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Junfeng Wu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Xiaodong Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Anhua Wu
- Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
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7
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Wang F, Zhang Y, Jin D, Jiang Z, Liu Y, Knoll A, Jiang H, Ying Y, Zhou M. Magnetic Soft Microrobot Design for Cell Grasping and Transportation. CYBORG AND BIONIC SYSTEMS 2024; 5:0109. [PMID: 38680536 PMCID: PMC11052606 DOI: 10.34133/cbsystems.0109] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/28/2023] [Accepted: 03/07/2024] [Indexed: 05/01/2024] Open
Abstract
Manipulating cells at a small scale is widely acknowledged as a complex and challenging task, especially when it comes to cell grasping and transportation. Various precise methods have been developed to remotely control the movement of microrobots. However, the manipulation of micro-objects necessitates the use of end-effectors. This paper presents a study on the control of movement and grasping operations of a magnetic microrobot, utilizing only 3 pairs of electromagnetic coils. A specially designed microgripper is employed on the microrobot for efficient cell grasping and transportation. To ensure precise grasping, a bending deformation model of the microgripper is formulated and subsequently validated. To achieve precise and reliable transportation of cells to specific positions, an approach that combines an extended Kalman filter with a model predictive control method is adopted to accomplish the trajectory tracking task. Through experiments, we observe that by applying the proposed control strategy, the mean absolute error of path tracking is found to be less than 0.155 mm. Remarkably, this value accounts for only 1.55% of the microrobot's size, demonstrating the efficacy and accuracy of our control strategy. Furthermore, an experiment involving the grasping and transportation of a zebrafish embryonic cell (diameter: 800 μm) is successfully conducted. The results of this experiment not only validate the precision and effectiveness of the proposed microrobot and its associated models but also highlight its tremendous potential for cell manipulation in vitro and in vivo.
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Affiliation(s)
- Fanghao Wang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Youchao Zhang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Daoyuan Jin
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Zhongliang Jiang
- TUM School of Computation, Information, and Technology, Garching 85748, Germany
| | - Yaqian Liu
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Alois Knoll
- TUM School of Computation, Information, and Technology, Garching 85748, Germany
| | - Huanyu Jiang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Yibin Ying
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Mingchuan Zhou
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
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8
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Wang Y, Chen H, Xie L, Liu J, Zhang L, Yu J. Swarm Autonomy: From Agent Functionalization to Machine Intelligence. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2312956. [PMID: 38653192 DOI: 10.1002/adma.202312956] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/30/2023] [Revised: 04/17/2024] [Indexed: 04/25/2024]
Abstract
Swarm behaviors are common in nature, where individual organisms collaborate via perception, communication, and adaptation. Emulating these dynamics, large groups of active agents can self-organize through localized interactions, giving rise to complex swarm behaviors, which exhibit potential for applications across various domains. This review presents a comprehensive summary and perspective of synthetic swarms, to bridge the gap between the microscale individual agents and potential applications of synthetic swarms. It is begun by examining active agents, the fundamental units of synthetic swarms, to understand the origins of their motility and functionality in the presence of external stimuli. Then inter-agent communications and agent-environment communications that contribute to the swarm generation are summarized. Furthermore, the swarm behaviors reported to date and the emergence of machine intelligence within these behaviors are reviewed. Eventually, the applications enabled by distinct synthetic swarms are summarized. By discussing the emergent machine intelligence in swarm behaviors, insights are offered into the design and deployment of autonomous synthetic swarms for real-world applications.
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Affiliation(s)
- Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Leiming Xie
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Jinbo Liu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
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Teng X, Qiao Z, Yu S, Liu Y, Lou X, Zhang H, Ge Z, Yang W. Recent Advances in Microrobots Powered by Multi-Physics Field for Biomedical and Environmental Applications. MICROMACHINES 2024; 15:492. [PMID: 38675303 PMCID: PMC11051856 DOI: 10.3390/mi15040492] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/13/2024] [Revised: 04/01/2024] [Accepted: 04/01/2024] [Indexed: 04/28/2024]
Abstract
Microrobots powered by multi-physics fields are becoming a hotspot for micro-nano manufacturing. Due to the small size of microrobots, they can easily enter small spaces that are difficult for ordinary robots to reach and perform a variety of special tasks. This gives microrobots a broad application prospect in many fields. This paper describes the materials, structures, and driving principles of microrobots in detail and analyzes the advantages and limitations of their driving methods in depth. In addition, the paper discusses the detailed categorization of the action forms of microrobots and explores their diversified motion modes and their applicable scenarios. Finally, the article highlights the wide range of applications of microrobots in the fields of biomedicine and environmental protection, emphasizing their great potential for solving real-world problems and advancing scientific progress.
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Affiliation(s)
- Xiangyu Teng
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Zezheng Qiao
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Shuxuan Yu
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Yujie Liu
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Xinyu Lou
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Huanbin Zhang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
| | - Zhixing Ge
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
| | - Wenguang Yang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (X.T.); (Z.Q.); (S.Y.); (Y.L.); (X.L.); (H.Z.)
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10
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Wu G, Xian W, You Q, Zhang J, Chen X. AcousticRobots: Smart acoustically powered micro-/nanoswimmers for precise biomedical applications. Adv Drug Deliv Rev 2024; 207:115201. [PMID: 38331256 DOI: 10.1016/j.addr.2024.115201] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/31/2023] [Revised: 12/24/2023] [Accepted: 02/02/2024] [Indexed: 02/10/2024]
Abstract
Although nanotechnology has evolutionarily progressed in biomedical field over the past decades, achieving satisfactory therapeutic effects remains difficult with limited delivery efficiency. Ultrasound could provide a deep penetration and maneuverable actuation to efficiently power micro-/nanoswimmers with little harm, offering an emerging and fascinating alternative to the active delivery platform. Recent advances in novel fabrication, controllable concepts like intelligent swarm and the integration of hybrid propulsions have promoted its function and potential for medical applications. In this review, we will summarize the mechanisms and types of ultrasonically propelled micro/nanorobots (termed here as "AcousticRobots"), including the interactions between AcousticRobots and acoustic field, practical design considerations (e.g., component, size, shape), the synthetic methods, surface modification, controllable behaviors, and the advantages when combined with other propulsion approaches. The representative biomedical applications of functional AcousticRobots are also highlighted, including drug delivery, invasive surgery, eradication on the surrounding bio-environment, cell manipulation, detection, and imaging, etc. We conclude by discussing the challenges and outlook of AcousticRobots in biomedical applications.
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Affiliation(s)
- Gege Wu
- Department of Diagnostic Radiology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore; Nanomedicine Translational Research Program, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117597, Singapore
| | - Wei Xian
- Siansonic Technology Limited, No.1, Xingguang 5th Street, Ciqu, Tongzhou District, Beijing 101111, China
| | - Qing You
- Department of Diagnostic Radiology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore; Nanomedicine Translational Research Program, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117597, Singapore; Clinical Imaging Research Centre, Centre for Translational Medicine, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117599, Singapore.
| | - Jingjing Zhang
- Department of Diagnostic Radiology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore; Nanomedicine Translational Research Program, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117597, Singapore; Clinical Imaging Research Centre, Centre for Translational Medicine, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117599, Singapore.
| | - Xiaoyuan Chen
- Department of Diagnostic Radiology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore; Nanomedicine Translational Research Program, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117597, Singapore; Clinical Imaging Research Centre, Centre for Translational Medicine, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 117599, Singapore; Department of Chemical and Biomolecular Engineering, and Department of Biomedical Engineering, College of Design and Engineering, National University of Singapore, Singapore 119074, Singapore; Institute of Molecular and Cell Biology, Agency for Science, Technology, and Research (A*STAR), 61 Biopolis Drive, Proteos, Singapore 138673, Singapore.
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11
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Zhou D, Yue H, Chang X, Mo Y, Liu Y, Chang H, Li L. Mimicking Motor Proteins: Wall-Guided Self-Navigation of Microwheels. ACS NANO 2024; 18:8853-8862. [PMID: 38470259 DOI: 10.1021/acsnano.3c12062] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/13/2024]
Abstract
Untethered micro/nanorobots (MNRs) show great promise in biomedicine. However, high-precision targeted in vivo navigation of MNRs into both deep and tiny microtube networks comes with big challenges because the present medical imaging cannot simultaneously meet the requirements of high resolution, high penetration depth, and high real-time performance. Inspired by intracellular motor proteins that transport cargo along cytoskeletal tracks, this study proposed a microtube inwall-guided targeted self-navigation strategy of magnetic microwheels (μ-wheels) that relies only on interactions with a microtube inwall, compared to conventional techniques that rely on real-time imaging and tracking of MNRs. By presetting the direction of the rotating magnetic field, the μ-wheel realized targeted navigation along the inwall. The propulsion principles behind it are elaborated. The targeted self-navigation of the μ-wheels in three-dimensional microtube networks, a spiral microtube, and an intrahepatic bile duct of a pig was conducted. Lastly, based on the strategy, a practical tumor early detection method was proposed and verified by means of magnetic resonance imaging. The microtube inwall-guided targeted self-navigation strategy reduces the dependence of in vivo targeted navigation of MNRs on the real-time performance of medical imaging technology and greatly contributes to the development of MNRs in biomedical applications.
