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Ren A, Hu J, Qin C, Xia N, Yu M, Xu X, Yang H, Han M, Zhang L, Ma L. Oral administration microrobots for drug delivery. Bioact Mater 2024; 39:163-190. [PMID: 38808156 PMCID: PMC11130999 DOI: 10.1016/j.bioactmat.2024.05.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2024] [Revised: 05/02/2024] [Accepted: 05/03/2024] [Indexed: 05/30/2024] Open
Abstract
Oral administration is the most simple, noninvasive, convenient treatment. With the increasing demands on the targeted drug delivery, the traditional oral treatment now is facing some challenges: 1) biologics how to implement the oral treatment and ensure the bioavailability is not lower than the subcutaneous injections; 2) How to achieve targeted therapy of some drugs in the gastrointestinal tract? Based on these two issues, drug delivery microrobots have shown great application prospect in oral drug delivery due to their characteristics of flexible locomotion or driven ability. Therefore, this paper summarizes various drug delivery microrobots developed in recent years and divides them into four categories according to different driving modes: magnetic-controlled drug delivery microrobots, anchored drug delivery microrobots, self-propelled drug delivery microrobots and biohybrid drug delivery microrobots. As oral drug delivery microrobots involve disciplines such as materials science, mechanical engineering, medicine, and control systems, this paper begins by introducing the gastrointestinal barriers that oral drug delivery must overcome. Subsequently, it provides an overview of typical materials involved in the design process of oral drug delivery microrobots. To enhance readers' understanding of the working principles and design process of oral drug delivery microrobots, we present a guideline for designing such microrobots. Furthermore, the current development status of various types of oral drug delivery microrobots is reviewed, summarizing their respective advantages and limitations. Finally, considering the significant concerns regarding safety and clinical translation, we discuss the challenges and prospections of clinical translation for various oral drug delivery microrobots presented in this paper, providing corresponding suggestions for addressing some existing challenges.
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Affiliation(s)
- An Ren
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Jiarui Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Changwei Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China
| | - Mengfei Yu
- The Affiliated Stomatologic Hospital, School of Medicine, Zhejiang University, Hangzhou 310003, China
| | - Xiaobin Xu
- Key Laboratory of Advanced Civil Engineering Materials of Ministry of Education, Key Laboratory of D&A for Metal-Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804 China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Min Han
- Institute of Pharmaceutics, Zhejiang Province Key Laboratory of Anti-Cancer Drug Research, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou, 310058, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China
| | - Liang Ma
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
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2
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Fiorello I, Ronzan M, Speck T, Sinibaldi E, Mazzolai B. A Biohybrid Self-Dispersing Miniature Machine Using Wild Oat Fruit Awns for Reforestation and Precision Agriculture. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2313906. [PMID: 38583068 DOI: 10.1002/adma.202313906] [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: 12/19/2023] [Revised: 03/18/2024] [Indexed: 04/08/2024]
Abstract
Advances in bioinspired and biohybrid robotics are enabling the creation of multifunctional systems able to explore complex unstructured environments. Inspired by Avena fruits, a biohybrid miniaturized autonomous machine (HybriBot) composed of a biomimetic biodegradable capsule as cargo delivery system and natural humidity-driven sister awns as biological motors is reported. Microcomputed tomography, molding via two-photon polymerization and casting of natural awns into biodegradable materials is employed to fabricate multiple HybriBots capable of exploring various soil and navigating soil irregularities, such as holes and cracks. These machines replicate the dispersal movements and biomechanical performances of natural fruits, achieving comparable capsule drag forces up to ≈0.38 N and awns torque up to ≈100 mN mm-1. They are functionalized with fertilizer and are successfully utilized to germinate selected diaspores. HybriBots function as self-dispersed systems with applications in reforestation and precision agriculture.
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Affiliation(s)
- Isabella Fiorello
- Istituto Italiano di Tecnologia, Bioinspired Soft Robotics Laboratory, Via Morego 30, Genova, 16163, Italy
- University of Freiburg, Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, Georges-Köhler-Allee 105, D-79110, Freiburg, Germany
- University of Freiburg, Plant Biomechanics Group, Schänzlestraße 1, D-79104, Freiburg, Germany
| | - Marilena Ronzan
- Istituto Italiano di Tecnologia, Bioinspired Soft Robotics Laboratory, Via Morego 30, Genova, 16163, Italy
| | - Thomas Speck
- University of Freiburg, Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, Georges-Köhler-Allee 105, D-79110, Freiburg, Germany
- University of Freiburg, Plant Biomechanics Group, Schänzlestraße 1, D-79104, Freiburg, Germany
| | - Edoardo Sinibaldi
- Istituto Italiano di Tecnologia, Bioinspired Soft Robotics Laboratory, Via Morego 30, Genova, 16163, Italy
| | - Barbara Mazzolai
- Istituto Italiano di Tecnologia, Bioinspired Soft Robotics Laboratory, Via Morego 30, Genova, 16163, Italy
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Jeong M, Tan X, Fischer F, Qiu T. A Convoy of Magnetic Millirobots Transports Endoscopic Instruments for Minimally-Invasive Surgery. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2308382. [PMID: 38946679 DOI: 10.1002/advs.202308382] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/04/2023] [Revised: 06/13/2024] [Indexed: 07/02/2024]
Abstract
Small-scale robots offer significant potential in minimally invasive medical procedures. Due to the nature of soft biological tissues, however, robots are exposed to complex environments with various challenges in locomotion, which is essential to overcome for useful medical tasks. A single mini-robot often provides insufficient force on slippery biological surfaces to carry medical instruments, such as a fluid catheter or an electrical wire. Here, for the first time, a team of millirobots (TrainBot) is reported to generate around two times higher actuating force than a TrainBot unit by forming a convoy to collaboratively carry long and heavy cargos. The feet of each unit are optimized to increase the propulsive force around three times so that it can effectively crawl on slippery biological surfaces. A human-scale permanent magnetic set-up is developed to wirelessly actuate and control the TrainBot to transport heavy and lengthy loads through narrow biological lumens, such as the intestine and the bile duct. The first electrocauterization performed by the TrainBot is demonstrated to relieve a biliary obstruction and open a tunnel for fluid drainage and drug delivery. The developed technology sheds light on the collaborative strategy of small-scale robots for future minimally invasive surgical procedures.
