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Ghosh S, Bhaskar R, Mishra R, Arockia Babu M, Abomughaid MM, Jha NK, Sinha JK. Neurological insights into brain-targeted cancer therapy and bioinspired microrobots. Drug Discov Today 2024; 29:104105. [PMID: 39029869 DOI: 10.1016/j.drudis.2024.104105] [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: 04/09/2024] [Revised: 07/03/2024] [Accepted: 07/12/2024] [Indexed: 07/21/2024]
Abstract
Cancer, a multifaceted and pernicious disease, continuously challenges medicine, requiring innovative treatments. Brain cancers pose unique and daunting challenges due to the intricacies of the central nervous system and the blood-brain barrier. In this era of precision medicine, the convergence of neurology, oncology, and cutting-edge technology has given birth to a promising avenue - targeted cancer therapy. Furthermore, bioinspired microrobots have emerged as an ingenious approach to drug delivery, enabling precision and control in cancer treatment. This Keynote review explores the intricate web of neurological insights into brain-targeted cancer therapy and the paradigm-shifting world of bioinspired microrobots. It serves as a critical and comprehensive overview of these evolving fields, aiming to underscore their integration and potential for revolutionary cancer treatments.
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Affiliation(s)
- Shampa Ghosh
- GloNeuro, Sector 107, Vishwakarma Road, Noida, Uttar Pradesh 201301, India
| | - Rakesh Bhaskar
- School of Chemical Engineering, Yeungnam University, Gyeonsang 38541, Republic of Korea; Research Institute of Cell Culture, Yeungnam University, Gyeonsang 38541, Republic of Korea
| | - Richa Mishra
- Department of Computer Science and Engineering, Parul University, Vadodara, Gujrat 391760, India
| | - M Arockia Babu
- Institute of Pharmaceutical Research, GLA University, Mathura, India
| | - Mosleh Mohammad Abomughaid
- Department of Medical Laboratory Sciences, College of Applied Medical Sciences, University of Bisha, Bisha 61922, Saudi Arabia
| | - Niraj Kumar Jha
- Centre of Research Impact and Outcome, Chitkara University, Rajpura 140401, Punjab, India; Centre for Global Health Research, Saveetha Medical College, Saveetha Institute of Medical and Technical Sciences, Saveetha University, Chennai, India; School of Bioengineering & Biosciences, Lovely Professional University, Phagwara 144411, India; Department of Biotechnology Engineering and Food Technology, Chandigarh University, Mohali, India.
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Sun M, Sun B, Park M, Yang S, Wu Y, Zhang M, Kang W, Yoon J, Zhang L, Sitti M. Individual and collective manipulation of multifunctional bimodal droplets in three dimensions. SCIENCE ADVANCES 2024; 10:eadp1439. [PMID: 39018413 PMCID: PMC466956 DOI: 10.1126/sciadv.adp1439] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/11/2024] [Accepted: 06/14/2024] [Indexed: 07/19/2024]
Abstract
Spatiotemporally controllable droplet manipulation is vital across numerous applications, particularly in miniature droplet robots known for their exceptional deformability. Despite notable advancements, current droplet control methods are predominantly limited to two-dimensional (2D) deformation and motion of an individual droplet, with minimal exploration of 3D manipulation and collective droplet behaviors. Here, we introduce a bimodal actuation strategy, merging magnetic and optical fields, for remote and programmable 3D guidance of individual ferrofluidic droplets and droplet collectives. The magnetic field induces a magnetic dipole force, prompting the formation of droplet collectives. Simultaneously, the optical field triggers isothermal changes in interfacial tension through Marangoni flows, enhancing buoyancy and facilitating 3D movements of individual and collective droplets. Moreover, these droplets can function autonomously as soft robots, capable of transporting objects. Alternatively, when combined with a hydrogel shell, they assemble into jellyfish-like robots, driven by sunlight. These findings present an efficient strategy for droplet manipulation, broadening the capabilities of droplet-based robotics.
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Affiliation(s)
- Mengmeng Sun
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Bonan Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Myungjin Park
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju, Korea
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Yingdan Wu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Mingchao Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Wenbin Kang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Jungwon Yoon
- School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju, Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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Chen X, Tian C, Zhang H, Xie H. Magnetic-actuated hydrogel microrobots with multimodal motion and collective behavior. J Mater Chem B 2024. [PMID: 38973596 DOI: 10.1039/d4tb00520a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/09/2024]
Abstract
Magnetic-actuated miniature robots have sparked growing interest owing to their promising potential in biomedical applications, such as noninvasive diagnosis, cargo delivery, and microsurgery. Innovations are required to combine biodegradable materials with flexible mobility to promote the translation of magnetic robots towards in vivo application. This study proposes a biodegradable magnetic hydrogel robot (MHR) with multimodal locomotion and collective behavior through magnetic-assisted fabrication. The MHRs with aligned magnetic chains inside their structures have more significant maximum motion speeds under rotating magnetic fields than the robots without magnetic alignment. By reconfiguring the external magnetic fields, three types of stable motion modes (tumbling, spinning, and wobbling modes) of the individual MHRs can be triggered, while flexible conversion can be achieved between each motion mode. The motion mechanism of each motion mode under diverse rotating magnetic fields has been analyzed. The collective behavior of the MHRs, which is triggered by the magnetic dipole force, can enhance the motion performance and pass through sophisticated terrains. Furthermore, the experimental results demonstrate that the assembled MHRs can execute complicated tasks such as targeted cargo delivery. The proposed MHRs with multimodal locomotion and assembled behavior show effective motion efficiency, flexible maneuverability, and remarkable targeting ability, providing a new choice for magnetic robots in biomedical applications.
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Affiliation(s)
- Xi Chen
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Chenyao Tian
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Hao Zhang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin 150080, China.