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Affiliation(s)
- Dekai Zhou
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P. R. China
- Key Laboratory of Micro-systems and Micro-Structures Manufacturing, Harbin Institute of Technology, Ministry of Education, Harbin, Heilongjiang 150001, P. R. China
| | - Honger Yue
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P. R. China
- Key Laboratory of Micro-systems and Micro-Structures Manufacturing, Harbin Institute of Technology, Ministry of Education, Harbin, Heilongjiang 150001, P. R. China
| | - Xiaocong Chang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P. R. China
- Key Laboratory of Micro-systems and Micro-Structures Manufacturing, Harbin Institute of Technology, Ministry of Education, Harbin, Heilongjiang 150001, P. R. China
| | - Yi Mo
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P. R. China
- Key Laboratory of Micro-systems and Micro-Structures Manufacturing, Harbin Institute of Technology, Ministry of Education, Harbin, Heilongjiang 150001, P. R. China
| | - Ying Liu
- Heilongjiang Province Hospital, Harbin, Heilongjiang 150001, P. R. China
| | - Hongjie Chang
- Heilongjiang Province Hospital, Harbin, Heilongjiang 150001, P. R. China
| | - Longqiu Li
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongjiang 150001, P. R. China
- Key Laboratory of Micro-systems and Micro-Structures Manufacturing, Harbin Institute of Technology, Ministry of Education, Harbin, Heilongjiang 150001, P. R. China
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12
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Wu J, Jiao N, Lin D, Li N, Ma T, Tung S, Cheng W, Wu A, Liu L. Dual-Responsive Nanorobot-Based Marsupial Robotic System for Intracranial Cross-Scale Targeting Drug Delivery. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2306876. [PMID: 37899660 DOI: 10.1002/adma.202306876] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/13/2023] [Revised: 10/27/2023] [Indexed: 10/31/2023]
Abstract
Nanorobots capable of active movement are an exciting technology for targeted therapeutic intervention. However, the extensive motion range and hindrance of the blood-brain barrier impeded their clinical translation in glioblastoma therapy. Here, a marsupial robotic system constructed by integrating chemical/magnetic hybrid nanorobots (child robots) with a miniature magnetic continuum robot (mother robot) for intracranial cross-scale targeting drug delivery is reported. For primary targeting on macroscale, the continuum robot enters the cranial cavity through a minimally invasive channel (e.g., Ommaya device) in the skull and transports the nanorobots to pathogenic regions. Upon circumventing the blood-brain barrier, the released nanorobots perform secondary targeting on microscale to further enhance the spatial resolution of drug delivery. In vitro experiments against primary glioblastoma cells derived from different patients are conducted for personalized treatment guidance. The operation feasibility within organisms is shown in ex vivo swine brain experiments. The biosafety of the treatment system is suggested in in vivo experiments. Owing to the hierarchical targeting method, the targeting rate, targeting accuracy, and treatment efficacy have improved greatly. The marsupial robotic system offers a novel intracranial local therapeutic strategy and constitutes a key milestone in the development of glioblastoma treatment platforms.
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Affiliation(s)
- Junfeng Wu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
| | - Daojing Lin
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Na Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Tianyang Ma
- Department of Neurosurgery, Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Steve Tung
- Department of Mechanical Engineering, University of Arkansas, Arkansas, 72701, USA
| | - Wen Cheng
- Department of Neurosurgery, Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Anhua Wu
- Department of Neurosurgery, Shengjing Hospital of China Medical University, Shenyang, 110022, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
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13
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Ali A, Kim H, Torati SR, Kang Y, Reddy V, Kim K, Yoon J, Lim B, Kim C. Magnetic Lateral Ladder for Unidirectional Transport of Microrobots: Design Principles and Potential Applications of Cells-on-Chip. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305528. [PMID: 37845030 DOI: 10.1002/smll.202305528] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/03/2023] [Revised: 08/23/2023] [Indexed: 10/18/2023]
Abstract
Functionalized microrobots, which are directionally manipulated in a controlled and precise manner for specific tasks, face challenges. However, magnetic field-based controls constrain all microrobots to move in a coordinated manner, limiting their functions and independent behaviors. This article presents a design principle for achieving unidirectional microrobot transport using an asymmetric magnetic texture in the shape of a lateral ladder, which the authors call the "railway track." An asymmetric magnetic energy distribution along the axis allows for the continuous movement of microrobots in a fixed direction regardless of the direction of the magnetic field rotation. The authors demonstrated precise control and simple utilization of this method. Specifically, by placing magnetic textures with different directionalities, an integrated cell/particle collector can collect microrobots distributed in a large area and move them along a complex trajectory to a predetermined location. The authors can leverage the versatile capabilities offered by this texture concept, including hierarchical isolation, switchable collection, programmable pairing, selective drug-response test, and local fluid mixing for target objects. The results demonstrate the importance of microrobot directionality in achieving complex individual control. This novel concept represents significant advancement over conventional magnetic field-based control technology and paves the way for further research in biofunctionalized microrobotics.
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Affiliation(s)
- Abbas Ali
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Hyeonseol Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Sri Ramulu Torati
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- Center for Bioelectronics, Old Dominion University, Norfolk, VA, 23508, USA
| | - Yumin Kang
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Venu Reddy
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- Nanotechnology Research Center, SRKR Engineering College, Bhimavaram, Andhra Pradesh, 534204, India
| | - Keonmok Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Jonghwan Yoon
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Byeonghwa Lim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - CheolGi Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
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14
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Huang Y, Wu C, Chen J, Tang J. Colloidal Self-Assembly: From Passive to Active Systems. Angew Chem Int Ed Engl 2024; 63:e202313885. [PMID: 38059754 DOI: 10.1002/anie.202313885] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/17/2023] [Revised: 12/03/2023] [Accepted: 12/07/2023] [Indexed: 12/08/2023]
Abstract
Self-assembly fundamentally implies the organization of small sub-units into large structures or patterns without the intervention of specific local interactions. This process is commonly observed in nature, occurring at various scales ranging from atomic/molecular assembly to the formation of complex biological structures. Colloidal particles may serve as micrometer-scale surrogates for studying assembly, particularly for the poorly understood kinetic and dynamic processes at the atomic scale. Recent advances in colloidal self-assembly have enabled the programmable creation of novel materials with tailored properties. We here provide an overview and comparison of both passive and active colloidal self-assembly, with a discussion on the energy landscape and interactions governing both types. In the realm of passive colloidal assembly, many impressive and important structures have been realized, including colloidal molecules, one-dimensional chains, two-dimensional lattices, and three-dimensional crystals. In contrast, active colloidal self-assembly, driven by optical, electric, chemical, or other fields, involves more intricate dynamic processes, offering more flexibility and potential new applications. A comparative analysis underscores the critical distinctions between passive and active colloidal assemblies, highlighting the unique collective behaviors emerging in active systems. These behaviors encompass collective motion, motility-induced phase segregation, and exotic properties arising from out-of-equilibrium thermodynamics. Through this comparison, we aim to identify the future opportunities in active assembly research, which may suggest new application domains.
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Affiliation(s)
- Yaxin Huang
- Department of Chemistry, The University of Hong Kong, Hong Kong, 999077, China
| | - Changjin Wu
- Department of Chemistry, The University of Hong Kong, Hong Kong, 999077, China
| | - Jingyuan Chen
- Department of Chemistry, The University of Hong Kong, Hong Kong, 999077, China
| | - Jinyao Tang
- Department of Chemistry, The University of Hong Kong, Hong Kong, 999077, China
- State Key Laboratory of Synthetic Chemistry, The University of Hong Kong, Hong Kong, 999077, China
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15
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You R, Fan Q, Wang Z, Xing W, Wang Y, Song Y, Duan X, You R, Wang Y. A Miniaturized Wireless Micropump Enabled by Confined Acoustic Streaming. RESEARCH (WASHINGTON, D.C.) 2024; 7:0314. [PMID: 38410278 PMCID: PMC10895488 DOI: 10.34133/research.0314] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/08/2023] [Accepted: 01/18/2024] [Indexed: 02/28/2024]
Abstract
Miniaturization of health care, biomedical, and chemical systems is highly desirable for developing point-of-care testing (POCT) technologies. In system miniaturization, micropumps represent one of the major bottlenecks due to their undesirable pumping performance at such small sizes. Here, we developed a microelectromechanical system fabricated acoustic micropump based on an ultrahigh-frequency bulk acoustic wave resonator. The concept of an inner-boundary-confined acoustic jet was introduced to facilitate unidirectional flow. Benefitting from the high resonant frequency and confined acoustic streaming, the micropump reaches 32.620 kPa/cm3 (pressure/size) and 11.800 ml/min∙cm3 (flow rate/size), showing a 2-order-of-magnitude improvement in the energy transduction efficiency compared with the existing acoustic micropumps. As a proof of concept, the micropump was constructed as a wearable and wirelessly powered integrated drug delivery system with a size of only 9×9×9 mm3 and a weight of 1.16 g. It was demonstrated for ocular disease treatment through animal experimentation and a human pilot test. With superior pumping performance, miniaturized pump size, ultralow power consumption, and complementary metal-oxide-semiconductor compatibility, we expect it to be readily applied to various POCT applications including clinical diagnosis, prognosis, and drug delivery systems.
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Affiliation(s)
- Rui You
- State Key Laboratory of Precision Measuring Technology & Instruments,
Tianjin University, Tianjin 300072, China
| | - Qian Fan
- Tianjin Eye Hospital, Tianjin Key Lab of Ophthalmology and Visual Science, Nankai University Affiliated Eye Hospital, Nankai University Eye Institute, Nankai University, Clinical College of Ophthalmology Tianjin Medical University,
Tianjin Eye Institute, Tianjin 300020, China
| | - Zilun Wang
- State Key Laboratory of Precision Measuring Technology & Instruments,
Tianjin University, Tianjin 300072, China
| | - Wenqiang Xing
- School of Instrument Science and Opto-Electronics Engineering,
Beijing Information Science and Technology University, Beijing 100192, China
- Beijing Advanced Innovation Center for Integrated Circuits, Beijing 100084, China
| | - Yuchuan Wang
- Tianjin Eye Hospital, Tianjin Key Lab of Ophthalmology and Visual Science, Nankai University Affiliated Eye Hospital, Nankai University Eye Institute, Nankai University, Clinical College of Ophthalmology Tianjin Medical University,
Tianjin Eye Institute, Tianjin 300020, China
| | - Yi Song
- Tianjin Eye Hospital, Tianjin Key Lab of Ophthalmology and Visual Science, Nankai University Affiliated Eye Hospital, Nankai University Eye Institute, Nankai University, Clinical College of Ophthalmology Tianjin Medical University,
Tianjin Eye Institute, Tianjin 300020, China
| | - Xuexin Duan
- State Key Laboratory of Precision Measuring Technology & Instruments,
Tianjin University, Tianjin 300072, China
| | - Rui You
- School of Instrument Science and Opto-Electronics Engineering,
Beijing Information Science and Technology University, Beijing 100192, China
- Beijing Advanced Innovation Center for Integrated Circuits, Beijing 100084, China
| | - Yan Wang
- Tianjin Eye Hospital, Tianjin Key Lab of Ophthalmology and Visual Science, Nankai University Affiliated Eye Hospital, Nankai University Eye Institute, Nankai University, Clinical College of Ophthalmology Tianjin Medical University,
Tianjin Eye Institute, Tianjin 300020, China
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16
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Del Campo Fonseca A, Ahmed D. Ultrasound robotics for precision therapy. Adv Drug Deliv Rev 2024; 205:115164. [PMID: 38145721 DOI: 10.1016/j.addr.2023.115164] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2023] [Revised: 12/07/2023] [Accepted: 12/22/2023] [Indexed: 12/27/2023]
Abstract
In recent years, the application of microrobots in precision therapy has gained significant attention. The small size and maneuverability of these micromachines enable them to potentially access regions that are difficult to reach using traditional methods; thus, reducing off-target toxicities and maximizing treatment effectiveness. Specifically, acoustic actuation has emerged as a promising method to exert control. By harnessing the power of acoustic energy, these small machines potentially navigate the body, assemble at the desired sites, and deliver therapies with enhanced precision and effectiveness. Amidst the enthusiasm surrounding these miniature agents, their translation to clinical environments has proven difficult. The primary objectives of this review are threefold: firstly, to offer an overview of the fundamental acoustic principles employed in the field of microrobots; secondly, to assess their current applications in medical therapies, encompassing tissue targeting, drug delivery or even cell infiltration; and lastly, to delve into the continuous efforts aimed at integrating acoustic microrobots into in vivo applications.