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Affiliation(s)
- Moonkwang Jeong
- Cyber Valley group - Biomedical Microsystems, Institute of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569, Stuttgart, Germany
| | - Xiangzhou Tan
- Department of General Surgery, Xiangya Hospital, Central South University, Changsha, 410008, China
- National Clinical Research Center for Geriatric Disorders, Xiangya Hospital, Central South University, Changsha, 410008, China
| | - Felix Fischer
- Division of Smart Technologies for Tumor Therapy, German Cancer Research Center (DKFZ) Site Dresden, Blasewitzer Str. 80, 01307, Dresden, Germany
- Faculty of Engineering Sciences, University of Heidelberg, 69120, Heidelberg, Germany
| | - Tian Qiu
- Division of Smart Technologies for Tumor Therapy, German Cancer Research Center (DKFZ) Site Dresden, Blasewitzer Str. 80, 01307, Dresden, Germany
- Faculty of Medicine Carl Gustav Carus, Dresden University of Technology, 01307, Dresden, Germany
- Faculty of Electrical and Computer Engineering, Dresden University of Technology, 01069, Dresden, Germany
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4
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Xu L, Zhu C, Lamont S, Zou X, Yang Y, Chen S, Ding J, Vernerey FJ. Programming Motion into Materials Using Electricity-Driven Liquid Crystal Elastomer Actuators. Soft Robot 2024; 11:464-472. [PMID: 38265749 DOI: 10.1089/soro.2023.0063] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/25/2024] Open
Abstract
As thermally driven smart materials capable of large reversible deformations, liquid crystal elastomers (LCEs) have great potential for applications in bionic soft robots, artificial muscles, controllable actuators, and flexible sensors due to their ability to program controllable motion into materials. In this article, we introduce conductive LCE actuators using a liquid metal electrothermal layer and a polyethylene terephthalate substrate. Our LCE actuators can be stimulated at low currents from 2 to 4 A and produce a maximum work density of 9.4 k J ∕ m 3 . We illustrate the potential applications of this system by designing a palm-activated artificial muscle gripper, which can be used to grasp soft objects ranging from 5 to 55 mm in size, and even ring-shaped workpieces with precise external or internal support. Furthermore, inspired by the movement of fruit fly larvae, we designed a new soft robot capable of bioinspired crawling and turning by inducing anisotropic friction with an asymmetric design. Finally, we illustrate advanced motional control by designing an autonomously rotating wheel based on the asymmetric contraction of its spokes. To assist in the production of autonomously moving robots, we provide a thorough characterization of its motion dynamics.
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Affiliation(s)
- Lin Xu
- School of Mechanical Engineering, Jiangsu University, Zhenjiang, PR China
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou, PR China
| | - Chen Zhu
- School of Mechanical Engineering, Jiangsu University, Zhenjiang, PR China
| | - Samuel Lamont
- Department of Mechanical Engineering and Material Science & Engineering Program, University of Colorado at Boulder, Boulder, Colorado, USA
| | - Xiang Zou
- School of Mechanical Engineering, Jiangsu University, Zhenjiang, PR China
| | - Yabing Yang
- School of Mechanical Engineering, Jiangsu University, Zhenjiang, PR China
| | - Si Chen
- School of Mechanical Engineering, Jiangsu University, Zhenjiang, PR China
| | - Jianning Ding
- School of Mechanical Engineering, Jiangsu University, Zhenjiang, PR China
- School of Mechanical Engineering, Yangzhou University, Yangzhou, PR China
| | - Franck J Vernerey
- Department of Mechanical Engineering and Material Science & Engineering Program, University of Colorado at Boulder, Boulder, Colorado, USA
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5
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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6
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Jung Y, Kwon K, Lee J, Ko SH. Untethered soft actuators for soft standalone robotics. Nat Commun 2024; 15:3510. [PMID: 38664373 PMCID: PMC11045848 DOI: 10.1038/s41467-024-47639-0] [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: 07/09/2023] [Accepted: 04/08/2024] [Indexed: 04/28/2024] Open
Abstract
Soft actuators produce the mechanical force needed for the functional movements of soft robots, but they suffer from critical drawbacks since previously reported soft actuators often rely on electrical wires or pneumatic tubes for the power supply, which would limit the potential usage of soft robots in various practical applications. In this article, we review the new types of untethered soft actuators that represent breakthroughs and discuss the future perspective of soft actuators. We discuss the functional materials and innovative strategies that gave rise to untethered soft actuators and deliver our perspective on challenges and opportunities for future-generation soft actuators.
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Affiliation(s)
- Yeongju Jung
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
| | - Kangkyu Kwon
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
| | - Jinwoo Lee
- Department of Mechanical, Robotics, and Energy Engineering, Dongguk University, 30 Pildong-ro 1-gil, Jung-gu, Seoul, 04620, South Korea.
| | - Seung Hwan Ko
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea.
- Institute of Engineering Research / Institute of Advanced Machinery and Design (SNU-IAMD), Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea.
- Interdisciplinary Program in Bioengineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, Korea.
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7
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Zhang M, Pal A, Lyu X, Wu Y, Sitti M. Artificial-goosebump-driven microactuation. NATURE MATERIALS 2024; 23:560-569. [PMID: 38336868 PMCID: PMC10990938 DOI: 10.1038/s41563-024-01810-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/18/2023] [Accepted: 01/09/2024] [Indexed: 02/12/2024]
Abstract
Microactuators provide controllable driving forces for precise positioning, manipulation and operation at the microscale. Development of microactuators using active materials is often hampered by their fabrication complexity and limited motion at small scales. Here we report light-fuelled artificial goosebumps to actuate passive microstructures, inspired by the natural reaction of hair bristling (piloerection) on biological skin. We use light-responsive liquid crystal elastomers as the responsive artificial skin to move three-dimensionally printed passive polymer microstructures. When exposed to a programmable femtosecond laser, the liquid crystal elastomer skin generates localized artificial goosebumps, resulting in precise actuation of the surrounding microstructures. Such microactuation can tilt micro-mirrors for the controlled manipulation of light reflection and disassemble capillary-force-induced self-assembled microstructures globally and locally. We demonstrate the potential application of the proposed microactuation system for information storage. This methodology provides precise, localized and controllable manipulation of microstructures, opening new possibilities for the development of programmable micromachines.
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Affiliation(s)
- Mingchao Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Aniket Pal
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute of Applied Mechanics, University of Stuttgart, Stuttgart, Germany
| | - Xianglong Lyu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich, Switzerland
| | - Yingdan Wu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zürich, Zürich, Switzerland.
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey.
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8
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Zhao M, Tao Y, Guo W, Ge Z, Hu H, Yan Y, Zou C, Wang G, Ren Y. Multifunctional flexible magnetic drive gripper for target manipulation in complex constrained environments. LAB ON A CHIP 2024; 24:2122-2134. [PMID: 38456199 DOI: 10.1039/d3lc00945a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/09/2024]
Abstract
Soft actuators capable of remote-controlled guidance and manipulation within complex constrained spaces hold great promise in various fields, especially in medical fields such as minimally invasive surgery. However, most current magnetic drive soft actuators only have the functions of position control and guidance, and it is still challenging to achieve more flexible operations on different targets within constrained spaces. Herein, we propose a multifunctional flexible magnetic drive gripper that can be steered within complex constrained spaces and operate on targets of various shapes. On the one hand, changing the internal pressure of the magnetic gripper can achieve functions such as suction or injection of liquid and transportation of targets with smooth surfaces. On the other hand, with the help of slit structures in the constrained environment, by simply changing the position and orientation of the permanent magnet in the external environment, the magnetic gripper can be controlled to clamp and release targets of linear, flaked, and polyhedral shapes. The full flexibility and multifunctionality of the magnetic gripper suggest new possibilities for precise remote control and object transportation in constrained spaces, so it could serve as a direct contact operation tool for hazardous drugs in enclosed spaces or a surgical tool in human body cavities.