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Hu X, Kim K, Ali A, Kim H, Kang Y, Yoon J, Torati SR, Reddy V, Im MY, Lim B, Kim C. Magnetically Selective Versatile Transport of Microrobotic Carriers. SMALL METHODS 2024; 8:e2301495. [PMID: 38308323 DOI: 10.1002/smtd.202301495] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/05/2023] [Revised: 12/28/2023] [Indexed: 02/04/2024]
Abstract
Field-driven transport systems offer great promise for use as biofunctionalized carriers in microrobotics, biomedicine, and cell delivery applications. Despite the construction of artificial microtubules using several micromagnets, which provide a promising transport pathway for the synchronous delivery of microrobotic carriers to the targeted location inside microvascular networks, the selective transport of different microrobotic carriers remains an unexplored challenge. This study demonstrated the selective manipulation and transport of microrobotics along a patterned micromagnet using applied magnetic fields. Owing to varied field strengths, the magnetic beads used as the microrobotic carriers with different sizes revealed varied locomotion, including all of them moving along the same direction, selective rotation, bidirectional locomotion, and all of them moving in a reversed direction. Furthermore, cells immobilized with magnetic beads and nanoparticles also revealed varied locomotion. It is expected that such steering strategies of microrobotic carriers can be used in microvascular channels for the targeted delivery of drugs or cells in an organized manner.
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Affiliation(s)
- Xinghao Hu
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- State Key Laboratory of Solidification Processing, Center of Advanced Lubrication and Seal Materials, Northwestern Polytechnical University, Xi'an, 710072, China
| | - Keonmok Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Abbas Ali
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Hyeonseol Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Yumin Kang
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Jonghwan Yoon
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Sri Ramulu Torati
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Venu Reddy
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
| | - Mi-Young Im
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
- Center for X-ray Optics, Lawrence Berkeley National Laboratory Berkeley, Berkeley, CA, 94720, USA
| | - Byeonghwa Lim
- Department of Smart Sensor Engineering, Andong National University, Andong, 36729, Republic of Korea
| | - CheolGi Kim
- Department of Physics and Chemistry, DGIST, Daegu, 42988, Republic of Korea
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Han X, Tan S, Wang Q, Zuo X, Heng L, Jiang L. Noncontact Microfluidics of Highly Viscous Liquids for Accurate Self-Splitting and Pipetting. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2402779. [PMID: 38594015 DOI: 10.1002/adma.202402779] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/23/2024] [Revised: 04/01/2024] [Indexed: 04/11/2024]
Abstract
Accurate dosing for various liquids, especially for highly viscous liquids, is fundamental in wide-ranging from molecular crosslinking to material processing. Despite droppers or pipettes being widely used as pipetting devices, they are powerless for quantificationally splitting and dosing highly viscous liquids (>100 mPa s) like polymer liquids due to the intertwined macromolecular chains and strong cohesion energy. Here, a highly transparent photopyroelectric slippery (PS) platform is provided to achieve noncontact self-splitting for liquids with viscosity as high as 15 000 mPa s, just with the assistance of sunlight and a cooling source to provide a local temperature difference (ΔT). Moreover, to guarantee the accuracy for pipetting liquids (>80%), the ultrathin MXene film (within a thickness of 20 nm) is self-assembled as the photo-thermal layers, overcoming the trade-off between transparency and photothermal property. Compared with traditional pipetting strategies (≈1.3% accuracy for pipetting polymer liquids), this accurate microfluidic chip shows great potential in adhesive systems (bonding strength, twice than using the droppers or pipettes).
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Affiliation(s)
- Xiao Han
- Key Laboratory of Bioinspired Smart Interfacial Science and Technology of Ministry of Education, School of Chemistry, Beihang University, Beijing, 102206, China
| | - Shengda Tan
- Key Laboratory of Bioinspired Smart Interfacial Science and Technology of Ministry of Education, School of Chemistry, Beihang University, Beijing, 102206, China
| | - Qi Wang
- Key Laboratory of Bioinspired Smart Interfacial Science and Technology of Ministry of Education, School of Chemistry, Beihang University, Beijing, 102206, China
| | - Xiaobiao Zuo
- Key Laboratory of Bioinspired Smart Interfacial Science and Technology of Ministry of Education, School of Chemistry, Beihang University, Beijing, 102206, China
- National Engineering Research Center of Functional Carbon Composite, Aerospace Research Institute of Materials and Processing Technology, Beijing, 100076, China
| | - Liping Heng
- Key Laboratory of Bioinspired Smart Interfacial Science and Technology of Ministry of Education, School of Chemistry, Beihang University, Beijing, 102206, China
| | - Lei Jiang
- Key Laboratory of Bioinspired Smart Interfacial Science and Technology of Ministry of Education, School of Chemistry, Beihang University, Beijing, 102206, China
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Lu L, Zhao H, Lu Y, Zhang Y, Wang X, Fan C, Li Z, Wu Z. Design and Control of the Magnetically Actuated Micro/Nanorobot Swarm toward Biomedical Applications. Adv Healthc Mater 2024; 13:e2400414. [PMID: 38412402 DOI: 10.1002/adhm.202400414] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/02/2024] [Revised: 02/22/2024] [Indexed: 02/29/2024]
Abstract
Recently, magnetically actuated micro/nanorobots hold extensive promises in biomedical applications due to their advantages of noninvasiveness, fuel-free operation, and programmable nature. While effectively promised in various fields such as targeted delivery, most past investigations are mainly displayed in magnetic control of individual micro/nanorobots. Facing practical medical use, the micro/nanorobots are required for the development of swarm control in a closed-loop control manner. This review outlines the recent developments in magnetic micro/nanorobot swarms, including their actuating fundamentals, designs, controls, and biomedical applications. The fundamental principles and interactions involved in the formation of magnetic micro/nanorobot swarms are discussed first. The recent advances in the design of artificial and biohybrid micro/nanorobot swarms, along with the control devices and methods used for swarm manipulation, are presented. Furthermore, biomedical applications that have the potential to achieve clinical application are introduced, such as imaging-guided therapy, targeted delivery, embolization, and biofilm eradication. By addressing the potential challenges discussed toward the end of this review, magnetic micro/nanorobot swarms hold promise for clinical treatments in the future.