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Affiliation(s)
- Alexia Del Campo Fonseca
- Department of Mechanical and Process Engineering, Acoustic Robotics Systems Lab, ETH Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland.
| | - Daniel Ahmed
- Department of Mechanical and Process Engineering, Acoustic Robotics Systems Lab, ETH Zurich, Säumerstrasse 4, 8803 Rüschlikon, Switzerland.
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17
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Dai L, Liu L, Zhou Y, Yan A, Zhao M, Jin S, Ye G, Wang C. Three-Dimensional Manipulation of Micromodules Using Twin Optothermally Actuated Bubble Robots. MICROMACHINES 2024; 15:230. [PMID: 38398959 PMCID: PMC10892707 DOI: 10.3390/mi15020230] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/03/2023] [Revised: 12/24/2023] [Accepted: 12/28/2023] [Indexed: 02/25/2024]
Abstract
A 3D manipulation technique based on two optothermally generated and actuated surface-bubble robots is proposed. A single laser beam can be divided into two parallel beams and used for the generation and motion control of twin bubbles. The movement and spacing control of the lasers and bubbles can be varied directly and rapidly. Both 2D and 3D operations of micromodules were carried out successfully using twin bubble robots. The cooperative manipulation of twin bubble robots is superior to that of a single robot in terms of stability, speed, and efficiency. The operational technique proposed in this study is expected to play an important role in tissue engineering, drug screening, and other fields.
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Affiliation(s)
- Liguo Dai
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Lichao Liu
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Aofei Yan
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Mengran Zhao
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Shaobo Jin
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Guoyong Ye
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Caidong Wang
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
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18
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Cao HX, Nguyen VD, Park JO, Choi E, Kang B. Acoustic Actuators for the Manipulation of Micro/Nanorobots: State-of-the-Art and Future Outlooks. MICROMACHINES 2024; 15:186. [PMID: 38398914 PMCID: PMC10890471 DOI: 10.3390/mi15020186] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/28/2023] [Revised: 01/22/2024] [Accepted: 01/23/2024] [Indexed: 02/25/2024]
Abstract
Compared to other actuating methods, acoustic actuators offer the distinctive capability of the contactless manipulation of small objects, such as microscale and nanoscale robots. Furthermore, they have the ability to penetrate the skin, allowing for the trapping and manipulation of micro/nanorobots that carry therapeutic agents in diverse media. In this review, we summarize the current progress in using acoustic actuators for the manipulation of micro/nanorobots used in various biomedical applications. First, we introduce the actuating method of using acoustic waves to manipulate objects, including the principle of operation and different types of acoustic actuators that are usually employed. Then, applications involving manipulating different types of devices are reviewed, including bubble-based microrobots, bubble-free robots, biohybrid microrobots, and nanorobots. Finally, we discuss the challenges and future perspectives for the development of the field.
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Affiliation(s)
- Hiep Xuan Cao
- Robot Research Initiative, Chonnam National University, Gwangju 61186, Republic of Korea; (H.X.C.); (E.C.)
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea;
| | - Van Du Nguyen
- Robot Research Initiative, Chonnam National University, Gwangju 61186, Republic of Korea; (H.X.C.); (E.C.)
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea;
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea;
| | - Eunpyo Choi
- Robot Research Initiative, Chonnam National University, Gwangju 61186, Republic of Korea; (H.X.C.); (E.C.)
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Republic of Korea
| | - Byungjeon Kang
- Robot Research Initiative, Chonnam National University, Gwangju 61186, Republic of Korea; (H.X.C.); (E.C.)
- Graduate School of Data Science, Chonnam National University, Gwangju 61186, Republic of Korea
- College of AI Convergence, Chonnam National University, Gwangju 61186, Republic of Korea
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19
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Dillinger C, Knipper J, Nama N, Ahmed D. Steerable acoustically powered starfish-inspired microrobot. NANOSCALE 2024; 16:1125-1134. [PMID: 37946510 PMCID: PMC10795801 DOI: 10.1039/d3nr03516f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/19/2023] [Accepted: 10/24/2023] [Indexed: 11/12/2023]
Abstract
Soft polymeric microrobots that can be loaded with nanocargoes and driven via external field stimuli can provide innovative solutions in various fields, including precise microscale assembly, targeted therapeutics, microsurgery, and the capture and degradation of unwanted wastewater fragments. However, in aquatic environments, it remains challenging to operate with microrobotic devices due to the predominant viscous resistances and the robots' limited actuation and sensing capabilities attributed to their miniaturization. The miniature size prevents the incorporation of onboard batteries that can provide sufficient power for propulsion and navigation, necessitating a wireless power supply. Current research examines untethered microrobot manipulation using external magnetic, electric, thermodynamic, or acoustic field-guided technologies: all strategies capable of wireless energy transmission towards sensitive and hard-to-reach locations. Nonetheless, developing a manipulation strategy that harnesses simple-to-induce strong propulsive forces in a stable manner over extended periods of time remains a significant endeavor. This study presents the fabrication and manipulation of a microrobot consisting of a magnetized soft polymeric composite material that enables a combination of stable acoustic propulsion through starfish-inspired artificial cilia and magnetic field-guided navigation. The acousto-magnetic manipulation strategy leverages the unique benefits of each applied field in the viscous-dominated microscale, namely precise magnetic orientation and strong acoustic thrust.
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Affiliation(s)
- Cornel Dillinger
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
| | - Justin Knipper
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
| | - Nitesh Nama
- Department of Mechanical & Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USA
| | - Daniel Ahmed
- Acoustic Robotics and Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland.
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20
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Yu S, Liu C, Sui M, Wei H, Cheng H, Chen Y, Zhu Y, Wang H, Ma P, Wang L, Li T. Magnetic-acoustic actuated spinous microrobot for enhanced degradation of organic pollutants. ULTRASONICS SONOCHEMISTRY 2024; 102:106714. [PMID: 38113586 PMCID: PMC10772293 DOI: 10.1016/j.ultsonch.2023.106714] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/30/2023] [Revised: 11/20/2023] [Accepted: 12/01/2023] [Indexed: 12/21/2023]
Abstract
A growing interest in the development of efficient strategies for the removal of organic pollutants from polluted water is emerging. As such, artificial micro/nano machines performing excellent water purification tasks have recently attracted more research attention of scientists. Hereby a spinous Fe3O4@PPy microrobot is presented that towards an efficient organic pollutant removal by enhancing Fenton-like reaction. The microrobot is fabricated by wrapping polypyrrole (PPy) on a spiny magnetic template prepared from sunflowers pollen. Modulating the sound pressure and frequency of the ultrasonic field enables the Fe3O4@PPy microrobot to present multimode motion, such as violent eruption-like motion caused by local cavitation (ELM), march-like unific motion (MLM), and typhoon-like rotation toward the center gathered motion (TLM). This multimode motion achieves the sufficient locomotion of microrobots in three-dimensional space and effective contact with organic pollutants in polluted water. Furthermore, a 5.2-fold increase in the degradation rate of methylene blue has been realized using Fe3O4@PPy microrobots under low-concentration hydrogen peroxide conditions. Also, the magnetically controlled recovery of microrobots from water after the completion of the degradation task has been demonstrated. The magnetic-acoustic actuated spinous microrobot can be extrapolated to other catalytic microrobot, developing a new strategy for an easier implementation and recovery of microrobot in real applications of water purification.
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Affiliation(s)
- Shimin Yu
- College of Engineering, Ocean University of China, Qingdao 266100, China
| | - Chenlu Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Mingyang Sui
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Haiqiang Wei
- The Twelfth Oil Production Plant of Changqing Oilfield Company, Qingyang 745400, China
| | - Haoyuan Cheng
- College of Engineering, Ocean University of China, Qingdao 266100, China
| | - Yujing Chen
- College of Engineering, Ocean University of China, Qingdao 266100, China
| | - Yanhe Zhu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Haocheng Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Penglei Ma
- College of Engineering, Ocean University of China, Qingdao 266100, China.
| | - Lin Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; Chongqing Research Institute of HIT, Chongqing 401151, China.
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21
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Huang H, Yang S, Ying Y, Chen X, Puigmartí-Luis J, Zhang L, Pané S. 3D Motion Manipulation for Micro- and Nanomachines: Progress and Future Directions. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2305925. [PMID: 37801654 DOI: 10.1002/adma.202305925] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/19/2023] [Revised: 09/08/2023] [Indexed: 10/08/2023]
Abstract
In the past decade, micro- and nanomachines (MNMs) have made outstanding achievements in the fields of targeted drug delivery, tumor therapy, microsurgery, biological detection, and environmental monitoring and remediation. Researchers have made significant efforts to accelerate the rapid development of MNMs capable of moving through fluids by means of different energy sources (chemical reactions, ultrasound, light, electricity, magnetism, heat, or their combinations). However, the motion of MNMs is primarily investigated in confined two-dimensional (2D) horizontal setups. Furthermore, three-dimensional (3D) motion control remains challenging, especially for vertical movement and control, significantly limiting its potential applications in cargo transportation, environmental remediation, and biotherapy. Hence, an urgent need is to develop MNMs that can overcome self-gravity and controllably move in 3D spaces. This review delves into the latest progress made in MNMs with 3D motion capabilities under different manipulation approaches, discusses the underlying motion mechanisms, explores potential design concepts inspired by nature for controllable 3D motion in MNMs, and presents the available 3D observation and tracking systems.