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Affiliation(s)
- Meiying Zhao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Ye Tao
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Wenshang Guo
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Zhenyou Ge
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Hanqing Hu
- Colorectal Cancer Surgery Department, The Second Affiliated Hospital of Harbin Medical University, Harbin 150086, China.
| | - Ying Yan
- Department of Oncology, The First Hospital of Harbin, Harbin 150010, China
| | - Chaoxia Zou
- Department of Biochemistry and Molecular Biology, Harbin Medical University, Harbin 150081, China
| | - Guiyu Wang
- Colorectal Cancer Surgery Department, The Second Affiliated Hospital of Harbin Medical University, Harbin 150086, China.
| | - Yukun Ren
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
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9
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Hu X, Zhou Y, Li M, Wu J, He G, Jiao N. Catheter-Assisted Bioinspired Adhesive Magnetic Soft Millirobot for Drug Delivery. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2306510. [PMID: 37880878 DOI: 10.1002/smll.202306510] [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: 08/30/2023] [Revised: 09/26/2023] [Indexed: 10/27/2023]
Abstract
Soft millirobots have evolved into various therapeutic applications in the medical field, including for vascular dredging, cell transportation, and drug delivery, owing to adaptability to their surroundings. However, most soft millirobots cannot quickly enter, retrieve, and maintain operations in their original locations after removing the external actuation field. This study introduces a soft magnetic millirobot for targeted medicine delivery that can be transported into the body through a catheter and anchored to the tissues. The millirobot has a bilayer adhesive body with a mussel-inspired hydrogel layer and an octopus-inspired magnetic structural layer. It completes entry and retrieval with the assistance of a medical catheter based on the difference between the adhesion of the hydrogel layer in air and water. The millirobot can operate in multiple modes of motion under external magnetic fields and underwater tissue adhesion after self-unfolding with the structural layer. The adaptability and recyclability of the millirobots are demonstrated using a stomach model. Combined with ultrasound (US) imaging, operational feasibility within organisms is shown in isolated small intestines. In addition, a highly efficient targeted drug delivery is confirmed using a fluorescence imaging system. Therefore, the proposed soft magnetic millirobots have significant potential for medical applications.
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Affiliation(s)
- Xingyue Hu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Mengyue Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Junfeng Wu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Guannan He
- Department of Anesthesiology, The First Hospital, China Medical University, Shenyang, Liaoning, 110001, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
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10
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Cheng X, Shen Z, Zhang Y. Bioinspired 3D flexible devices and functional systems. Natl Sci Rev 2024; 11:nwad314. [PMID: 38312384 PMCID: PMC10833470 DOI: 10.1093/nsr/nwad314] [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: 10/23/2023] [Revised: 11/21/2023] [Accepted: 11/28/2023] [Indexed: 02/06/2024] Open
Abstract
Flexible devices and functional systems with elaborated three-dimensional (3D) architectures can endow better mechanical/electrical performances, more design freedom, and unique functionalities, when compared to their two-dimensional (2D) counterparts. Such 3D flexible devices/systems are rapidly evolving in three primary directions, including the miniaturization, the increasingly merged physical/artificial intelligence and the enhanced adaptability and capabilities of heterogeneous integration. Intractable challenges exist in this emerging research area, such as relatively poor controllability in the locomotion of soft robotic systems, mismatch of bioelectronic interfaces, and signal coupling in multi-parameter sensing. By virtue of long-time-optimized materials, structures and processes, natural organisms provide rich sources of inspiration to address these challenges, enabling the design and manufacture of many bioinspired 3D flexible devices/systems. In this Review, we focus on bioinspired 3D flexible devices and functional systems, and summarize their representative design concepts, manufacturing methods, principles of structure-function relationship and broad-ranging applications. Discussions on existing challenges, potential solutions and future opportunities are also provided to usher in further research efforts toward realizing bioinspired 3D flexible devices/systems with precisely programmed shapes, enhanced mechanical/electrical performances, and high-level physical/artificial intelligence.
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Affiliation(s)
- Xu Cheng
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
| | - Zhangming Shen
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
| | - Yihui Zhang
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
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11
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Leon-Cecilla A, Gila-Vilchez C, Vazquez-Perez FJ, Capitan-Vallvey LF, Martos V, Fernandez-Ramos MD, Álvarez de Cienfuegos L, Medina-Castillo AL, Lopez-Lopez MT. Highly deformable and strongly magnetic semi-interpenetrating hydrogels based on alginate or cellulose. Int J Biol Macromol 2024; 260:129368. [PMID: 38219926 DOI: 10.1016/j.ijbiomac.2024.129368] [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: 10/02/2023] [Revised: 12/12/2023] [Accepted: 01/08/2024] [Indexed: 01/16/2024]
Abstract
The effective implementation of many of the applications of magnetic hydrogels requires the development of innovative systems capable of withstanding a substantial load of magnetic particles to ensure exceptional responsiveness, without compromising their reliability and stability. To address this challenge, double-network hydrogels have emerged as a promising foundation, thanks to their extraordinary mechanical deformability and toughness. Here, we report a semi-interpenetrating polymer networks (SIPNs) approach to create diverse magnetic SIPNs hydrogels based on alginate or cellulose, exhibiting remarkable deformability under certain stresses. Achieving strong responsiveness to magnetic fields is a key objective, and this characteristic is realized by the incorporation of highly magnetic iron microparticles at moderately large concentrations into the polymer network. Remarkably, the SIPNs hydrogels developed in this research accommodate high loadings of magnetic particles without significantly compromising their physical properties. This feature is essential for their use in applications that demand robust responsiveness to applied magnetic fields and overall stability, such as a hydrogel luminescent oxygen sensor controlled by magnetic fields that we designed and tested as proof-of-concept. These findings underscore the potential and versatility of magnetic SIPNs hydrogels based on carbohydrate biopolymers as fundamental components in driving the progress of advanced hydrogels for diverse practical implementations.
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Affiliation(s)
- Alberto Leon-Cecilla
- Universidad de Granada, Departamento de Física Aplicada, Campus de Fuentenueva, E-18071 Granada, Spain; Instituto de Investigación Biosanitaria Ibs.GRANADA, E-18014 Granada, Spain
| | - Cristina Gila-Vilchez
- Universidad de Granada, Departamento de Física Aplicada, Campus de Fuentenueva, E-18071 Granada, Spain; Instituto de Investigación Biosanitaria Ibs.GRANADA, E-18014 Granada, Spain
| | - Francisco J Vazquez-Perez
- Universidad de Granada, Departamento de Física Aplicada, Campus de Fuentenueva, E-18071 Granada, Spain; Instituto de Investigación Biosanitaria Ibs.GRANADA, E-18014 Granada, Spain
| | - Luis F Capitan-Vallvey
- Universidad de Granada, Departamento de Química Analítica, Campus de Fuentenueva, E-18071 Granada, Spain
| | - Vanesa Martos
- Universidad de Granada, Departamento de Fisiología Vegetal, Campus de Fuentenueva, E-18071 Granada, Spain; Instituto de Biotecnología, Universidad de Granada, Campus de Fuentenueva, E-18071 Granada, Spain
| | - María D Fernandez-Ramos
- Universidad de Granada, Departamento de Química Analítica, Campus de Fuentenueva, E-18071 Granada, Spain
| | - Luis Álvarez de Cienfuegos
- Instituto de Investigación Biosanitaria Ibs.GRANADA, E-18014 Granada, Spain; Universidad de Granada, Departamento de Química Orgánica, Unidad de Excelencia Química Aplicada a Biomedicina y Medioambiente, Campus de Fuentenueva, E-18071 Granada, Spain
| | - Antonio L Medina-Castillo
- Universidad de Granada, Departamento de Química Analítica, Campus de Fuentenueva, E-18071 Granada, Spain.
| | - Modesto T Lopez-Lopez
- Universidad de Granada, Departamento de Física Aplicada, Campus de Fuentenueva, E-18071 Granada, Spain; Instituto de Investigación Biosanitaria Ibs.GRANADA, E-18014 Granada, Spain.