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Affiliation(s)
- Lu Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Hongqiao Zhao
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yucong Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yuxuan Zhang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Xinran Wang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Chengjuan Fan
- The Second Affiliated Hospital of Harbin Medical University, Harbin, 150001, China
| | - Zesheng Li
- Laboratory for Space Environment and Physical Sciences, Harbin Institute of Technology, Harbin, 150001, China
| | - Zhiguang Wu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), Harbin Institute of Technology, Harbin, 150001, China
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Zhao X, Zhang R, Li J, Zhou D, Li F, Guo H. Programmable spin and transport of a living shrimp egg through photoacoustic pressure. OPTICS LETTERS 2024; 49:2341-2344. [PMID: 38691714 DOI: 10.1364/ol.518231] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/12/2024] [Accepted: 03/24/2024] [Indexed: 05/03/2024]
Abstract
In the fields of biomedicine and microfluidics, the non-contact capture, manipulation, and spin of micro-particles hold great importance. In this study, we propose a programmable non-contact manipulation technique that utilizes photoacoustic effect to spin and transport living shrimp eggs. By directing a modulated pulsed laser toward a liquid-covered stainless-steel membrane, we can excite patterned Lamb waves within the membrane. These Lamb waves occur at the interface between the membrane and the liquid, enabling the manipulation of nearby particles. Experimental results demonstrate the successful capture, spin, and transport of shrimp eggs in diameter of 220 µm over a distance of about 5 mm. Calculations indicate that the acoustic radiation force and torque generated by our photoacoustic manipulation system are more than 299.5 nN and 41.0 nN·mm, respectively. The system surpasses traditional optical tweezers in terms of force and traditional acoustic tweezers in terms of flexibility. Consequently, this non-contact manipulation system significantly expands the possibilities for applications in various fields, including embryo screening, cell manipulation, and microfluidics.
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Wang Y, Chen H, Xie L, Liu J, Zhang L, Yu J. Swarm Autonomy: From Agent Functionalization to Machine Intelligence. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2312956. [PMID: 38653192 DOI: 10.1002/adma.202312956] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/30/2023] [Revised: 04/17/2024] [Indexed: 04/25/2024]
Abstract
Swarm behaviors are common in nature, where individual organisms collaborate via perception, communication, and adaptation. Emulating these dynamics, large groups of active agents can self-organize through localized interactions, giving rise to complex swarm behaviors, which exhibit potential for applications across various domains. This review presents a comprehensive summary and perspective of synthetic swarms, to bridge the gap between the microscale individual agents and potential applications of synthetic swarms. It is begun by examining active agents, the fundamental units of synthetic swarms, to understand the origins of their motility and functionality in the presence of external stimuli. Then inter-agent communications and agent-environment communications that contribute to the swarm generation are summarized. Furthermore, the swarm behaviors reported to date and the emergence of machine intelligence within these behaviors are reviewed. Eventually, the applications enabled by distinct synthetic swarms are summarized. By discussing the emergent machine intelligence in swarm behaviors, insights are offered into the design and deployment of autonomous synthetic swarms for real-world applications.
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Affiliation(s)
- Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Leiming Xie
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Jinbo Liu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
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Li J, Zhao X, Zhang R, Zhou D, Li F, Li Z, Guo H. Programmable photoacoustic manipulation of microparticles in liquid. OPTICS EXPRESS 2024; 32:16362-16370. [PMID: 38859265 DOI: 10.1364/oe.520615] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/05/2024] [Accepted: 03/26/2024] [Indexed: 06/12/2024]
Abstract
Particle manipulation through the transfer of light or sound momentum has emerged as a powerful technique with immense potential in various fields, including cell biology, microparticle assembly, and lab-on-chip technology. Here, we present a novel method called Programmable Photoacoustic Manipulation (PPAM) of microparticles in liquid, which enables rapid and precise arrangement and controllable transport of numerous silica particles in water. Our approach leverages the modulation of pulsed laser using digital micromirror devices (DMD) to generate localized Lamb waves in a stainless steel membrane and acoustic waves in water. The particles undergo a mechanical force of about several µN due to membrane vibrations and an acoustic radiation force of about tens of nN from the surrounding water. Consequently, this approach surpasses the efficiency of optical tweezers by effectively countering the viscous drag imposed by water and can be used to move thousands of particles on the membrane. The high power of the pulsed laser and the programmability of the DMD enhance the flexibility in particle manipulation. By integrating the benefits of optical and acoustic manipulation, this technique holds great promise for advancing large-scale manipulation, cell assembly, and drug delivery.
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Zhang R, Zhao X, Li J, Zhou D, Guo H, Li ZY, Li F. Programmable photoacoustic patterning of microparticles in air. Nat Commun 2024; 15:3250. [PMID: 38627385 PMCID: PMC11021490 DOI: 10.1038/s41467-024-47631-8] [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: 06/26/2023] [Accepted: 04/08/2024] [Indexed: 04/19/2024] Open
Abstract
Optical and acoustic tweezers, despite operating on different physical principles, offer non-contact manipulation of microscopic and mesoscopic objects, making them essential in fields like cell biology, medicine, and nanotechnology. The advantages and limitations of optical and acoustic manipulation complement each other, particularly in terms of trapping size, force intensity, and flexibility. We use photoacoustic effects to generate localized Lamb wave fields capable of mapping arbitrary laser pattern shapes. By using localized Lamb waves to vibrate the surface of the multilayer membrane, we can pattern tens of thousands of microscopic particles into the desired pattern simultaneously. Moreover, by quickly and successively adjusting the laser shape, microparticles flow dynamically along the corresponding elastic wave fields, creating a frame-by-frame animation. Our approach merges the programmable adaptability of optical tweezers with the potent manipulation capabilities of acoustic waves, paving the way for wave-based manipulation techniques, such as microparticle assembly, biological synthesis, and microsystems.
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Affiliation(s)
- Ruoqin Zhang
- School of Physics and Optoelectronics, South China University of Technology, 510640, Guangzhou, China
- School of Physics, Beijing Institute of Technology, 100081, Beijing, China
| | - Xichuan Zhao
- College of Science, Minzu University of China, 100081, Beijing, China
| | - Jinzhi Li
- School of Physics, Beijing Institute of Technology, 100081, Beijing, China
| | - Di Zhou
- School of Physics, Beijing Institute of Technology, 100081, Beijing, China
| | - Honglian Guo
- College of Science, Minzu University of China, 100081, Beijing, China.
| | - Zhi-Yuan Li
- School of Physics and Optoelectronics, South China University of Technology, 510640, Guangzhou, China.