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Affiliation(s)
- Hai Huang
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Yulong Ying
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
| | - Xiangzhong Chen
- Institute of Optoelectronics, State Key Laboratory of Photovoltaic Science and Technology, Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, 200433, China
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona (UB), Barcelona, 08028, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Li Zhang
- Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zürich, Tannenstrasse 3, Zürich, CH-8092, Switzerland
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22
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Sharif S, Jung D, Cao HX, Park JO, Kang B, Choi E. Ultrasonic Manipulation of Hydrodynamically Driven Microparticles in Vessel Bifurcation: Simulation, Optimization, Experimental Validation, and Potential for Targeted Drug Delivery. MICROMACHINES 2023; 15:13. [PMID: 38276841 PMCID: PMC10819303 DOI: 10.3390/mi15010013] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/20/2023] [Revised: 12/13/2023] [Accepted: 12/18/2023] [Indexed: 01/27/2024]
Abstract
Microrobots driven by multiple external power sources have emerged as promising tools for targeted drug and stem cell delivery in tissue regeneration. However, navigating and imaging these devices within a complex colloidal vascular system at a clinical scale is challenging. Ultrasonic actuators have gained interest in the field of non-contact manipulation of micromachines due to their label-free biocompatible nature and safe operation history. This research presents experimentally validated simulation results of ultrasonic actuation using a novel ultrasonic transducer array with a hemispherical arrangement that generates active traveling waves with phase modulation. Blood flow is used as a carrier force while the direction and path are controlled by blocking undesirable paths using a highly focused acoustic field. In the experiments, the microrobot cluster was able to follow a predefined trajectory and reach the target. The microrobot size, maximum radiation pressure, and focus position were optimized for certain blood flow conditions. The outcomes suggest that this acoustic manipulation module has potential applications in targeted tumor therapy.
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Affiliation(s)
- Saqib Sharif
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Republic of Korea;
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea; (D.J.); (H.X.C.); (J.-O.P.)
| | - Daewon Jung
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea; (D.J.); (H.X.C.); (J.-O.P.)
| | - Hiep Xuan Cao
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea; (D.J.); (H.X.C.); (J.-O.P.)
- College of AI Convergence, Chonnam National University, Gwangju 61186, Republic of Korea
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea; (D.J.); (H.X.C.); (J.-O.P.)
| | - Byungjeon Kang
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea; (D.J.); (H.X.C.); (J.-O.P.)
- College of AI Convergence, Chonnam National University, Gwangju 61186, Republic of Korea
- Graduate School of Data Science, Chonnam National University, Gwangju 61186, Republic of Korea
| | - Eunpyo Choi
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Republic of Korea;
- Korea Institute of Medical Microrobotics, Gwangju 61011, Republic of Korea; (D.J.); (H.X.C.); (J.-O.P.)
- College of AI Convergence, Chonnam National University, Gwangju 61186, Republic of Korea
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23
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McNeill J, Mallouk TE. Acoustically Powered Nano- and Microswimmers: From Individual to Collective Behavior. ACS NANOSCIENCE AU 2023; 3:424-440. [PMID: 38144701 PMCID: PMC10740144 DOI: 10.1021/acsnanoscienceau.3c00038] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/01/2023] [Revised: 09/26/2023] [Accepted: 09/27/2023] [Indexed: 12/26/2023]
Abstract
Micro- and nanoscopic particles that swim autonomously and self-assemble under the influence of chemical fuels and external fields show promise for realizing systems capable of carrying out large-scale, predetermined tasks. Different behaviors can be realized by tuning swimmer interactions at the individual level in a manner analogous to the emergent collective behavior of bacteria and mammalian cells. However, the limited toolbox of weak forces with which to drive these systems has made it difficult to achieve useful collective functions. Here, we review recent research on driving swimming and particle self-organization using acoustic fields, which offers capabilities complementary to those of the other methods used to power microswimmers. With either chemical or acoustic propulsion (or a combination of the two), understanding individual swimming mechanisms and the forces that arise between individual particles is a prerequisite to harnessing their interactions to realize collective phenomena and macroscopic functionality. We discuss here the ingredients necessary to drive the motion of microscopic particles using ultrasound, the theory that describes that behavior, and the gaps in our understanding. We then cover the combination of acoustically powered systems with other cross-compatible driving forces and the use of ultrasound in generating collective behavior. Finally, we highlight the demonstrated applications of acoustically powered microswimmers, and we offer a perspective on the state of the field, open questions, and opportunities. We hope that this review will serve as a guide to students beginning their work in this area and motivate others to consider research in microswimmers and acoustic fields.
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Affiliation(s)
- Jeffrey
M. McNeill
- Department of Chemistry, University
of Pennsylvania, Philadelphia, Pennsylvania 19104, United States
| | - Thomas E. Mallouk
- Department of Chemistry, University
of Pennsylvania, Philadelphia, Pennsylvania 19104, United States
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24
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He T, Yang Y, Chen XB. Preparation, Stimulus-Response Mechanisms and Applications of Micro/Nanorobots. MICROMACHINES 2023; 14:2253. [PMID: 38138422 PMCID: PMC10745970 DOI: 10.3390/mi14122253] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/20/2023] [Revised: 12/10/2023] [Accepted: 12/13/2023] [Indexed: 12/24/2023]
Abstract
Micro- and nanorobots are highly intelligent and efficient. They can perform various complex tasks as per the external stimuli. These robots can adapt to the required functional form, depending on the different stimuli, thus being able to meet the requirements of various application scenarios. So far, microrobots have been widely used in the fields of targeted therapy, drug delivery, tissue engineering, environmental remediation and so on. Although microbots are promising in some fields, few reviews have yet focused on them. It is therefore necessary to outline the current status of these microbots' development to provide some new insights into the further evolution of this field. This paper critically assesses the research progress of microbots with respect to their preparation methods, stimulus-response mechanisms and applications. It highlights the suitability of different preparation methods and stimulus types, while outlining the challenges experienced by microbots. Viable solutions are also proposed for the promotion of their practical use.
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Affiliation(s)
| | | | - Xue-Bo Chen
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China; (T.H.); (Y.Y.)
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25
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Zou L, Luo J, Xu W, Zhai Y, Li J, Qu T, Fu G. Experimental study on influence of particle shape on shockwave from collapse of cavitation bubble. ULTRASONICS SONOCHEMISTRY 2023; 101:106693. [PMID: 37956510 PMCID: PMC10665962 DOI: 10.1016/j.ultsonch.2023.106693] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/13/2023] [Revised: 11/08/2023] [Accepted: 11/08/2023] [Indexed: 11/15/2023]
Abstract
The bubble dynamics under the influence of particles is an unavoidable issue in many cavitation applications, with a fundamental aspect being the shockwave affected by particles during bubble collapse. In our experiments, the method of spark-induced bubbles was used, while a high-speed camera and a piezoresistive pressure sensor were utilized to investigate how particle shape affects the evolution of shockwaves. Through the high-speed photography, we found that the presence of the particle altered the consistency of the liquid medium around the bubble, which result in the emitting of water hammer shockwave and implosion shockwave respectively during the collapse of the bubble. This stratification effect was closely related to the bubble-particle relative distance φ and particle shape δ. Specifically, when the bubble-particle relative distance φ < 1.34 e-0.10δ, particles disrupted the medium consistency around the bubbles and led to a nonspherical collapse and the consequent stratification of the shockwave. By measuring the stratified shockwave intensity affected by different particle shapes, we found that the stratified shockwave intensity experienced varying degrees of attenuation. Furthermore, as the particle shape δ increased, the attenuation of the particle on shockwave intensity gradually reduced. These new findings hold significant theoretical implications for elucidating cavitation erosion mechanisms in liquid-solid two-phase flows and applications and prevention strategies in liquid-solid two-phase cavitation fields.
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Affiliation(s)
- Lingtao Zou
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu 610065, China
| | - Jing Luo
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu 610065, China.
| | - Weilin Xu
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu 610065, China
| | - Yanwei Zhai
- Science and Technology Research Institute, China Three Gorges Corporation, Beijing 101199, China; National Engineering Research Center of Water Resources Efficient Utilization and Engineering Safety, Hohai University, Nanjing 210098, China
| | - Jie Li
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu 610065, China
| | - Tong Qu
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu 610065, China
| | - Guihua Fu
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu 610065, China
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26
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Mahkam N, Aghakhani A, Sheehan D, Gardi G, Katzschmann R, Sitti M. Acoustic Streaming-Induced Multimodal Locomotion of Bubble-Based Microrobots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2304233. [PMID: 37884484 PMCID: PMC10724404 DOI: 10.1002/advs.202304233] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2023] [Revised: 09/12/2023] [Indexed: 10/28/2023]
Abstract
Acoustically-driven bubbles at the micron scale can generate strong microstreaming flows in its surrounding fluidic medium. The tunable acoustic streaming strength of oscillating microbubbles and the diversity of the generated flow patterns enable the design of fast-moving microrobots with multimodal locomotion suitable for biomedical applications. The acoustic microrobots holding two coupled microbubbles inside a rigid body are presented; trapped bubbles inside the L-shaped structure with different orifices generate various streaming flows, thus allowing multiple degrees of freedom in locomotion. The streaming pattern and mean streaming speed depend on the intensity and frequency of the acoustic wave, which can trigger four dominant locomotion modes in the microrobot, denoted as translational and rotational, spinning, rotational, and translational modes. Next, the effect of various geometrical and actuation parameters on the control and navigation of the microrobot is investigated. Furthermore, the surface-slipping multimodal locomotion, flow mixing, particle manipulation capabilities, the effective interaction of high flow rates with cells, and subsequent cancerous cell lysing abilities of the proposed microrobot are demonstrated. Overall, these results introduce a design toolbox for the next generation of acoustic microrobots with higher degrees of freedom with multimodal locomotion in biomedical applications.
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Affiliation(s)
- Nima Mahkam
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
| | - Amirreza Aghakhani
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute of Biomaterials and Biomolecular SystemsUniversity of Stuttgart70569StuttgartGermany
| | - Devin Sheehan
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Gaurav Gardi
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Robert Katzschmann
- Department of Mechanical and Process EngineeringETH ZurichZurich8092Switzerland
| | - Metin Sitti
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
- School of MedicineKoç UniversityIstanbul34450Turkey
- College of EngineeringKoç UniversityIstanbul34450Turkey
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27
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Wang Q, Yang S, Zhang L. Untethered Micro/Nanorobots for Remote Sensing: Toward Intelligent Platform. NANO-MICRO LETTERS 2023; 16:40. [PMID: 38032461 PMCID: PMC10689342 DOI: 10.1007/s40820-023-01261-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Accepted: 10/25/2023] [Indexed: 12/01/2023]
Abstract
Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities. Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems, enabling in situ detection of substances that traditional sensing methods struggle to achieve. Over the past decade of development, significant research progress has been made in designing sensing strategies based on micro/nanorobots, employing various coordinated control and sensing approaches. This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots, robot behavior, microrobotic manipulation, and robot-environment interactions. Providing recent studies and relevant applications in remote sensing, we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments, translating lab research achievements into widespread real applications.