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12
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Sharifi Panah S, Großmann R, Lepro V, Beta C. Cargo Size Limits and Forces of Cell-Driven Microtransport. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2304666. [PMID: 37933711 DOI: 10.1002/smll.202304666] [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: 06/02/2023] [Revised: 09/12/2023] [Indexed: 11/08/2023]
Abstract
The integration of motile cells into biohybrid microrobots offers unique properties such as sensitive responses to external stimuli, resilience, and intrinsic energy supply. Here, biohybrid cell-cargo systems that are driven by amoeboid Dictyostelium discoideum cells are studied and how the cargo speed and the resulting viscous drag force scales with increasing radius of the spherical cargo particle are explored. Using a simplified geometrical model of the cell-cargo interaction, the findings toward larger cargo sizes, which are not accessible with the experimental setup, are extrapolated and a maximal cargo size is predicted beyond which active cell-driven movements will stall. The active forces exerted by the cells to move a cargo show mechanoresponsive adaptation and increase dramatically when challenged by an external pulling force, a mechanism that may become relevant when navigating cargo through complex heterogeneous environments.
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Affiliation(s)
- Setareh Sharifi Panah
- Institute of Physics and Astronomy, University of Potsdam, Karl-Liebknecht Straße 24/25, 14476, Potsdam, Germany
| | - Robert Großmann
- Institute of Physics and Astronomy, University of Potsdam, Karl-Liebknecht Straße 24/25, 14476, Potsdam, Germany
| | - Valentino Lepro
- Institute of Physics and Astronomy, University of Potsdam, Karl-Liebknecht Straße 24/25, 14476, Potsdam, Germany
| | - Carsten Beta
- Institute of Physics and Astronomy, University of Potsdam, Karl-Liebknecht Straße 24/25, 14476, Potsdam, Germany
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13
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Wang J, Liu H, Shi X, Qin S, Liu J, Lv Q, Liu J, Li Q, Wang Z, Wang L. Development and Application of an Advanced Biomedical Material-Silk Sericin. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2311593. [PMID: 38386199 DOI: 10.1002/adma.202311593] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/02/2023] [Revised: 01/18/2024] [Indexed: 02/23/2024]
Abstract
Sericin, a protein derived from silkworm cocoons, is considered a waste product derived from the silk industry for thousands of years due to a lack of understanding of its properties. However, in recent decades, a range of exciting properties of sericin are studied and uncovered, including cytocompatibility, low-immunogenicity, photo-luminescence, antioxidant properties, as well as cell-function regulating activities. These properties make sericin-based biomaterials promising candidates for biomedical applications. This review summarizes the properties and bioactivities of silk sericin and highlights the latest developments in sericin in tissue engineering and regenerative medicine. Furthermore, the extended application of sericin in developing flexible electronic devices and 3D bioprinting is also discussed. It is believed that sericin-based biomaterials have great potential of being developed into novel tissue engineering products and smart implantable devices for various medical applications toward improving clinical outcomes.
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Affiliation(s)
- Jian Wang
- Department of Clinical Laboratory, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Huan Liu
- Department of Clinical Laboratory, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Xiaolei Shi
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Sumei Qin
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Jingwei Liu
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Qiying Lv
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Jia Liu
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Qilin's Li
- Department of Clinical Laboratory, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Zheng Wang
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Lin Wang
- Department of Clinical Laboratory, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
- Hubei Key Laboratory of Regenerative Medicine and Multi-disciplinary Translational Research, Hubei Provincial Engineering Research Center of Clinical Laboratory and Active Health Smart Equipment, Research Center for Tissue Engineering and Regenerative Medicine, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
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14
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Ren Z, Sitti M. Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion. Nat Protoc 2024; 19:441-486. [PMID: 38097687 DOI: 10.1038/s41596-023-00916-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2023] [Accepted: 09/21/2023] [Indexed: 02/12/2024]
Abstract
Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required.
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Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland.
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey.
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15
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Ji Y, Bai X, Sun H, Wang L, Gan C, Jia L, Xu J, Zhang W, Wang L, Xu Y, Hou Y, Wang Y, Hui H, Feng L. Biocompatible Ferrofluid-Based Millirobot for Tumor Photothermal Therapy in Near-Infrared-II Window. Adv Healthc Mater 2024; 13:e2302395. [PMID: 37947303 DOI: 10.1002/adhm.202302395] [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: 08/02/2023] [Revised: 10/25/2023] [Indexed: 11/12/2023]
Abstract
Ferrofluidic robots with excellent deformability and controllability have been intensively studied recently. However, most of these studies are in vitro and the use of ferrofluids for in vivo medicinal applications remains a big challenge. The application of ferrofluidic robots to the body requires the solution of many key problems. In this study, biocompatibility, controllability, and tumor-killing efficacy are considered when creating a ferrofluid-based millirobot for in vivo tumor-targeted therapy. For biocompatibility problems, corn oil is used specifically for the ferrofluid robot. In addition, a control system is built that enables a 3D magnetic drive to be implemented in complex biological media. Using the photothermal conversion property of 1064 nm, the ferrofluid robot can kill tumor cells in vitro; inhibit tumor volume, destroy the tumor interstitium, increase tumor cell apoptosis, and inhibit tumor cell proliferation in vivo. This study provides a reference for ferrofluid-based millirobots to achieve targeted therapies in vivo.