- State Key Laboratory of Luminescent Materials and Devices, South China University of Technology, 510640, Guangzhou, China.
| | - Feng Li
- School of Physics, Beijing Institute of Technology, 100081, Beijing, China.
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Ahmed R, Calandra R, Marvi H. Learning to Control a Three-Dimensional Ferrofluidic Robot. Soft Robot 2024; 11:218-229. [PMID: 37870771 DOI: 10.1089/soro.2023.0005] [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: 10/24/2023] Open
Abstract
In recent years, ferrofluids have found increased popularity as a material for medical applications, such as ocular surgery, gastrointestinal surgery, and cancer treatment, among others. Ferrofluidic robots are multifunctional and scalable, exhibit fluid properties, and can be controlled remotely; thus, they are particularly advantageous for such medical tasks. Previously, ferrofluidic robot control has been achieved via the manipulation of handheld permanent magnets or in current-controlled electromagnetic fields resulting in two-dimensional position and shape control and three-dimensional (3D) coupled position-shape or position-only control. Control of ferrofluidic liquid droplet robots poses a unique challenge where model-based control has been shown to be computationally limiting. Thus, in this study, a model-free control method is chosen, and it is shown that the task of learning optimal control parameters for ferrofluidic robot control can be performed using machine learning. Particularly, we explore the use of Bayesian optimization to find optimal controller parameters for 3D pose control of a ferrofluid droplet: its centroid position, stretch direction, and stretch radius. We demonstrate that the position, stretch direction, and stretch radius of a ferrofluid droplet can be independently controlled in 3D with high accuracy and precision, using a simple control approach. Finally, we use ferrofluidic robots to perform pick-and-place, a lab-on-a-chip pH test, and electrical switching, in 3D settings. The purpose of this research is to expand the potential of ferrofluidic robots by introducing full pose control in 3D and to showcase the potential of this technology in the areas of microassembly, lab-on-a-chip, and electronics. The approach presented in this research can be used as a stepping-off point to incorporate ferrofluidic robots toward future research in these areas.
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Affiliation(s)
- Reza Ahmed
- School for Engineering of Matter, Transport & Energy, Arizona State University, Tempe, Arizona, USA
| | - Roberto Calandra
- Learning, Adaptive Systems, and Robotics (LASR) Lab, TU Dresden, Dresden, Germany
- The Centre for Tactile Internet with Human-in-the-Loop (CeTI), Dresden, Germany
| | - Hamid Marvi
- School for Engineering of Matter, Transport & Energy, Arizona State University, Tempe, Arizona, USA
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Li H, Zhang Z, Yi X, Jin S, Chen Y. Control of Self-Winding Microrobot Using an Electromagnetic Drive System: Integration of Movable Electromagnetic Coil and Permanent Magnet. MICROMACHINES 2024; 15:438. [PMID: 38675250 PMCID: PMC11052315 DOI: 10.3390/mi15040438] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/24/2024] [Revised: 03/09/2024] [Accepted: 03/21/2024] [Indexed: 04/28/2024]
Abstract
Achieving precise control over the motion position and attitude direction of magnetic microrobots remains a challenging task in the realm of microrobotics. To address this challenge, our research team has successfully implemented synchronized control of a microrobot's motion position and attitude direction through the integration of electromagnetic coils and permanent magnets. The whole drive system consists of two components. Firstly, a stepper motor propels the delta structure, altering the position of the end-mounted permanent magnet to induce microrobot movement. Secondly, a programmable DC power supply regulates the current strength in the electromagnetic coil, thereby manipulating the magnetic field direction at the end and influencing the permanent magnet's attitude, guiding the microrobot in attitude adjustments. The microrobot used for performance testing in this study was fabricated by blending E-dent400 photosensitive resin and NdFeB particles, employing a Single-Layer 4D Printing System Using Focused Light. To address the microrobot drive system's capabilities, experiments were conducted in a two-dimensional and three-dimensional track, simulating the morphology of human liver veins. The microrobot exhibited an average speed of 1.3 mm/s (movement error ± 0.5 mm). Experimental results validated the drive system's ability to achieve more precise control over the microrobot's movement position and attitude rotation. The outcomes of this study offer valuable insights for future electromagnetic drive designs and the application of microrobots in the medical field.
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Affiliation(s)
- Hao Li
- Department of Mechatronics and Information Engineering, Shandong University at Weihai, Weihai 264209, China;
| | - Zhaopeng Zhang
- Department of Mechanical Engineering, Yanbian University, Yanji 133002, China; (Z.Z.); (X.Y.)
| | - Xin Yi
- Department of Mechanical Engineering, Yanbian University, Yanji 133002, China; (Z.Z.); (X.Y.)
| | - Shanhai Jin
- Department of Mechanical Engineering, Yanbian University, Yanji 133002, China; (Z.Z.); (X.Y.)
| | - Yuan Chen
- Department of Mechatronics and Information Engineering, Shandong University at Weihai, Weihai 264209, China;
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Liu L, Lin F, Qin C, Zhong H, Tong T, Li R, Yan H, Wang Q, Li P, Liu D, Wang C, Bao J, Wang Z. Spinning a Liquid Wheel and Driving Surface Thermomagnetic Convection with Light. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2306756. [PMID: 37819771 DOI: 10.1002/adma.202306756] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/10/2023] [Revised: 09/21/2023] [Indexed: 10/13/2023]
Abstract
A typical Tesla thermomagnetic engine employs a solid magnetic wheel to convert thermal energy into mechanical energy, while thermomagnetic convection in ferrofluid is still challenging to observe because it is a volume convection that occurs in an enclosed space. Using a water-based ferrofluid, a liquid Tesla thermomagnetic engine is demonstrated and reports the observation of thermomagnetic convection on a free surface. Both types of fluid motions are driven by light and observed by simply placing ferrofluid on a cylindrical magnet. The surface thermomagnetic convection on the free surface is made possible by eliminating the Marangoni effect, while the spinning of the liquid wheel is achieved through the solid-like behavior of the ferrofluid under a strong magnetic field. Increasing the magnetic field reveals a transition from simple thermomagnetic convection to a combination of the central spin of the spiky wheel surrounded by thermomagnetic convection in the outer region of the ferrofluid. The coupling between multiple ferrofluid wheels through a fluid bridge is further demonstrated. These demonstrations not only unveil the unique properties of ferrofluid but also provide a new platform for studying complex fluid dynamics and thermomagnetic convection, opening up exciting opportunities for light-controlled fluid actuation and soft robotics.