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Affiliation(s)
- Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, 211189, People's Republic of China.
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China.
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China.
- T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China.
- Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China.
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28
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Wang H, Liu C, Yang X, Ji F, Song W, Zhang G, Wang L, Zhu Y, Yu S, Zhang W, Li T. Multimode microdimer robot for crossing tissue morphological barrier. iScience 2023; 26:108320. [PMID: 38026188 PMCID: PMC10665815 DOI: 10.1016/j.isci.2023.108320] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/12/2023] [Revised: 08/03/2023] [Accepted: 10/20/2023] [Indexed: 12/01/2023] Open
Abstract
Swimming microrobot energized by magnetic fields exhibits remotely propulsion and modulation in complex biological experiment with high precision. However, achieving high environment adaptability and multiple tasking capability in one configuration is still challenging. Here, we present a strategy that use oriented magnetized Janus spheres to assemble the microdimer robots with two magnetic distribution configurations of head-to-side configuration (HTS-config) and head-to-head configuration (HTH-config), achieving performance of multiple tasks through multimode transformation and locomotion. Modulating the magnetic frequency enables multimode motion transformation between tumbling, rolling, and swing motion with different velocities. The dual-asynchronization mechanisms of HTS-config and HTH-config robot dependent on magnetic dipole-dipole angle are investigated by molecular dynamic simulation. In addition, the microdimer robot can transport cell crossing morphological rugae or complete drug delivery on tissues by switching motion modes. This microdimer robot can provide versatile motion modes to address environmental variations or multitasking requirements.
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Affiliation(s)
- Haocheng Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Chenlu Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Xiaopeng Yang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Fengtong Ji
- Cancer Research UK Gurdon Institute, University of Cambridge, Cambridge, UK
| | - Wenping Song
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
- Chongqing Research Institute of Harbin Institute of Technology Chongqing, Chongqing, China
| | - Guangyu Zhang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Lin Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Yanhe Zhu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Shimin Yu
- College of Engineering, Ocean University of China, Qingdao, China
| | - Weiwei Zhang
- School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, China
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
- Chongqing Research Institute of Harbin Institute of Technology Chongqing, Chongqing, China
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29
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Zhan H, Yuan Z, Li Y, Zhang L, Liang H, Zhao Y, Wang Z, Zhao L, Feng S, Liu Y. Versatile bubble maneuvering on photopyroelectric slippery surfaces. Nat Commun 2023; 14:6158. [PMID: 37789018 PMCID: PMC10547833 DOI: 10.1038/s41467-023-41918-y] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/05/2023] [Accepted: 09/18/2023] [Indexed: 10/05/2023] Open
Abstract
Contactless bubble manipulation with a high spatiotemporal resolution brings a qualitative leap forward in a variety of applications. Despite considerable advances, light-induced bubble maneuvering remains challenging in terms of robust transportation, splitting and detachment. Here, a photopyroelectric slippery surface (PESS) with a sandwich structure is constructed to achieve the versatile bubble manipulation. Due to the generated dielectric wetting and nonuniform electric field under the irradiation of near infrared (NIR) light, a bubble is subject to both the Laplace force and dielectrophoresis force, enabling a high-efficiency bubble steering. We demonstrate that the splitting, merging and detachment of underwater bubbles can be achieved with high flexibility and precision, high velocity and agile direction maneuverability. We further extend the capability of bubble control to microrobots for cargo transportation, micropart assembly and transmission of gear structures. We envision this robust bubble manipulation strategy on the PESS would provide a valuable platform for various bubble-involved processes, ranging from microfluidic devices to soft robotics.
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Affiliation(s)
- Haiyang Zhan
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Zichao Yuan
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Yu Li
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Liang Zhang
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Hui Liang
- Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
| | - Yuhui Zhao
- Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
| | - Zhiguo Wang
- Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, P. R. China
| | - Lei Zhao
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Shile Feng
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China
| | - Yahua Liu
- State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, Dalian, 116024, P. R. China.
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30
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Li Y, Cong Z, Xie L, Tang S, Ren C, Peng X, Tang D, Wan F, Han H, Zhang X, Gao W, Wu S. Magnetically Powered Immunogenic Macrophage Microrobots for Targeted Multimodal Cancer Therapy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2301489. [PMID: 37300342 DOI: 10.1002/smll.202301489] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/15/2023] [Revised: 04/06/2023] [Indexed: 06/12/2023]
Abstract
Motile microrobots open a new realm for disease treatment. However, the concerns of possible immune elimination, targeted capability and limited therapeutic avenue of microrobots constrain its practical biomedical applications. Herein, a biogenic macrophage-based microrobot loaded with magnetic nanoparticles and bioengineered bacterial outer membrane vesicles (OMVs), capable of magnetic propulsion, tumor targeting, and multimodal cancer therapy is reported. Such cell robots preserve intrinsic properties of macrophages for tumor suppression and targeting, and bioengineered OMVs for antitumor immune regulation and fused anticancer peptides. Cell robots display efficient magnetic propulsion and directional migration in the confined space. In vivo tests show that cell robots can accumulate at the tumor site upon magnetic manipulation, coupling with tumor tropism of macrophages to greatly improve the efficacy of its multimodal therapy, including tumor inhibition of macrophages, immune stimulation, and antitumor peptides of OMVs. This technology offers an attractive avenue to design intelligent medical microrobots with remote manipulation and multifunctional therapy capabilities for practical precision treatment.
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Affiliation(s)
- Yangyang Li
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Zhaoqing Cong
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Leiming Xie
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Songsong Tang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Chunyu Ren
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Xiqi Peng
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Daitian Tang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Fangchen Wan
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Hong Han
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Xueji Zhang
- School of Biomedical Engineering, Health Science Centre, Shenzhen University, Shenzhen, 518060, P. R. China
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Song Wu
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
- South China Hospital, Health Science Center, Shenzhen University, Shenzhen, 518116, P. R. China
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31
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Yang Y, Kirmizitas FC, Sokolich M, Valencia A, Rivas D, Karakan MÇ, White AE, Malikopoulos AA, Das S. Rolling Helical Microrobots for Cell Patterning. ... INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES (MARSS). INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES 2023; 2023:10.1109/marss58567.2023.10294113. [PMID: 38952455 PMCID: PMC11215787 DOI: 10.1109/marss58567.2023.10294113] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/03/2024]
Abstract
Microrobots, untethered miniature devices capable of performing tasks at the microscale, have gained significant attention in the fields of robotics and biomedicine. These devices hold immense potential for various industrial and scientific applications, including targeted drug delivery and cell manipulation. In this study, we present a novel magnetic rolling helical microrobot specifically designed for bio-compatible cell patterning. Our microrobot incorporates both open-loop and closed-loop control mechanisms, providing flexible, precise, and rapid control for various applications. Through experiments, we demonstrate the microrobot's ability to manipulate cells by pushing them while rolling and arranging cells into desired patterns. This result is particularly significant as it has implications for diverse biological applications such as tissue engineering and organoid development. Moreover, we showcase the effectiveness of our microrobot in a closed-loop control system, where it successfully follows a predetermined path from an origin to a destination. The combination of cellular manipulation capabilities and trajectory-tracking performance underlines the versatility and potential of our magnetic rolling helical microrobot. The ability to control and navigate the microrobot with high precision opens up new possibilities for advanced biomedical applications. These findings contribute to the growing body of knowledge in microbotics and pave the way for further research and development in the field.
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Affiliation(s)
- Yanda Yang
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Fatma Ceren Kirmizitas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
- Department of Animal and Food Sciences, University of Delaware, Newark, DE 19716 USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Alejandra Valencia
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - David Rivas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - M Çağatay Karakan
- Department of Biomedical Engineering, Boston University, Boston, MA 02215 USA
| | - Alice E White
- Department of Mechanical Engineering, and the departments of Biomedical Engineering and Materials Science and Engineering, Boston University, Boston, MA 02215 USA
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
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Cherukumilli S, Kirmizitas FC, Sokolich M, Valencia A, Karakan MÇ, White AE, Malikopoulos AA, Das S. Programmable Modular Acoustic Microrobots. ... INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES (MARSS). INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES 2023; 2023:10.1109/marss58567.2023.10294125. [PMID: 38952454 PMCID: PMC11215786 DOI: 10.1109/marss58567.2023.10294125] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/03/2024]
Abstract
Microrobots have emerged as promising tools for biomedical and in vivo applications, leveraging their untethered actuation capabilities and miniature size. Despite extensive research on diversifying multi-actuation modes for single types of robots, these tiny machines tend to have limited versatility while navigating different environments or performing specific tasks. To overcome such limitations, self-assembly microstructures with on-demand reconfiguration capabilities have gained recent attention as the future of biocompatible microrobotics, as they can address drug delivery, microsurgery, and organoid development processes. Reversible modular reconfiguration structures require specific arrangements of particles that can assume several shapes when external fields are applied. We show how magnetic interaction can be used to assemble cylindrical microrobots into modular microstructures with different shapes. The motion actuation of the formed microstructure happens due to an external acoustic field, which generates responsive forces in the air bubbles trapped in the inner cavity of the robots. An external magnetic field can also steer these structures. We illustrate these capabilities by assembling the robots into different shapes that can swim and be steered, showing the potential to perform biomedical applications. Furthermore, we confirm the biocompatibility of the cylindrical microrobot used as the building blocks of our microstructure. Exposing Chinese Hamster Ovary cells to our microrobots for 24 hours demonstrates cell viability when in contact with the microrobot.
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Affiliation(s)
| | - Fatma Ceren Kirmizitas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
- Department of Animal and Food Sciences, University of Delaware, Newark, DE 19716 USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Alejandra Valencia
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - M Çağatay Karakan
- Department of Biomedical Engineering, Boston University, Boston, MA 02215 USA
| | - Alice E White
- Department of Mechanical Engineering, and the departments of Biomedical Engineering and Materials Science and Engineering, Boston University, Boston, MA 02215 USA
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
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Kshetri KG, Nama N. Acoustophoresis around an elastic scatterer in a standing wave field. Phys Rev E 2023; 108:045102. [PMID: 37978594 DOI: 10.1103/physreve.108.045102] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/06/2023] [Accepted: 09/11/2023] [Indexed: 11/19/2023]
Abstract
Acoustofluidic systems often employ prefabricated acoustic scatterers that perturb the imposed acoustic field to realize the acoustophoresis of immersed microparticles. We present a numerical study to investigate the time-averaged streaming and radiation force fields around a scatterer. Based on the streaming and radiation force field, we obtain the trajectories of the immersed microparticles with varying sizes and identify a critical transition size at which the motion of immersed microparticles in the vicinity of a prefabricated scatterer shifts from being streaming dominated to radiation dominated. We consider a range of acoustic frequencies to reveal that the critical transition size decreases with increasing frequency; this result explains the choice of acoustic frequencies in previously reported experimental studies. We also examine the impact of scatterer material and fluid properties on the streaming and radiation force fields, as well as on the critical transition size. Our results demonstrate that the critical transition size decreases with an increase in acoustic contrast factor: a nondimensional quantity that depends on material properties of the scatterer and the fluid. Our results provide a pathway to realize radiation force based manipulation of small particles by increasing the acoustic contrast factor of the scatterer, lowering the kinematic viscosity of the fluid, and increasing the acoustic frequency.