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Affiliation(s)
- Yiming Ji
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Xue Bai
- School of Biomedical Engineering, Capital Medical University, Beijing, 100069, China
| | - Hongyan Sun
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Luyao Wang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Chunyuan Gan
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Lina Jia
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Junjie Xu
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Wei Zhang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Liang Wang
- Department of Hematology, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yingchen Xu
- Department of General Surgery, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yaxin Hou
- Department of Diagnostic Ultrasound, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yinyan Wang
- Beijing Tiantan Hospital, Capital Medical University, Beijing, 100050, China
| | - Hui Hui
- CAS Key Laboratory of Molecular Imaging, The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, 100190, China
| | - Lin Feng
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, 100191, China
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16
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Zhao X, Yao H, Lv Y, Chen Z, Dong L, Huang J, Mi S. Reprogrammable Magnetic Soft Actuators with Microfluidic Functional Modules via Pixel-Assembly. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2310009. [PMID: 38295155 DOI: 10.1002/smll.202310009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/02/2023] [Revised: 12/31/2023] [Indexed: 02/02/2024]
Abstract
Magnetic soft actuators and robots have attracted considerable attention in biomedical applications due to their speedy response, programmability, and biocompatibility. Despite recent advancements, the fabrication process of magnetic actuators and the reprogramming approach of their magnetization profiles continue to pose challenges. Here, a facile fabrication strategy is reported based on arrangements and distributions of reusable magnetic pixels on silicone substrates, allowing for various magnetic actuators with customizable architectures, arbitrary magnetization profiles, and integration of microfluidic technology. This approach enables intricate configurations with decent deformability and programmability, as well as biomimetic movements involving grasping, swimming, and wriggling in response to magnetic actuation. Moreover, microfluidic functional modules are integrated for various purposes, such as on/off valve control, curvature adjustment, fluid mixing, dynamic microfluidic architecture, and liquid delivery robot. The proposed method fulfills the requirements of low-cost, rapid, and simplified preparation of magnetic actuators, since it eliminates the need to sustain pre-defined deformations during the magnetization process or to employ laser heating or other stimulation for reprogramming the magnetization profile. Consequently, it is envisioned that magnetic actuators fabricated via pixel-assembly will have broad prospects in microfluidics and biomedical applications.
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Affiliation(s)
- Xiaoyu Zhao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Hongyi Yao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Yaoyi Lv
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Zhixian Chen
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Lina Dong
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Jiajun Huang
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
- Optometry Advanced Medical Equipment R&D Center, Research Institute of Tsinghua University in Shenzhen, Shenzhen, Guangdong, 518000, China
| | - Shengli Mi
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
- Optometry Advanced Medical Equipment R&D Center, Research Institute of Tsinghua University in Shenzhen, Shenzhen, Guangdong, 518000, China
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17
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Chen Z, Wang Y, Chen H, Law J, Pu H, Xie S, Duan F, Sun Y, Liu N, Yu J. A magnetic multi-layer soft robot for on-demand targeted adhesion. Nat Commun 2024; 15:644. [PMID: 38245517 PMCID: PMC10799857 DOI: 10.1038/s41467-024-44995-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/22/2023] [Accepted: 01/04/2024] [Indexed: 01/22/2024] Open
Abstract
Magnetic soft robots have shown great potential for biomedical applications due to their high shape reconfigurability, motion agility, and multi-functionality in physiological environments. Magnetic soft robots with multi-layer structures can enhance the loading capacity and function complexity for targeted delivery. However, the interactions between soft entities have yet to be fully investigated, and thus the assembly of magnetic soft robots with on-demand motion modes from multiple film-like layers is still challenging. Herein, we model and tailor the magnetic interaction between soft film-like layers with distinct in-plane structures, and then realize multi-layer soft robots that are capable of performing agile motions and targeted adhesion. Each layer of the robot consists of a soft magnetic substrate and an adhesive film. The mechanical properties and adhesion performance of the adhesive films are systematically characterized. The robot is capable of performing two locomotion modes, i.e., translational motion and tumbling motion, and also the on-demand separation with one side layer adhered to tissues. Simulation results are presented, which have a good qualitative agreement with the experimental results. The feasibility of using the robot to perform multi-target adhesion in a stomach is validated in both ex-vivo and in-vivo experiments.
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Affiliation(s)
- Ziheng Chen
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
- 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
| | - 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
| | - Junhui Law
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
| | - Huayan Pu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Shaorong Xie
- School of Computer Engineering and Science, Shanghai University, Shanghai, 200444, China
| | - Feng Duan
- Department of Interventional Radiology, Chinese PLA General Hospital, Beijing, 100853, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
| | - Na Liu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, 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.
- School of Medicine, The Chinese University of Hong Kong, Shenzhen, 518172, China.
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18
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Li Y, Halwah A, Bhuiyan SRA, Yao S. Bio-Inspired Untethered Robot-Sensor Platform for Minimally Invasive Biomedical Sensing. ACS APPLIED MATERIALS & INTERFACES 2023; 15:58839-58849. [PMID: 38052447 DOI: 10.1021/acsami.3c13425] [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: 12/07/2023]
Abstract
Conventional catheter- or probe-based in vivo biomedical sensing is uncomfortable, inconvenient, and sometimes infeasible for long-term monitoring. Existing implantable sensors often require an invasive procedure for sensor placement. Untethered soft robots with the capability to deliver the sensor to the desired monitoring point hold great promise for minimally invasive biomedical sensing. Inspired by the locomotion modes of snakes, we present here a soft kirigami robot for sensor deployment and real-time wireless sensing. The locomotion mechanism of the soft robot is achieved by kirigami patterns that offer asymmetric tribological properties that mimic the skin of the snake. The robot exhibits good deployability, excellent load capacity (up to 150 times its own weight), high-speed locomotion (0.25 body length per step), and wide environmental adaptability with multimodal movements (obstacle crossing, locomotion in wet and dry conditions, climbing, and inverted crawling). When integrated with passive sensors, the versatile soft robot can locomote inside the human body, deliver the passive sensor to the desired location, and hold the sensor in place for real-time monitoring in a minimally invasive manner. The proof-of-concept prototype demonstrates that the platform can perform real-time impedance monitoring for the diagnosis of gastroesophageal reflux disease.
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Affiliation(s)
- Yizong Li
- Department of Mechanical Engineering, Stony Brook University, Stony Brook, New York 11794 United States
| | - Amro Halwah
- Department of Mechanical Engineering, Stony Brook University, Stony Brook, New York 11794 United States
| | - Shah R A Bhuiyan
- Department of Mechanical Engineering, Stony Brook University, Stony Brook, New York 11794 United States
| | - Shanshan Yao
- Department of Mechanical Engineering, Stony Brook University, Stony Brook, New York 11794 United States
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19
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Baburova PI, Kladko DV, Lokteva A, Pozhitkova A, Rumyantceva V, Rumyantceva V, Pankov IV, Taskaev S, Vinogradov VV. Magnetic Soft Robot for Minimally Invasive Urethral Catheter Biofilm Eradication. ACS NANO 2023; 17:20925-20938. [PMID: 37871301 DOI: 10.1021/acsnano.2c10127] [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: 10/25/2023]
Abstract
Catheter-related biofilm infection remains the main problem for millions of people annually, affecting morbidity, mortality, and quality of life. Despite the recent advances in the prevention of biofilm formation, alternative methods for biofilm prevention or eradication still should be found to avoid traumatic and expensive removal or catheter replacement. Soft magnetic robots have drawn significant interest in favor of remote control, fast response, and wide space for design. In this work, we demonstrated magnetic soft robots as a minimally invasive, safe, and effective approach to eliminate biofilm from urethral catheters (20 Fr or 5.1 mm in diameter). Seven designs of the robot were fabricated (size 4.5 × 15 mm), characterized, and tested in the presence of a rotating magnetic field. As a proof-of-concept, we demonstrated the superior efficiency of biofilm removal on the model of a urethral catheter using a magnetic robot, reaching full eradication for the octagram-shaped robot (velocity 2.88 ± 0.6 mm/s) at a 15 Hz frequency and a 10 mT amplitude. These findings are helpful for the treatment of biofilm-associated catheter contamination, which allows an increase in the catheter wearing time without frequent replacement and treatment of catheter-associated infections.