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Affiliation(s)
- Laichen Liu
- Institute of Fundamental and Frontier Sciences, University of Electronic Science and Technology of China, Chengdu, Sichuan, 610054, China
| | - Feng Lin
- National Center for International Research on Photoelectric and Energy Materials, School of Materials and Energy, Yunnan University, Kunming, Yunnan, 650091, China
- Department of Electrical and Computer Engineering, Texas Center for Superconductivity (TcSUH), University of Houston, Houston, Texas, 77204, USA
| | - Chengzhen Qin
- Institute of Fundamental and Frontier Sciences, University of Electronic Science and Technology of China, Chengdu, Sichuan, 610054, China
- Department of Electrical and Computer Engineering, Texas Center for Superconductivity (TcSUH), University of Houston, Houston, Texas, 77204, USA
| | - Hong Zhong
- Institute of Fundamental and Frontier Sciences, University of Electronic Science and Technology of China, Chengdu, Sichuan, 610054, China
- Department of Electrical and Computer Engineering, Texas Center for Superconductivity (TcSUH), University of Houston, Houston, Texas, 77204, USA
| | - Tian Tong
- Department of Electrical and Computer Engineering, Texas Center for Superconductivity (TcSUH), University of Houston, Houston, Texas, 77204, USA
| | - Runjia Li
- Department of Mechanical Engineering, University of Houston, Houston, Texas, 77204, USA
| | - Hongzhen Yan
- Institute of Fundamental and Frontier Sciences, University of Electronic Science and Technology of China, Chengdu, Sichuan, 610054, China
| | - Qiaozhen Wang
- Institute of Fundamental and Frontier Sciences, University of Electronic Science and Technology of China, Chengdu, Sichuan, 610054, China
| | - Peihang Li
- Institute of Fundamental and Frontier Sciences, University of Electronic Science and Technology of China, Chengdu, Sichuan, 610054, China
| | - Dong Liu
- Department of Mechanical Engineering, University of Houston, Houston, Texas, 77204, USA
| | - Chong Wang
- National Center for International Research on Photoelectric and Energy Materials, School of Materials and Energy, Yunnan University, Kunming, Yunnan, 650091, China
| | - Jiming Bao
- Department of Electrical and Computer Engineering, Texas Center for Superconductivity (TcSUH), University of Houston, Houston, Texas, 77204, USA
| | - Zhiming Wang
- Institute of Fundamental and Frontier Sciences, University of Electronic Science and Technology of China, Chengdu, Sichuan, 610054, China
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14
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Abstract
Magnetic control has gained popularity recently due to its ability to enhance soft robots with reconfigurability and untethered maneuverability, among other capabilities. Several advancements in the fabrication and application of reconfigurable magnetic soft robots have been reported. This review summarizes novel fabrication techniques for designing magnetic soft robots, including chemical and physical methods. Mechanisms of reconfigurability and deformation properties are discussed in detail. The maneuverability of magnetic soft robots is then briefly discussed. Finally, the present challenges and possible future work in designing reconfigurable magnetic soft robots for biomedical applications are identified.
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Affiliation(s)
- Linxiaohai Ning
- Centre for Bioengineering, School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
| | - Chayabhan Limpabandhu
- Centre for Bioengineering, School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
| | - Zion Tsz Ho Tse
- Centre for Bioengineering, School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
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15
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Sun T, Chen J, Zhang J, Zhao Z, Zhao Y, Sun J, Chang H. Application of micro/nanorobot in medicine. Front Bioeng Biotechnol 2024; 12:1347312. [PMID: 38333078 PMCID: PMC10850249 DOI: 10.3389/fbioe.2024.1347312] [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: 12/08/2023] [Accepted: 01/02/2024] [Indexed: 02/10/2024] Open
Abstract
The development of micro/nanorobots and their application in medical treatment holds the promise of revolutionizing disease diagnosis and treatment. In comparison to conventional diagnostic and treatment methods, micro/nanorobots exhibit immense potential due to their small size and the ability to penetrate deep tissues. However, the transition of this technology from the laboratory to clinical applications presents significant challenges. This paper provides a comprehensive review of the research progress in micro/nanorobotics, encompassing biosensors, diagnostics, targeted drug delivery, and minimally invasive surgery. It also addresses the key issues and challenges facing this technology. The fusion of micro/nanorobots with medical treatments is poised to have a profound impact on the future of medicine.