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Affiliation(s)
- Khemraj Gautam Kshetri
- Department of Mechanical & Materials Engineering, University of Nebraska-Lincoln, Lincoln, Nebraska 68588, USA
| | - Nitesh Nama
- Department of Mechanical & Materials Engineering, University of Nebraska-Lincoln, Lincoln, Nebraska 68588, USA
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Yang Y, Rivas D, Sokolich M, Das S. Closed Loop Control of Bubble-Propelled Microrobots. ... INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES (MARSS). INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES 2023; 2023:10.1109/marss58567.2023.10294166. [PMID: 38962675 PMCID: PMC11221291 DOI: 10.1109/marss58567.2023.10294166] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/05/2024]
Abstract
Bubble-propelled microrobots have an advantage of relatively swift movement compared to most other types of microrobots, which makes them well suited for applications such as micromanipulation or movement in flows, but their high speed also poses challenges in precisely controlling their motion. This study proposes automated control of the microrobots using visual feedback and steering with uniform magnetic fields to constrain the microrobot's moving direction. The implementation of a closed-loop control mechanism ensures precise autonomous navigation along prescribed trajectories. Experimental results demonstrate that this approach achieves satisfactory tracking performance, with an average error of 6. 7 μm for a microrobot with a diameter of 24 μm.
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Affiliation(s)
- Yanda Yang
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
| | - David Rivas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
| | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
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Deng Y, Paskert A, Zhang Z, Wittkowski R, Ahmed D. An acoustically controlled helical microrobot. SCIENCE ADVANCES 2023; 9:eadh5260. [PMID: 37729400 PMCID: PMC10511192 DOI: 10.1126/sciadv.adh5260] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/09/2023] [Accepted: 08/21/2023] [Indexed: 09/22/2023]
Abstract
As a next-generation toolkit, microrobots can transform a wide range of fields, including micromanufacturing, electronics, microfluidics, tissue engineering, and medicine. While still in their infancy, acoustically actuated microrobots are becoming increasingly attractive. However, the interaction of acoustics with microstructure geometry is poorly understood, and its study is necessary for developing next-generation acoustically powered microrobots. We present an acoustically driven helical microrobot with a length of 350 μm and a diameter of 100 μm that is capable of locomotion using a fin-like double-helix microstructure. This microrobot responds to sound stimuli at ~12 to 19 kHz and mimics the spiral motion of natural microswimmers such as spirochetes. The asymmetric double helix interacts with the incident acoustic field, inducing a propulsion torque that causes the microrobot to rotate around its long axis. Moreover, our microrobot has the unique feature of its directionality being switchable by simply tuning the acoustic frequency. We demonstrate this locomotion in 2D and 3D artificial vasculatures using a single sound source.
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Affiliation(s)
- Yong Deng
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon CH-8803, Switzerland
| | - Adrian Paskert
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Zhiyuan Zhang
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon CH-8803, Switzerland
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149 Münster, Germany
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon CH-8803, Switzerland
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Rubio LD, Collins M, Sen A, Aranson IS. Ultrasound Manipulation and Extrusion of Active Nanorods. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2300028. [PMID: 37246278 DOI: 10.1002/smll.202300028] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/02/2023] [Revised: 04/20/2023] [Indexed: 05/30/2023]
Abstract
Synthetic self-propelled nano and microparticles have a growing appeal for targeted drug delivery, collective functionality, and manipulation at the nanoscale. However, it is challenging to control their positions and orientations under confinement, e.g., in microchannels, nozzles, and microcapillaries. This study reports on the synergistic effect of acoustic and flow-induced focusing in microfluidic nozzles. In a microchannel with a nozzle, the balance between the acoustophoretic forces and the fluid drag due to streaming flows generated by the acoustic field controls the microparticle's dynamics. This study manipulates the positions and orientations of dispersed particles and dense clusters inside the channel at a fixed frequency by tuning the acoustic intensity. The main findings are: first, this study successfully manipulates the positions and orientations of individual particles and dense clusters inside the channel at a fixed frequency by tuning the acoustic intensity. Second, when an external flow is applied, the acoustic field separates and selectively extrudes shape-anisotropic passive particles and self-propelled active nanorods. Finally, the observed phenomena are explained by multiphysics finite-element modeling. The results shed light on the control and extrusion of active particles in confined geometries and enable applications for acoustic cargo (e.g., drug) delivery, particle injection, and additive manufacturing via printed self-propelled active particles.
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Affiliation(s)
- Leonardo Dominguez Rubio
- Department of Biomedical Engineering, The Pennsylvania State University, University Park, PA, 18602, USA
| | - Matthew Collins
- Department of Chemistry, The Pennsylvania State University, University Park, PA, 16802, USA
| | - Ayusman Sen
- Department of Chemistry, The Pennsylvania State University, University Park, PA, 16802, USA
| | - Igor S Aranson
- Department of Biomedical Engineering, The Pennsylvania State University, University Park, PA, 18602, USA
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Huang H, Zhao Y, Yang H, Li J, Ying Y, Li J, Wang S. Light-driven MOF-based micromotors with self-floating characteristics for water sterilization. NANOSCALE 2023; 15:14165-14174. [PMID: 37593810 DOI: 10.1039/d3nr02299d] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/19/2023]
Abstract
Three-dimensional motion (especially in the Z-axis direction) of metal-organic frameworks (MOFs)-based micromotors (MOFtors) is essential but still in its infancy. Herein, we propose a simple strategy for designing light-driven MOFtors that move in the Z-axis direction and efficiently kill Staphylococcus aureus (S. aureus). The as-prepared polypyrrole nanoparticles (PPy NPs) with excellent photothermal properties are combined with ZIF-8 through a simple in situ encapsulation method, resulting in multi-wavelength photothermally-responsive MOFtors (PPy/ZIF-8). Under the irradiation of near-infrared (NIR)/ultraviolet (UV)/blue light, the MOFtors all exhibited negative phototaxis and high-speed motion behaviour with the highest speed of 2215 ± 338 μm s-1. In addition, it is proved that these MOFtors can slowly self-float up in an aqueous environment. The light irradiation will accelerate the upward movement of the MOFtors, and the time required for the MOFtors to move to the top is negatively correlated with the light intensity. Finally, efficient antibacterial performances (up to 98.89% against S. aureus) are achieved with these light-driven MOFtors owing to the boosted Zn2+ release by vigorous stirring motion and physical entrapment by the upward motion under light irradiation.
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Affiliation(s)
- Hai Huang
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China.
| | - Yu Zhao
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China.
| | - Haowei Yang
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China.
| | - Jie Li
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China.
| | - Yulong Ying
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China.
| | - Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China.
| | - Sheng Wang
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China.
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38
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Zhou Y, Ye M, Hu C, Qian H, Nelson BJ, Wang X. Stimuli-Responsive Functional Micro-/Nanorobots: A Review. ACS NANO 2023; 17:15254-15276. [PMID: 37534824 DOI: 10.1021/acsnano.3c01942] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/04/2023]
Abstract
Stimuli-responsive functional micro-/nanorobots (srFM/Ns) are a class of intelligent, efficient, and promising microrobots that can react to external stimuli (such as temperature, light, ultrasound, pH, ion, and magnetic field) and perform designated tasks. Through adaptive transformation into the corresponding functional forms, they can perfectly match the demands depending on different applications, which manifest extremely important roles in targeted therapy, biological detection, tissue engineering, and other fields. Promising as srFM/Ns can be, few reviews have focused on them. It is therefore necessary to provide an overview of the current development of these intelligent srFM/Ns to provide clear inspiration for further development of this field. Hence, this review summarizes the current advances of stimuli-responsive functional microrobots regarding their response mechanism, the achieved functions, and their applications to highlight the pros and cons of different stimuli. Finally, we emphasize the existing challenges of srFM/Ns and propose possible strategies to help accelerate the study of this field and promote srFM/Ns toward actual applications.
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Affiliation(s)
- Yan Zhou
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Min Ye
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Chengzhi Hu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Huihuan Qian
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
- Chinese University of Hong Kong, Shenzhen, Shenzhen 518172, China
| | - Bradley J Nelson
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092 Zurich, Switzerland
| | - Xiaopu Wang
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
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Voß J, Wittkowski R. Dependence of the acoustic propulsion of nano- and microcones on their orientation and aspect ratio. Sci Rep 2023; 13:12858. [PMID: 37553408 PMCID: PMC10409789 DOI: 10.1038/s41598-023-39231-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/25/2022] [Accepted: 07/21/2023] [Indexed: 08/10/2023] Open
Abstract
Recent research revealed the orientation-dependent propulsion of a cone-shaped colloidal particle that is exposed to a planar traveling ultrasound wave. Here, we extend the previous research by considering nano- and microcones with different aspect ratios and studying how the propulsion of a particle depends on its orientation and aspect ratio. We also study how the orientation-averaged propulsion of a cone-shaped particle, which corresponds to an isotropic ultrasound field, depends on its aspect ratio and identify an aspect ratio of 1/2 where the orientation-averaged propulsion is particularly strong. To make our simulation results easier reusable for follow-up research, we provide a corresponding simple analytic representation.
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Affiliation(s)
- Johannes Voß
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149, Münster, Germany
| | - Raphael Wittkowski
- Institut für Theoretische Physik, Center for Soft Nanoscience, Westfälische Wilhelms-Universität Münster, 48149, Münster, Germany.