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Affiliation(s)
- Polina I Baburova
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Daniil V Kladko
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Alina Lokteva
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Anna Pozhitkova
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Viktoriya Rumyantceva
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Valeriya Rumyantceva
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Ilya V Pankov
- Institute of Physical and Organic Chemistry, Southern Federal University, 344090 Rostov-on-Don, Russia
| | - Sergey Taskaev
- National Research South Ural State University, Chelyabinsk 454080, Russia
- Chelyabinsk State University, Chelyabinsk 454001, Russia
| | - Vladimir V Vinogradov
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
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20
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Xu Y, Xiao B, Balakumar L, Obstein KL, Dong X. Wireless Millimeter-Size Soft Climbing Robots with Omnidirectional Steerability on Tissue Surfaces. IEEE Robot Autom Lett 2023; 8:5720-5726. [PMID: 37744315 PMCID: PMC10515379 DOI: 10.1109/lra.2023.3300570] [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] [Indexed: 09/26/2023]
Abstract
Wirelessly actuated miniature soft robots actuated by magnetic fields that can overcome gravity by climbing soft and wet tissues are promising for accessing challenging enclosed and confined spaces with minimal invasion for targeted medical operation. However, existing designs lack the directional steerability to traverse complex terrains and perform agile medical operations. Here we propose a rod-shaped millimeter-size climbing robot that can be omnidirectionally steered with a steering angle up to 360 degrees during climbing beyond existing soft miniature robots. The design innovation includes the rod-shaped robot body, its special magnetization profile, and the spherical robot footpads, allowing directional bending of the body under external magnetic fields and out-of-plane motion of the body for delivery of medical patches. With further integrated bio-adhesives and microstructures on the footpads, we experimentally demonstrated inverted climbing of the robot on porcine gastrointestinal (GI) tract tissues and deployment of a medical patch for targeted drug delivery.
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Affiliation(s)
- Yilan Xu
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37215, USA
| | - Boyang Xiao
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37215, USA
| | - Lohit Balakumar
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37215, USA
| | - Keith L. Obstein
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37215, USA
- Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN 37215, USA
- Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN 37232, USA
| | - Xiaoguang Dong
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37215, USA
- Department of Biomedical Engineering, Vanderbilt University, Nashville, TN 37215, USA
- Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN 37215, USA
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21
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Wang Y, Chen J, Su G, Mei J, Li J. A Review of Single-Cell Microrobots: Classification, Driving Methods and Applications. MICROMACHINES 2023; 14:1710. [PMID: 37763873 PMCID: PMC10537272 DOI: 10.3390/mi14091710] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 08/19/2023] [Accepted: 08/23/2023] [Indexed: 09/29/2023]
Abstract
Single-cell microrobots are new microartificial devices that use a combination of single cells and artificial devices, with the advantages of small size, easy degradation and ease of manufacture. With externally driven strategies such as light fields, sound fields and magnetic fields, microrobots are able to carry out precise micromanipulations and movements in complex microenvironments. Therefore, single-cell microrobots have received more and more attention and have been greatly developed in recent years. In this paper, we review the main classifications, control methods and recent advances in the field of single-cell microrobot applications. First, different types of robots, such as cell-based microrobots, bacteria-based microrobots, algae-based microrobots, etc., and their design strategies and fabrication processes are discussed separately. Next, three types of external field-driven technologies, optical, acoustic and magnetic, are presented and operations realized in vivo and in vitro by applying these three technologies are described. Subsequently, the results achieved by these robots in the fields of precise delivery, minimally invasive therapy are analyzed. Finally, a short summary is given and current challenges and future work on microbial-based robotics are discussed.
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Affiliation(s)
| | | | | | | | - Junyang Li
- School of Electronic Engineering, Ocean University of China, Qingdao 266000, China; (Y.W.); (J.C.); (G.S.); (J.M.)
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22
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Yan Y, Wang T, Zhang R, Liu Y, Hu W, Sitti M. Magnetically assisted soft milli-tools for occluded lumen morphology detection. SCIENCE ADVANCES 2023; 9:eadi3979. [PMID: 37585531 PMCID: PMC10431716 DOI: 10.1126/sciadv.adi3979] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/24/2023] [Accepted: 07/17/2023] [Indexed: 08/18/2023]
Abstract
Methodologies based on intravascular imaging have revolutionized the diagnosis and treatment of endovascular diseases. However, current methods are limited in detecting, i.e., visualizing and crossing, complicated occluded vessels. Therefore, we propose a miniature soft tool comprising a magnet-assisted active deformation segment (ADS) and a fluid drag-driven segment (FDS) to visualize and cross the occlusions with various morphologies. First, via soft-bodied deformation and interaction, the ADS could visualize the structure details of partial occlusions with features as small as 0.5 millimeters. Then, by leveraging the fluidic drag from the pulsatile flow, the FDS could automatically detect an entry point selectively from severe occlusions with complicated microchannels whose diameters are down to 0.2 millimeters. The functions have been validated in both biologically relevant phantoms and organs ex vivo. This soft tool could help enhance the efficacy of minimally invasive medicine for the diagnosis and treatment of occlusions in various circulatory systems.
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Affiliation(s)
- Yingbo Yan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Laboratory for Multiscale Mechanics and Medical Science, SV LAB, School of Aerospace, Xi’an Jiaotong University, Xi’an 710049, China
| | - Tianlu Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Rongjing Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Yilun Liu
- Laboratory for Multiscale Mechanics and Medical Science, SV LAB, School of Aerospace, Xi’an Jiaotong University, Xi’an 710049, China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, 8092 Zurich, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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23
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Jeong M, Tan X, Fischer F, Qiu T. A Magnetic Millirobot Walks on Slippery Biological Surfaces for Targeted Cargo Delivery. MICROMACHINES 2023; 14:1439. [PMID: 37512750 PMCID: PMC10384245 DOI: 10.3390/mi14071439] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/23/2023] [Revised: 07/12/2023] [Accepted: 07/13/2023] [Indexed: 07/30/2023]
Abstract
Small-scale robots hold great potential for targeted cargo delivery in minimally invasive medicine. However, current robots often face challenges in locomoting efficiently on slippery biological tissue surfaces, especially when loaded with heavy cargo. Here, we report a magnetic millirobot that can walk on rough and slippery biological tissues by anchoring itself on the soft tissue surface alternatingly with two feet and reciprocally rotating the body to move forward. We experimentally studied the locomotion, validated it with numerical simulations, and optimized the actuation parameters to fit various terrains and loading conditions. Furthermore, we developed a permanent magnet set-up to enable wireless actuation within a human-scale volume that allows precise control of the millirobot to follow complex trajectories, climb vertical walls, and carry cargo up to four times its own weight. Upon reaching the target location, it performs a deployment sequence to release the liquid drug into tissues. The robust gait of our millirobot on rough biological terrains, combined with its heavy load capacity, makes it a versatile and effective miniaturized vehicle for targeted cargo delivery.