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Affiliation(s)
- Tianhao Sun
- Department of Thoracic Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| | - Jingyu Chen
- Department of Oncology, The Fourth Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| | - Jiayang Zhang
- Key Laboratory of Carcinogenesis and Translational Research (Ministry of Education/Beijing), Department of Breast Oncology, Peking University Cancer Hospital and Institute, Beijing, China
| | - Zhihong Zhao
- Department of Thoracic Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| | - Yiming Zhao
- Department of Thoracic Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
| | - Jingxue Sun
- Department of Endocrinology and Metabolism, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Hao Chang
- Department of Thoracic Surgery, The First Affiliated Hospital of Harbin Medical University, Harbin, Heilongjiang, China
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16
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Wei H, Sun B, Zhang S, Tang J. Magnetoactive Millirobots with Ternary Phase Transition. ACS APPLIED MATERIALS & INTERFACES 2024; 16:3944-3954. [PMID: 38214466 DOI: 10.1021/acsami.3c13627] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/13/2024]
Abstract
Magnetoactive soft millirobots have made significant advances in programmable deformation, multimodal locomotion, and untethered manipulation in unreachable regions. However, the inherent limitations are manifested in the solid-phase millirobot as limited deformability and in the liquid-phase millirobot as low stiffness. Herein, we propose a ternary-state magnetoactive millirobot based on a phase transitional polymer embedded with magnetic nanoparticles. The millirobot can reversibly transit among the liquid, solid, and viscous-fluid phases through heating and cooling. The liquid-phase millirobot has elastic deformation and mobility for unimpeded navigation in a constrained space. The viscous-fluid phase millirobot shows irreversible deformation and large ductility. The solid-phase millirobot shows good shape stability and controllable locomotion. Moreover, the ternary-state magnetoactive millirobot can achieve prominent capabilities including stiffness change and shape reconfiguration through phase transition. The millirobot can perform potential functions of navigation in complex terrain, three-dimensional circuit connection, and simulated treatment in a stomach model. This magnetoactive millirobot may find new applications in flexible electronics and biomedicine.
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Affiliation(s)
- Huangsan Wei
- State Key Lab for Strength and Vibration of Mechanical Structures, Department of Engineering Mechanics, Xi'an Jiaotong University, Xi'an 710049, China
| | - Bonan Sun
- State Key Lab for Strength and Vibration of Mechanical Structures, Department of Engineering Mechanics, Xi'an Jiaotong University, Xi'an 710049, China
| | - Shengyuan Zhang
- State Key Lab for Strength and Vibration of Mechanical Structures, Department of Engineering Mechanics, Xi'an Jiaotong University, Xi'an 710049, China
| | - Jingda Tang
- State Key Lab for Strength and Vibration of Mechanical Structures, Department of Engineering Mechanics, Xi'an Jiaotong University, Xi'an 710049, China
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17
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Liao J, Majidi C, Sitti M. Liquid Metal Actuators: A Comparative Analysis of Surface Tension Controlled Actuation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2300560. [PMID: 37358049 DOI: 10.1002/adma.202300560] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/18/2023] [Revised: 06/09/2023] [Indexed: 06/27/2023]
Abstract
Liquid metals, with their unique combination of electrical and mechanical properties, offer great opportunities for actuation based on surface tension modulation. Thanks to the scaling laws of surface tension, which can be electrochemically controlled at low voltages, liquid metal actuators stand out from other soft actuators for their remarkable characteristics such as high contractile strain rates and higher work densities at smaller length scales. This review summarizes the principles of liquid metal actuators and discusses their performance as well as theoretical pathways toward higher performances. The objective is to provide a comparative analysis of the ongoing development of liquid metal actuators. The design principles of the liquid metal actuators are analyzed, including low-level elemental principles (kinematics and electrochemistry), mid-level structural principles (reversibility, integrity, and scalability), and high-level functionalities. A wide range of practical use cases of liquid metal actuators from robotic locomotion and object manipulation to logic and computation is reviewed. From an energy perspective, strategies are compared for coupling the liquid metal actuators with an energy source toward fully untethered robots. The review concludes by offering a roadmap of future research directions of liquid metal actuators.
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Affiliation(s)
- Jiahe Liao
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany
| | - Carmel Majidi
- Robotics Institute, Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, 15213, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich, 8092, Switzerland
- School of Medicine, College of Engineering, Koç University, Istanbul, 34450, Turkey
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18
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Zimmermann CJ, Petruska AJ, Neeves KB, Marr DWM. Coupling magnetic torque and force for colloidal microbot assembly and manipulation. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 5:2300332. [PMID: 38737989 PMCID: PMC11086969 DOI: 10.1002/aisy.202300332] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2023] [Indexed: 05/14/2024]
Abstract
For targeted transport in the body, biomedical microbots (μbots) must move effectively in three-dimensional (3D) microenvironments. Swimming μbots translate via asymmetric or screw-like motions while rolling ones use friction with available surfaces to generate propulsive forces. We have previously shown that planar rotating magnetic fields assemble μm-scale superparamagnetic beads into circular μbots that roll along surfaces. In this, gravity is required to pull μbots near the surface; however, this is not necessarily practical in complex geometries. Here we show that rotating magnetic fields, in tandem with directional magnetic gradient forces, can be used to roll μbots on surfaces regardless of orientation. Simplifying implementation, we use a spinning permanent magnet to generate differing ratios of rotating and gradient fields, optimizing control for different environments. This use of a single magnetic actuator sidesteps the need for complex electromagnet or tandem field setups, removes requisite gravitational load forces, and enables μbot targeting in complex 3D biomimetic microenvironments.
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Affiliation(s)
- Coy J Zimmermann
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
| | - Andrew J Petruska
- Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA
| | - Keith B Neeves
- Departments of Bioengineering and Pediatrics, University of Colorado Denver | Anschutz Medical Campus, Aurora, CO
| | - David W M Marr
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
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19
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Xu Z, Chen Y, Xu Q. Spreadable Magnetic Soft Robots with On-Demand Hardening. RESEARCH (WASHINGTON, D.C.) 2023; 6:0262. [PMID: 38034084 PMCID: PMC10687580 DOI: 10.34133/research.0262] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/02/2023] [Accepted: 10/12/2023] [Indexed: 12/02/2023]
Abstract
Magnetically actuated mobile robots demonstrate attractive advantages in various medical applications due to their wireless and programmable executions with tiny sizes. Confronted with complex application scenarios, however, it requires more flexible and adaptive deployment and utilization methods to fully exploit the functionalities brought by magnetic robots. Herein, we report a design and utilization strategy of magnetic soft robots using a mixture of magnetic particles and non-Newtonian fluidic soft materials to produce programmable, hardened, adhesive, reconfigurable soft robots. For deployment, their ultrasoft structure and adhesion enable them to be spread on various surfaces, achieving magnetic actuation empowerment. The reported technology can potentially improve the functionality of robotic end-effectors and functional surfaces. Experimental results demonstrate that the proposed robots could help to grasp and actuate objects 300 times heavier than their weight. Furthermore, it is the first time we have enhanced the stiffness of mechanical structures for these soft materials by on-demand programmable hardening, enabling the robots to maximize force outputs. These findings offer a promising path to understanding, designing, and leveraging magnetic robots for more powerful applications.