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40
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Janiak J, Li Y, Ferry Y, Doinikov AA, Ahmed D. Acoustic microbubble propulsion, train-like assembly and cargo transport. Nat Commun 2023; 14:4705. [PMID: 37543657 PMCID: PMC10404234 DOI: 10.1038/s41467-023-40387-7] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/31/2021] [Accepted: 07/20/2023] [Indexed: 08/07/2023] Open
Abstract
Achieving controlled mobility of microparticles in viscous fluids can become pivotal in biologics, biotechniques, and biomedical applications. The self-assembly, trapping, and transport of microparticles are being explored in active matter, micro and nanorobotics, and microfluidics; however, little work has been done in acoustics, particularly in active matter and robotics. This study reports the discovery and characterization of microbubble behaviors in a viscous gel that is confined to a slight opening between glass boundaries in an acoustic field. Where incident waves encounter a narrow slit, acoustic pressure is amplified, causing the microbubbles to nucleate and cavitate within it. Intermittent activation transforms microbubbles from spherical to ellipsoidal, allowing them to be trapped within the interstice. Continuous activation propels ellipsoidal microbubbles through shape and volume modes that is developed at their surfaces. Ensembles of microbubbles self-assemble into a train-like arrangement, which in turn capture, transport, and release microparticles.
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Affiliation(s)
- Jakub Janiak
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland
| | - Yuyang Li
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland
| | - Yann Ferry
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland
| | - Alexander A Doinikov
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab (ARSL), Institute of Robotics and Intelligent Systems, ETH Zurich, CH-8803, Rüschlikon, Switzerland.
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41
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Chen S, Tan Z, Liao P, Li Y, Qu Y, Zhang Q, Yang M, Chan KWY, Zhang L, Man K, Chen Z, Sun D. Biodegradable Microrobots for DNA Vaccine Delivery. Adv Healthc Mater 2023; 12:e2202921. [PMID: 37156574 DOI: 10.1002/adhm.202202921] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/11/2022] [Revised: 04/03/2023] [Indexed: 05/10/2023]
Abstract
The delivery of nucleic acid vaccine to stimulate host immune responses against Coronavirus disease 2019 shows promise. However, nucleic acid vaccines have drawbacks, including rapid clearance and poor cellular uptake, that limit their therapeutic potential. Microrobots can be engineered to sustain vaccine release and further control the interactions with immune cells that are vital for robust vaccination. Here, the 3D fabrication of biocompatible and biodegradable microrobots via the two-photon polymerization of gelatin methacryloyl (GelMA) and their proof-of-concept application for DNA vaccine delivery is reported. Programmed degradation and drug release by varying the local exposure dose in 3D laser lithography and further functionalized the GelMA microspheres with polyethyleneimine for DNA vaccine delivery to dendritic cell and primary cells is demonstrated. In mice, the DNA vaccine delivered by functionalized microspheres elicited fast, enhanced, and durable antigen expression, which may lead to prolonged protection. Furthermore, we demonstrate the maneuverability of microrobots by fabricating GelMA microspheres on magnetic skeletons. In conclusion, GelMA microrobots may provide an efficient vaccination strategy by controlling the expression duration of DNA vaccines.
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Affiliation(s)
- Shuxun Chen
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Zhiwu Tan
- AIDS Institute and Department of Microbiology, Li Ka Shing Faculty of Medicine, The University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Pan Liao
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Yanfang Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Yun Qu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Qi Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Mingxuan Yang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Kannie Wai Yan Chan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Kwan Man
- Department of Surgery, Li Ka Shing Faculty of Medicine, The University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Zhiwei Chen
- AIDS Institute and Department of Microbiology, Li Ka Shing Faculty of Medicine, The University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
- State Key Laboratory for Emerging Infectious Diseases, The University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
| | - Dong Sun
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong SAR, 999077, China
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Lee JG, Raj RR, Thome CP, Day NB, Martinez P, Bottenus N, Gupta A, Shields CW. Bubble-Based Microrobots with Rapid Circular Motions for Epithelial Pinning and Drug Delivery. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2300409. [PMID: 37058137 PMCID: PMC10524026 DOI: 10.1002/smll.202300409] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/14/2023] [Revised: 03/14/2023] [Indexed: 06/19/2023]
Abstract
Remotely powered microrobots are proposed as next-generation vehicles for drug delivery. However, most microrobots swim with linear trajectories and lack the capacity to robustly adhere to soft tissues. This limits their ability to navigate complex biological environments and sustainably release drugs at target sites. In this work, bubble-based microrobots with complex geometries are shown to efficiently swim with non-linear trajectories in a mouse bladder, robustly pin to the epithelium, and slowly release therapeutic drugs. The asymmetric fins on the exterior bodies of the microrobots induce a rapid rotational component to their swimming motions of up to ≈150 body lengths per second. Due to their fast speeds and sharp fins, the microrobots can mechanically pin themselves to the bladder epithelium and endure shear stresses commensurate with urination. Dexamethasone, a small molecule drug used for inflammatory diseases, is encapsulated within the polymeric bodies of the microrobots. The sustained release of the drug is shown to temper inflammation in a manner that surpasses the performance of free drug controls. This system provides a potential strategy to use microrobots to efficiently navigate large volumes, pin at soft tissue boundaries, and release drugs over several days for a range of diseases.
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Affiliation(s)
- Jin Gyun Lee
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Ritu R. Raj
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Cooper P. Thome
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Nicole B. Day
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - Payton Martinez
- Department of Mechanical Engineering, University of Colorado Boulder, 1111 Engineering Drive, UCB 427, Boulder, CO 80309, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
| | - Nick Bottenus
- Department of Mechanical Engineering, University of Colorado Boulder, 1111 Engineering Drive, UCB 427, Boulder, CO 80309, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
| | - Ankur Gupta
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
| | - C. Wyatt Shields
- Department of Chemical and Biological Engineering, University of Colorado Boulder, 3415 Colorado Ave, Boulder, CO 80303, United States
- Biomedical Engineering Program, University of Colorado Boulder, 1111 Engineering Drive, UCB 422, Boulder, CO 80309, United States
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Wang S, Wang X, You F, Xiao H. Review of Ultrasonic Particle Manipulation Techniques: Applications and Research Advances. MICROMACHINES 2023; 14:1487. [PMID: 37630023 PMCID: PMC10456655 DOI: 10.3390/mi14081487] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/26/2023] [Revised: 07/06/2023] [Accepted: 07/21/2023] [Indexed: 08/27/2023]
Abstract
Ultrasonic particle manipulation technique is a non-contact label-free method for manipulating micro- and nano-scale particles using ultrasound, which has obvious advantages over traditional optical, magnetic, and electrical micro-manipulation techniques; it has gained extensive attention in micro-nano manipulation in recent years. This paper introduces the basic principles and manipulation methods of ultrasonic particle manipulation techniques, provides a detailed overview of the current mainstream acoustic field generation methods, and also highlights, in particular, the applicable scenarios for different numbers and arrangements of ultrasonic transducer devices. Ultrasonic transducer arrays have been used extensively in various particle manipulation applications, and many sound field reconstruction algorithms based on ultrasonic transducer arrays have been proposed one after another. In this paper, unlike most other previous reviews on ultrasonic particle manipulation, we analyze and summarize the current reconstruction algorithms for generating sound fields based on ultrasonic transducer arrays and compare these algorithms. Finally, we explore the applications of ultrasonic particle manipulation technology in engineering and biological fields and summarize and forecast the research progress of ultrasonic particle manipulation technology. We believe that this review will provide superior guidance for ultrasonic particle manipulation methods based on the study of micro and nano operations.
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Affiliation(s)
| | - Xuewei Wang
- College of Information Engineering, Beijing Institute of Graphic Communication, Beijing 102627, China; (S.W.)
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Peng X, Tang S, Tang D, Zhou D, Li Y, Chen Q, Wan F, Lukas H, Han H, Zhang X, Gao W, Wu S. Autonomous metal-organic framework nanorobots for active mitochondria-targeted cancer therapy. SCIENCE ADVANCES 2023; 9:eadh1736. [PMID: 37294758 PMCID: PMC10256165 DOI: 10.1126/sciadv.adh1736] [Citation(s) in RCA: 10] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/15/2023] [Accepted: 05/04/2023] [Indexed: 06/11/2023]
Abstract
Nanorobotic manipulation to access subcellular organelles remains unmet due to the challenge in achieving intracellular controlled propulsion. Intracellular organelles, such as mitochondria, are an emerging therapeutic target with selective targeting and curative efficacy. We report an autonomous nanorobot capable of active mitochondria-targeted drug delivery, prepared by facilely encapsulating mitochondriotropic doxorubicin-triphenylphosphonium (DOX-TPP) inside zeolitic imidazolate framework-67 (ZIF-67) nanoparticles. The catalytic ZIF-67 body can decompose bioavailable hydrogen peroxide overexpressed inside tumor cells to generate effective intracellular mitochondriotropic movement in the presence of TPP cation. This nanorobot-enhanced targeted drug delivery induces mitochondria-mediated apoptosis and mitochondrial dysregulation to improve the in vitro anticancer effect and suppression of cancer cell metastasis, further verified by in vivo evaluations in the subcutaneous tumor model and orthotopic breast tumor model. This nanorobot unlocks a fresh field of nanorobot operation with intracellular organelle access, thereby introducing the next generation of robotic medical devices with organelle-level resolution for precision therapy.
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Affiliation(s)
- Xiqi Peng
- Luohu Clinical Institute of Shantou University Medical College, Shantou University Medical College, Shantou 515000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Songsong Tang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA 91125, USA
| | - Daitian Tang
- Luohu Clinical Institute of Shantou University Medical College, Shantou University Medical College, Shantou 515000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Dewang Zhou
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Yangyang Li
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Qiwei Chen
- Luohu Clinical Institute of Shantou University Medical College, Shantou University Medical College, Shantou 515000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Fangchen Wan
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Heather Lukas
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA 91125, USA
| | - Hong Han
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA 91125, USA
| | - Xueji Zhang
- School of Biomedical Engineering, Health Science Centre, Shenzhen University, Shenzhen 518060, P. R. China
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA 91125, USA
| | - Song Wu
- Luohu Clinical Institute of Shantou University Medical College, Shantou University Medical College, Shantou 515000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
- Department of Urology, South China Hospital, Medical School, Shenzhen University, Shenzhen 518116, P. R. China
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Liu Y, Yin Q, Luo Y, Huang Z, Cheng Q, Zhang W, Zhou B, Zhou Y, Ma Z. Manipulation with sound and vibration: A review on the micromanipulation system based on sub-MHz acoustic waves. ULTRASONICS SONOCHEMISTRY 2023; 96:106441. [PMID: 37216791 PMCID: PMC10213378 DOI: 10.1016/j.ultsonch.2023.106441] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/27/2023] [Revised: 05/06/2023] [Accepted: 05/12/2023] [Indexed: 05/24/2023]
Abstract
Manipulation of micro-objects have been playing an essential role in biochemical analysis or clinical diagnostics. Among the diverse technologies for micromanipulation, acoustic methods show the advantages of good biocompatibility, wide tunability, a label-free and contactless manner. Thus, acoustic micromanipulations have been widely exploited in micro-analysis systems. In this article, we reviewed the acoustic micromanipulation systems that were actuated by sub-MHz acoustic waves. In contrast to the high-frequency range, the acoustic microsystems operating at sub-MHz acoustic frequency are more accessible, whose acoustic sources are at low cost and even available from daily acoustic devices (e.g. buzzers, speakers, piezoelectric plates). The broad availability, with the addition of the advantages of acoustic micromanipulation, make sub-MHz microsystems promising for a variety of biomedical applications. Here, we review recent progresses in sub-MHz acoustic micromanipulation technologies, focusing on their applications in biomedical fields. These technologies are based on the basic acoustic phenomenon, such as cavitation, acoustic radiation force, and acoustic streaming. And categorized by their applications, we introduce these systems for mixing, pumping and droplet generation, separation and enrichment, patterning, rotation, propulsion and actuation. The diverse applications of these systems hold great promise for a wide range of enhancements in biomedicines and attract increasing interest for further investigation.