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Affiliation(s)
- Moonkwang Jeong
- Cyber Valley Group—Biomedical Microsystems, Institute of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
| | - Xiangzhou Tan
- Cyber Valley Group—Biomedical Microsystems, Institute of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
- Department of General Surgery, Xiangya Hospital, Central South University, Changsha 410008, China
- International Joint Research Center of Minimally Invasive Endoscopic Technology Equipment & Standards, Changsha 410008, China
| | - Felix Fischer
- Cyber Valley Group—Biomedical Microsystems, Institute of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
| | - Tian Qiu
- Cyber Valley Group—Biomedical Microsystems, Institute of Physical Chemistry, University of Stuttgart, Pfaffenwaldring 55, 70569 Stuttgart, Germany
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24
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Xu R, Xu Q. Design of a Bio-Inspired Untethered Soft Octopodal Robot Driven by Magnetic Field. Biomimetics (Basel) 2023; 8:269. [PMID: 37504157 PMCID: PMC10376972 DOI: 10.3390/biomimetics8030269] [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: 05/29/2023] [Revised: 06/17/2023] [Accepted: 06/20/2023] [Indexed: 07/29/2023] Open
Abstract
Inspired by insects in nature, an increasing number of soft robots have been proposed to mimic their locomotion patterns. As a wireless actuation method, the magnetic actuation technique has been widely applied to drive soft magnetic robots for diverse applications. Although recent works on soft materials have stimulated the development of soft robots, it is challenging to achieve the efficient movement of soft robots for in vivo biomedical application. Inspired by centipede locomotion, a soft octopodal robot is designed in this paper. The robot is fabricated by mixing magnetic particles with silicone polymers, which is then magnetized by a specific magnetic field. The prototypes can be actuated by an external magnetic field (5-8 mT) produced by custom-made electromagnetic coils. Experimental results show that the soft robot can move at a high speed in the range of 0.536-1.604 mm/s on different surfaces, including paper, wood, and PMMA. This indicates that the soft robot can achieve comparable speeds to other robots, while being driven by a lower magnitude, resulting in energy savings. Furthermore, it achieves a high speed of 0.823 mm/s on the surface of a pig colon. The fine capabilities of the soft robot in terms of crossing uneven biological surfaces and carrying external loads are demonstrated. The results indicate that the reported soft robot exhibits promising applications in the biomedical field.
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Affiliation(s)
- Ruomeng Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau 999078, China
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau 999078, China
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25
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Wang C, Wu Y, Dong X, Armacki M, Sitti M. In situ sensing physiological properties of biological tissues using wireless miniature soft robots. SCIENCE ADVANCES 2023; 9:eadg3988. [PMID: 37285426 DOI: 10.1126/sciadv.adg3988] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/20/2022] [Accepted: 05/02/2023] [Indexed: 06/09/2023]
Abstract
Implanted electronic sensors, compared with conventional medical imaging, allow monitoring of advanced physiological properties of soft biological tissues continuously, such as adhesion, pH, viscoelasticity, and biomarkers for disease diagnosis. However, they are typically invasive, requiring being deployed by surgery, and frequently cause inflammation. Here we propose a minimally invasive method of using wireless miniature soft robots to in situ sense the physiological properties of tissues. By controlling robot-tissue interaction using external magnetic fields, visualized by medical imaging, we can recover tissue properties precisely from the robot shape and magnetic fields. We demonstrate that the robot can traverse tissues with multimodal locomotion and sense the adhesion, pH, and viscoelasticity on porcine and mice gastrointestinal tissues ex vivo, tracked by x-ray or ultrasound imaging. With the unprecedented capability of sensing tissue physiological properties with minimal invasion and high resolution deep inside our body, this technology can potentially enable critical applications in both basic research and clinical practice.
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Affiliation(s)
- Chunxiang Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich 8092, Switzerland
| | - Yingdan Wu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Xiaoguang Dong
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
| | | | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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26
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Lee YW, Kim JK, Bozuyuk U, Dogan NO, Khan MTA, Shiva A, Wild AM, Sitti M. Multifunctional 3D-Printed Pollen Grain-Inspired Hydrogel Microrobots for On-Demand Anchoring and Cargo Delivery. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2209812. [PMID: 36585849 DOI: 10.1002/adma.202209812] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/24/2022] [Revised: 12/22/2022] [Indexed: 06/17/2023]
Abstract
While a majority of wireless microrobots have shown multi-responsiveness to implement complex biomedical functions, their functional executions are strongly dependent on the range of stimulus inputs, which curtails their functional diversity. Furthermore, their responsive functions are coupled to each other, which results in the overlap of the task operations. Here, a 3D-printed multifunctional microrobot inspired by pollen grains with three hydrogel components is demonstrated: iron platinum (FePt) nanoparticle-embedded pentaerythritol triacrylate (PETA), poly N-isopropylacrylamide (pNIPAM), and poly N-isopropylacrylamide acrylic acid (pNIPAM-AAc) structures. Each of these structures exhibits their respective targeted functions: responding to magnetic fields for torque-driven surface rolling and steering, exhibiting temperature responsiveness for on-demand surface attachment (anchoring), and pH-responsive cargo release. The versatile multifunctional pollen grain-inspired robots conceptualized here pave the way for various future medical microrobots to improve their projected performance and functional diversity.
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Affiliation(s)
- Yun-Woo Lee
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Jae-Kang Kim
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Nihal Olcay Dogan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Muhammad Turab Ali Khan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Anitha Shiva
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Anna-Maria Wild
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul, 34450, Turkey
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27
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A soft microrobot with highly deformable 3D actuators for climbing and transitioning complex surfaces. Proc Natl Acad Sci U S A 2022; 119:e2215028119. [PMID: 36442122 PMCID: PMC9894190 DOI: 10.1073/pnas.2215028119] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022] Open
Abstract
The climbing microrobots have attracted growing attention due to their promising applications in exploration and monitoring of complex, unstructured environments. Soft climbing microrobots based on muscle-like actuators could offer excellent flexibility, adaptability, and mechanical robustness. Despite the remarkable progress in this area, the development of soft microrobots capable of climbing on flat/curved surfaces and transitioning between two different surfaces remains elusive, especially in open spaces. In this study, we address these challenges by developing voltage-driven soft small-scale actuators with customized 3D configurations and active stiffness adjusting. Combination of programmed strain distributions in liquid crystal elastomers (LCEs) and buckling-driven 3D assembly, guided by mechanics modeling, allows for voltage-driven, complex 3D-to-3D shape morphing (bending angle > 200°) at millimeter scales (from 1 to 10 mm), which is unachievable previously. These soft actuators enable development of morphable electroadhesive footpads that can conform to different curved surfaces and stiffness-variable smart joints that allow different locomotion gaits in a single microrobot. By integrating such morphable footpads and smart joints with a deformable body, we report a multigait, soft microrobot (length from 6 to 90 mm, and mass from 0.2 to 3 g) capable of climbing on surfaces with diverse shapes (e.g., flat plane, cylinder, wavy surface, wedge-shaped groove, and sphere) and transitioning between two distinct surfaces. We demonstrate that the microrobot could navigate from one surface to another, recording two corresponding ceilings when carrying an integrated microcamera. The developed soft microrobot can also flip over a barrier, survive extreme compression, and climb bamboo and leaf.