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Affiliation(s)
| | | | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology,
University of Macau, Macau, China
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20
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Li M, Pal A, Byun J, Gardi G, Sitti M. Magnetic Putty as a Reconfigurable, Recyclable, and Accessible Soft Robotic Material. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2304825. [PMID: 37713134 DOI: 10.1002/adma.202304825] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/22/2023] [Revised: 08/31/2023] [Indexed: 09/16/2023]
Abstract
Magnetically hard materials are widely used to build soft magnetic robots, providing large magnetic force/torque and macrodomain programmability. However, their high magnetic coercivity often presents practical challenges when attempting to reconfigure magnetization patterns, requiring a large magnetic field or heating. In this study, magnetic putty is introduced as a magnetically hard and soft material with large remanence and low coercivity. It is shown that the magnetization of magnetic putty can be easily reoriented with maximum magnitude using an external field that is only one-tenth of its coercivity. Additionally, magnetic putty is a malleable, autonomous self-healing material that can be recycled and repurposed. The authors anticipate magnetic putty could provide a versatile and accessible tool for various magnetic robotics applications for fast prototyping and explorations for research and educational purposes.
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Affiliation(s)
- Meng Li
- Department of Physical Intelligence, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge, MA, 02139, USA
| | - Aniket Pal
- Department of Physical Intelligence, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute of Applied Mechanics, University of Stuttgart, 70569, Stuttgart, Germany
| | - Junghwan Byun
- Department of Physical Intelligence, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Gaurav Gardi
- Department of Physical Intelligence, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Metin Sitti
- Department of Physical Intelligence, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, 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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21
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Shen Y, Jin D, Fu M, Liu S, Xu Z, Cao Q, Wang B, Li G, Chen W, Liu S, Ma X. Reactive wetting enabled anchoring of non-wettable iron oxide in liquid metal for miniature soft robot. Nat Commun 2023; 14:6276. [PMID: 37805612 PMCID: PMC10560245 DOI: 10.1038/s41467-023-41920-4] [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: 01/25/2023] [Accepted: 09/21/2023] [Indexed: 10/09/2023] Open
Abstract
Magnetic liquid metal (LM) soft robots attract considerable attentions because of distinctive immiscibility, deformability and maneuverability. However, conventional LM composites relying on alloying between LM and metallic magnetic powders suffer from diminished magnetism over time and potential safety risk upon leakage of metallic components. Herein, we report a strategy to composite inert and biocompatible iron oxide (Fe3O4) magnetic nanoparticles into eutectic gallium indium LM via reactive wetting mechanism. To address the intrinsic interfacial non-wettability between Fe3O4 and LM, a silver intermediate layer was introduced to fuse with indium component into AgxIny intermetallic compounds, facilitating the anchoring of Fe3O4 nanoparticles inside LM with improved magnetic stability. Subsequently, a miniature soft robot was constructed to perform various controllable deformation and locomotion behaviors under actuation of external magnetic field. Finally, practical feasibility of applying LM soft robot in an ex vivo porcine stomach was validated under in-situ monitoring by endoscope and X-ray imaging.
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Affiliation(s)
- Yifeng Shen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Dongdong Jin
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China.
| | - Mingming Fu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Sanhu Liu
- School of Materials Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin, 150001, China
| | - Zhiwu Xu
- School of Materials Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin, 150001, China
| | - Qinghua Cao
- School of Materials Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China
| | - Bo Wang
- School of Materials Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China
| | - Guoqiang Li
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Wenjun Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Shaoqin Liu
- Key Laboratory of Microsystems and Microstructures Manufacturing, School of Medicine and Health, Harbin Institute of Technology, Harbin, 150080, China
| | - Xing Ma
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China.
- State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin, 150001, China.
- Key Laboratory of Microsystems and Microstructures Manufacturing, School of Medicine and Health, Harbin Institute of Technology, Harbin, 150080, China.
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22
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Zhao Y, Hong Y, Li Y, Qi F, Qing H, Su H, Yin J. Physically intelligent autonomous soft robotic maze escaper. SCIENCE ADVANCES 2023; 9:eadi3254. [PMID: 37682998 PMCID: PMC10491293 DOI: 10.1126/sciadv.adi3254] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/18/2023] [Accepted: 08/07/2023] [Indexed: 09/10/2023]
Abstract
Autonomous maze navigation is appealing yet challenging in soft robotics for exploring priori unknown unstructured environments, as it often requires human-like brain that integrates onboard power, sensors, and control for computational intelligence. Here, we report harnessing both geometric and materials intelligence in liquid crystal elastomer-based self-rolling robots for autonomous escaping from complex multichannel mazes without the need for human-like brain. The soft robot powered by environmental thermal energy has asymmetric geometry with hybrid twisted and helical shapes on two ends. Such geometric asymmetry enables built-in active and sustained self-turning capabilities, unlike its symmetric counterparts in either twisted or helical shapes that only demonstrate transient self-turning through untwisting. Combining self-snapping for motion reflection, it shows unique curved zigzag paths to avoid entrapment in its counterparts, which allows for successful self-escaping from various challenging mazes, including mazes on granular terrains, mazes with narrow gaps, and even mazes with in situ changing layouts.