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Affiliation(s)
- Yu Liu
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, No.800 Dongchuan Road, Shanghai 200240, China; Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China
| | - Qiu Yin
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yucheng Luo
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, No.800 Dongchuan Road, Shanghai 200240, China
| | - Ziyu Huang
- Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China
| | - Quansheng Cheng
- Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China
| | - Wenming Zhang
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Bingpu Zhou
- Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China
| | - Yinning Zhou
- Joint Key Laboratory of the Ministry of Education, Institute of Applied Physics and Materials Engineering, University of Macau, Taipa, Macau 999078, China.
| | - Zhichao Ma
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, No.800 Dongchuan Road, Shanghai 200240, China.
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Bailey MR, Gmür TA, Grillo F, Isa L. Modular Attachment of Nanoparticles on Microparticle Supports via Multifunctional Polymers. CHEMISTRY OF MATERIALS : A PUBLICATION OF THE AMERICAN CHEMICAL SOCIETY 2023; 35:3731-3741. [PMID: 37181676 PMCID: PMC10173378 DOI: 10.1021/acs.chemmater.3c00555] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/13/2023] [Revised: 04/13/2023] [Indexed: 05/16/2023]
Abstract
Nanoparticles are key to a range of applications, due to the properties that emerge as a result of their small size. However, their size also presents challenges to their processing and use, especially in relation to their immobilization on solid supports without losing their favorable functionalities. Here, we present a multifunctional polymer-bridge-based approach to attach a range of presynthesized nanoparticles onto microparticle supports. We demonstrate the attachment of mixtures of different types of metal-oxide nanoparticles, as well as metal-oxide nanoparticles modified with standard wet chemistry approaches. We then show that our method can also create composite films of metal and metal-oxide nanoparticles by exploiting different chemistries simultaneously. We finally apply our approach to the synthesis of designer microswimmers with decoupled mechanisms of steering (magnetic) and propulsion (light) via asymmetric nanoparticle binding, aka Toposelective Nanoparticle Attachment. We envision that this ability to freely mix available nanoparticles to produce composite films will help bridge the fields of catalysis, nanochemistry, and active matter toward new materials and applications.
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Chen X, Chen X, Peng Y, Zhu L, Wang W. Dielectrophoretic Colloidal Levitation by Electrode Polarization in Oscillating Electric Fields. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2023; 39:6932-6945. [PMID: 37148258 DOI: 10.1021/acs.langmuir.3c00759] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/08/2023]
Abstract
Controlled colloidal levitation is key to many applications. Recently, it was discovered that polymer microspheres were levitated to a few micrometers in aqueous solutions in alternating current (AC) electric fields. A few mechanisms have been proposed to explain this AC levitation such as electrohydrodynamic flows, asymmetric rectified electric fields, and aperiodic electrodiffusiophoresis. Here, we propose an alternative mechanism based on dielectrophoresis in a spatially inhomogeneous electric field gradient extending from the electrode surface micrometers into the bulk. This field gradient is derived from electrode polarization, where counterions accumulate near electrode surfaces. A dielectric microparticle is then levitated from the electrode surface to a height where the dielectrophoretic lift balances gravity. The dielectrophoretic levitation mechanism is supported by two numerical models. One model assumes point dipoles and solves for the Poisson-Nernst-Planck equations, while the second model incorporates a dielectric sphere of a realistic size and permittivity and uses the Maxwell-stress tensor formulation to solve for the electrical body force. In addition to proposing a plausible levitation mechanism, we further demonstrate that AC colloidal levitation can be used to move synthetic microswimmers to controlled heights. This study sheds light on understanding the dynamics of colloidal particles near an electrode and paves the way to using AC levitation to manipulate colloidal particles, active or passive.
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Affiliation(s)
- Xiaowen Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Xi Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Yixin Peng
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Lailai Zhu
- Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore
| | - Wei Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
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Liu Y, Lin G, Medina-Sánchez M, Guix M, Makarov D, Jin D. Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots. ACS NANO 2023; 17:8899-8917. [PMID: 37141496 DOI: 10.1021/acsnano.3c01609] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
With the development of advanced biomedical theragnosis and bioengineering tools, smart and soft responsive microstructures and nanostructures have emerged. These structures can transform their body shape on demand and convert external power into mechanical actions. Here, we survey the key advances in the design of responsive polymer-particle nanocomposites that led to the development of smart shape-morphing microscale robotic devices. We overview the technological roadmap of the field and highlight the emerging opportunities in programming magnetically responsive nanomaterials in polymeric matrixes, as magnetic materials offer a rich spectrum of properties that can be encoded with various magnetization information. The use of magnetic fields as a tether-free control can easily penetrate biological tissues. With the advances in nanotechnology and manufacturing techniques, microrobotic devices can be realized with the desired magnetic reconfigurability. We emphasize that future fabrication techniques will be the key to bridging the gaps between integrating sophisticated functionalities of nanoscale materials and reducing the complexity and footprints of microscale intelligent robots.
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Affiliation(s)
- Yuan Liu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen, 518055 Guangdong Province, P. R. China
| | - Gungun Lin
- Institute for Biomedical Materials and Devices, School of Mathematical and Physical Sciences, Faculty of Science, University of Technology Sydney, 15 Broadway, Ultimo, NSW 2007, Australia
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069 Dresden, Germany
- Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, 01062 Dresden, Germany
| | - Maria Guix
- Universitat de Barcelona, Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional Barcelona, 08028 Barcelona, Spain
| | - Denys Makarov
- Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Ion Beam Physics and Materials Research, Bautzner Landstrasse 400, 01328 Dresden, Germany
| | - Dayong Jin
- Institute for Biomedical Materials and Devices, School of Mathematical and Physical Sciences, Faculty of Science, University of Technology Sydney, 15 Broadway, Ultimo, NSW 2007, Australia
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Zhu S, Cheng Y, Chen J, Liu G, Luo T, Yang R. Dynamically reversible cooperation and interaction of multiple rotating micromotors. LAB ON A CHIP 2023; 23:1905-1917. [PMID: 36880376 DOI: 10.1039/d3lc00108c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Micromotors have been shown to have great potential in various fields (e.g., targeted therapeutics, self-organizing systems), and research on the cooperative and interactive behaviours of multiple micromotors could potentially revolutionize many fields in terms of performing multiple or complex tasks to compensate for the limitations of individual micromotors; however, dynamically reversible transitions among diverse behaviours remain much less explored, and such dynamic transformations are advantageous for achieving complex tasks. Here, we present a microsystem consisting of multiple disk-like micromotors capable of performing reversible transformations between cooperative and interactive behaviours at the liquid surface. The micromotors with aligned magnetic particles in our system have great magnet properties, which provides a strong magnetic interaction with each other and is vital for the whole microsystem. We offer and analyse the physical models among multiple micromotors concerning the cooperative and interactive modes in the lower and higher frequency ranges, respectively, between which the state transformation can reversibly occur. Furthermore, based on the proposed reversible microsystem, the feasibility of the application of self-organization is verified by demonstrating three different dynamic self-organizing behaviours. Our proposed dynamically reversible system has great potential to serve as a paradigm for studying cooperative and interactive behaviours among multiple micromotors in the future.
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Affiliation(s)
- Shilu Zhu
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
| | - Yifan Cheng
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
| | - Jialong Chen
- College & Hospital of Stomatology, Anhui Medical University, Key Lab. of Oral Diseases Research of Anhui Province, Hefei, 230032, China
| | - Guangli Liu
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
| | - Tingting Luo
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, Biomedical Robotics Laboratory, Anhui Medical University, Hefei 230032, China.
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50
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Gao Q, Yang Z, Zhu R, Wang J, Xu P, Liu J, Chen X, Yan Z, Peng Y, Wang Y, Zheng H, Cai F, Wang W. Ultrasonic Steering Wheels: Turning Micromotors by Localized Acoustic Microstreaming. ACS NANO 2023; 17:4729-4739. [PMID: 36815761 DOI: 10.1021/acsnano.2c11070] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
The ability to steer micromotors in specific directions and at precise speeds is highly desired for their use in complex environments. However, a generic steering strategy that can be applied to micromotors of all types and surface coatings is yet to be developed. Here, we report that ultrasound of ∼100 kHz can spin a spherical micromotor so that it turns left or right when moving forward, or that it moves in full circles. The direction and angular speeds of their spinning and the radii of circular trajectories are precisely tunable by varying ultrasound voltages and frequencies, as well as particle properties such as its radius, materials, and coating thickness. Such spinning is hypothesized to originate from the circular microstreaming flows localized around a solid microsphere vibrating in ultrasound. In addition to causing a micromotor to spin, such streaming flows also helped release cargos from a micromotor during a capture-transport-release mission. Localized microstreaming does not depend on or interference with a specific propulsion mechanism and can steer a wide variety of micromotors. This work suggests that ultrasound can be used to steer microrobots in complex, biologically relevant environments as well as to steer microorganisms and cells.
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Affiliation(s)
- Qiang Gao
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Zhou Yang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Ruitong Zhu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Jinping Wang
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Pengzhao Xu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Jiayu Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Xiaowen Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Zuyao Yan
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yixin Peng
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
| | - Yanping Wang
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Hairong Zheng
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Feiyan Cai
- Paul C. Lauterbur Research Centre for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
| | - Wei Wang
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, China
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