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28
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Zhu H, Wang Y, Ge Y, Zhao Y, Jiang C. Kirigami-Inspired Programmable Soft Magnetoresponsive Actuators with Versatile Morphing Modes. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2203711. [PMID: 36180420 PMCID: PMC9661843 DOI: 10.1002/advs.202203711] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2022] [Revised: 09/12/2022] [Indexed: 05/31/2023]
Abstract
Untethered soft magnetoresponsive actuators (SMRAs), which can realize rapid shape transformation, have attracted widespread attention for their strategic applications in exploration, transportation, and minimally invasive medicine. It remains a challenge to fabricate SMRAs with complicated morphing modes (more than bending and folding), limiting their applications to simple shape-morphing and locomotion. Herein, a method integrating the ancient kirigami art and an advanced mechanical assembly method is proposed, which realizes 2D-to-3D and 3D-to-3D complicated shape-morphing and precise magnetization programming through cut-guided deformation. The kirigami-inspired SMRAs exhibit good robustness after actuating more than 10000 times. An integrated finite element analysis method is developed to quantitatively predict the shape transformation of SMRAs under magnetic actuation. By leveraging this method, a set of 3D curved responsive morphologies with programmed Gaussian curvature are fabricated (e.g., ellipsoid and saddle structures), specifically 3D multilayer structures and face-like shapes with different expressions, which are difficult to realize using previous approaches. Furthermore, a bionic-scaled soft crawling robot with significant obstacle surmounting ability is fabricated using the kirigami-inspired method. The ability of the method to achieve programmable SMRAs with versatile morphing modes may broaden its applications in soft robotics, color-switchable devices, and clinical treatments.
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Affiliation(s)
- Hanlin Zhu
- State Key Laboratory of Advanced Design and Manufacturing for Vehicle BodyCollege of Mechanical and Vehicle EngineeringHunan UniversityChangsha410082P. R. China
| | - Yuan Wang
- State Key Laboratory of Advanced Design and Manufacturing for Vehicle BodyCollege of Mechanical and Vehicle EngineeringHunan UniversityChangsha410082P. R. China
| | - Yangwen Ge
- State Key Laboratory of Advanced Design and Manufacturing for Vehicle BodyCollege of Mechanical and Vehicle EngineeringHunan UniversityChangsha410082P. R. China
| | - Yan Zhao
- State Key Laboratory of Advanced Design and Manufacturing for Vehicle BodyCollege of Mechanical and Vehicle EngineeringHunan UniversityChangsha410082P. R. China
| | - Chao Jiang
- State Key Laboratory of Advanced Design and Manufacturing for Vehicle BodyCollege of Mechanical and Vehicle EngineeringHunan UniversityChangsha410082P. R. China
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29
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Xia N, Zhu G, Wang X, Dong Y, Zhang L. Multicomponent and multifunctional integrated miniature soft robots. SOFT MATTER 2022; 18:7464-7485. [PMID: 36189642 DOI: 10.1039/d2sm00891b] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Guangda Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Yue Dong
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
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30
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Bhattacharjee A, Jabbarzadeh M, Kararsiz G, Fu HC, Kim MJ. Bacteria-inspired magnetically actuated rod-like soft robot in viscous fluids. BIOINSPIRATION & BIOMIMETICS 2022; 17:065001. [PMID: 35926485 DOI: 10.1088/1748-3190/ac870f] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/13/2022] [Accepted: 08/04/2022] [Indexed: 06/15/2023]
Abstract
This paper seeks to design, develop, and explore the locomotive dynamics and morphological adaptability of a bacteria-inspired rod-like soft robot propelled in highly viscous Newtonian fluids. The soft robots were fabricated as tapered, hollow rod-like soft scaffolds by applying a robust and economic molding technique to a polyacrylamide-based hydrogel polymer. Cylindrical micro-magnets were embedded in both ends of the soft scaffolds, which allowed bending (deformation) and actuation under a uniform rotating magnetic field. We demonstrated that the tapered rod-like soft robot in viscous Newtonian fluids could perform two types of propulsion; boundary rolling was displayed when the soft robot was located near a boundary, and swimming was displayed far away from the boundary. In addition, we performed numerical simulations to understand the swimming propulsion along the rotating axis and the way in which this propulsion is affected by the soft robot's design, rotation frequency, and fluid viscosity. Our results suggest that a simple geometrical asymmetry enables the rod-like soft robot to perform propulsion in the low Reynolds number (Re≪ 1) regime; these promising results provide essential insights into the improvements that must be made to integrate the soft robots into minimally invasivein vivoapplications.
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Affiliation(s)
- Anuruddha Bhattacharjee
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
| | - Mehdi Jabbarzadeh
- Department of Mechanical Engineering, The University of Utah, Salt Lake City, UT 84112, United States of America
| | - Gokhan Kararsiz
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
| | - Henry C Fu
- Department of Mechanical Engineering, The University of Utah, Salt Lake City, UT 84112, United States of America
| | - Min Jun Kim
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
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31
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Huang C, Lai Z, Wu X, Xu T. Multimodal Locomotion and Cargo Transportation of Magnetically Actuated Quadruped Soft Microrobots. CYBORG AND BIONIC SYSTEMS 2022; 2022:0004. [PMID: 36924475 PMCID: PMC10010670 DOI: 10.34133/cbsystems.0004] [Citation(s) in RCA: 19] [Impact Index Per Article: 9.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2022] [Accepted: 11/06/2022] [Indexed: 01/02/2023] Open
Abstract
Untethered microrobots have attracted extensive attention due to their potential for biomedical applications and micromanipulation at the small scale. Soft microrobots are of great research importance because of their highly deformable ability to achieve not only multiple locomotion mechanisms but also minimal invasion to the environment. However, the existing microrobots are still limited in their ability to locomote and cross obstacles in unstructured environments compared to conventional legged robots. Nature provides much inspiration for developing miniature robots. Here, we propose a bionic quadruped soft thin-film microrobot with a nonmagnetic soft body and 4 magnetic flexible legs. The quadruped soft microrobot can achieve multiple controllable locomotion modes in the external magnetic field. The experiment demonstrated the robot's excellent obstacle-crossing ability by walking on the surface with steps and moving in the bottom of a stomach model with gullies. In particular, by controlling the conical angle of the external conical magnetic field, microbeads gripping, transportation, and release of the microrobot were demonstrated. In the future, the quadruped microrobot with excellent obstacle-crossing and gripping capabilities will be relevant for biomedical applications and micromanipulation.
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Affiliation(s)
- Chenyang Huang
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China.,University of Chinese Academy of Sciences, Beijing 100049, China
| | - Zhengyu Lai
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China.,University of Chinese Academy of Sciences, Beijing 100049, China
| | - Xinyu Wu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China
| | - Tiantian Xu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China
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32
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Ji Y, Bai X, Sun H, Wang L, Xu J, Gan C, Dai Y, Hui H, Feng L. Biocompatible Ferrofluid Robot With Photothermal Property for Targeted Tumor Therapy. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3201696] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Yiming Ji
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Xue Bai
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Hongyan Sun
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Luyao Wang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Junjie Xu
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Chunyuan Gan
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Yuguo Dai
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Hui Hui
- CAS Key Laboratory of Molecular Imaging, The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China
| | - Lin Feng
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
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