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Affiliation(s)
- Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Fangjie Qi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Haitao Qing
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Hao Su
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Joint NCSU/UNC Department of Biomedical Engineering, North Carolina State University, Raleigh, NC 27695; University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
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23
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Zhao P, Yan L, Gao X. Millirobot Based on a Phase-Transformable Magnetorheological Liquid Metal. ACS APPLIED MATERIALS & INTERFACES 2023; 15:37658-37667. [PMID: 37503740 DOI: 10.1021/acsami.3c06648] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/29/2023]
Abstract
Droplet robots have attracted much attention in recent years due to their large-scale deformability and flexible mobility in confined spaces. However, droplet robots are always difficult to maintain rigid shapes, making them difficult to manipulate objects with large inertia. Moreover, their low conductivity makes them unable to complete tasks such as circuit repair. Herein, a millirobot made from magnetorheological liquid metal is proposed to address the problems. Specifically, the magnetorheological liquid metal (MLM) robot is made by engulfing iron particles into gallium-indium alloy, and the mass fraction of the MLM robot is determined by microscopic observation and rheological test. The MLM robot possesses both solid and liquid properties, enabling the robot with plasticity, large-scale deformability, good conductivity, motion flexibility, and good object manipulation. The MLM robot can achieve almost all of the functions of existing droplet robots, including splitting, merging, navigating in narrow channels, and pushing objects. In addition, it can also accomplish some other tasks that are difficult for existing droplet robots, such as pulling large objects, repairing damaged circuits selectively and reversibly, and repairing suspended circuits through plasticity. The demos show that MLM robots can traverse narrow spaces and repair circuit damage selectively and reversibly. It is believed that MLM robots can enrich diverse functionalities in the future.
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Affiliation(s)
- Peiran Zhao
- School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
| | - Liang Yan
- School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
- Ningbo Institute of Technology, Beihang University, Ningbo 315800, China
- Tianmushan Laboratory, Hangzhou 310023, China
- Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China
| | - Xiaoshan Gao
- School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
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24
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Richter M, Sikorski J, Makushko P, Zabila Y, Venkiteswaran VK, Makarov D, Misra S. Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2302077. [PMID: 37330643 PMCID: PMC10460866 DOI: 10.1002/advs.202302077] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Revised: 05/21/2023] [Indexed: 06/19/2023]
Abstract
Advances in magnetoresponsive composites and (electro-)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small-scale robotic devices. Near-field MSMs offer energy efficiency and compactness by bringing the field source and effectors in close proximity. Current challenges of near-field MSM are limited programmability of effector motion, dimensionality, ability to perform collaborative tasks, and structural flexibility. Herein, a new class of near-field MSMs is demonstrated that combines microscale thickness flexible planar coils with magnetoresponsive polymer effectors. Ultrathin manufacturing and magnetic programming of effectors is used to tailor their response to the nonhomogeneous near-field distribution on the coil surface. The MSMs are demonstrated to lift, tilt, pull, or grasp in close proximity to each other. These ultrathin (80 µm) and lightweight (100 gm-2 ) MSMs can operate at high frequency (25 Hz) and low energy consumption (0.5 W), required for the use of MSMs in portable electronics.
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Affiliation(s)
- Michiel Richter
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
| | - Jakub Sikorski
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
| | - Pavlo Makushko
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Yevhen Zabila
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
- The H. Niewodniczanski Institute of Nuclear Physics, Polish Academy of SciencesKrakow31‐342Poland
| | | | - Denys Makarov
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Sarthak Misra
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
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25
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Zhao P, Qu F, Fu H, Zhao J, Guo J, Xu J, Ho YP, Chan MK, Bian L. Water-Immiscible Coacervate as a Liquid Magnetic Robot for Intravascular Navigation. J Am Chem Soc 2023; 145:3312-3317. [PMID: 36728932 DOI: 10.1021/jacs.2c13287] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/03/2023]
Abstract
Developing magnetic ultrasoft robots to navigate through extraordinarily narrow and confined spaces like capillaries in vivo requires synthesizing materials with excessive deformability, responsive actuation, and rapid adaptability, which are difficult to achieve with the current soft polymeric materials, such as elastomers and hydrogels. We report a magnetically actuatable and water-immiscible (MAWI) coacervate based on the assembled magnetic core-shell nanoparticles to function as a liquid robot. The degradable and biocompatible millimeter-sized MAWI coacervate liquid robot can remain stable under changing pH and salt concentrations, release loaded cargoes on demand, squeeze through an artificial capillary network within seconds, and realize intravascular targeting in vivo guided by an external magnetic field. We believe the proposed "coacervate-based liquid robot" can implement demanding tasks beyond the capability of conventional elastomer or hydrogel-based soft robots in the field of biomedicine and represents a distinct design strategy for high-performance ultrasoft robots.
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Affiliation(s)
- Pengchao Zhao
- School of Biomedical Sciences and Engineering, Guangzhou International Campus, South China University of Technology, Guangzhou 511442, P. R. China.,Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong 999077, P. R. China.,Department of Orthopaedics and Traumatology, Faculty of Medicine, The Chinese University of Hong Kong, Hong Kong 999077, P. R. China
| | - Fuyang Qu
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong 999077, P. R. China
| | - Hao Fu
- School of Biomedical Sciences and Engineering, Guangzhou International Campus, South China University of Technology, Guangzhou 511442, P. R. China
| | - Jianyang Zhao
- School of Biomedical Sciences and Engineering, Guangzhou International Campus, South China University of Technology, Guangzhou 511442, P. R. China
| | - Jiaxin Guo
- Department of Orthopaedics and Traumatology, Faculty of Medicine, The Chinese University of Hong Kong, Hong Kong 999077, P. R. China
| | - Jiankun Xu
- Department of Orthopaedics and Traumatology, Faculty of Medicine, The Chinese University of Hong Kong, Hong Kong 999077, P. R. China.,Department of Orthopaedics, The First Affiliated Hospital, Shantou University, Shantou 515041, P. R. China
| | - Yi-Ping Ho
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong 999077, P. R. China
| | - Michael K Chan
- School of Life Sciences and Center of Novel Biomaterials, The Chinese University of Hong Kong, Hong Kong 999077, P. R. China
| | - Liming Bian
- School of Biomedical Sciences and Engineering, Guangzhou International Campus, South China University of Technology, Guangzhou 511442, P. R. China.,National Engineering Research Center for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou 510006, P. R. China.,Guangdong Provincial Key Laboratory of Biomedical Engineering, South China University of Technology, Guangzhou 510006, P. R. China.,Key Laboratory of Biomedical Materials and Engineering of the Ministry of Education, South China University of Technology, Guangzhou 510006, P. R. China
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