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Zhang H, Guo Y, Chen Y, Xie B, Lai S, Liu H, Hou M, Ma L, Chen X, Wong CP. Nanorobot Swarms Made with Laser-Induced Graphene@Fe 3O 4 Nanoparticles with Controllable Morphology for Targeted Drug Delivery. ACS APPLIED MATERIALS & INTERFACES 2024. [PMID: 39376076 DOI: 10.1021/acsami.4c10355] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/09/2024]
Abstract
Magnetic nanorobot swarms can mimic group behaviors in nature and can be flexibly controlled by programmable magnetic fields, thereby having great potential in various applications. This paper presents a novel approach for the rapid and large-scale processing of laser-induced graphene (LIG) @Fe3O4-based-nanorobot swarms utilizing one-step UV laser processing technology. The swarm is capable of forming a variety of reversible morphologies under the magnetic field, including vortex-like and strip-like, as well as the interconversion of these, demonstrating high levels of controllability and flexibility. Moreover, the maximum forward motion speed of the nanorobot swarm is up to 2165 μm/s, and the drug loading and release ability of such a nanorobot swarm is enhanced about 50 times due to the presence of graphene, enabling the nanorobot swarm to show rapid and precise targeted drug delivery. Importantly, by controllable morphology transformation to conform to the complicated requirements for the magnetic field, the drug-loaded swarm can smoothly pass through a width-varying zigzag channel while maintaining 96% of the initial drug-loading, demonstrating that LIG @Fe3O4 NPs-based nanorobot swarm can provide effective and controllable targeted drug delivery in complex passages.
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Affiliation(s)
- Hao Zhang
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Yuanhui Guo
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Yun Chen
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Bin Xie
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Shengbao Lai
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Huilong Liu
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Maoxiang Hou
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Li Ma
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Xin Chen
- State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
| | - Ching-Ping Wong
- School of Materials Science and Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, United States
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Cao M, Sheng R, Sun Y, Cao Y, Wang H, Zhang M, Pu Y, Gao Y, Zhang Y, Lu P, Teng G, Wang Q, Rui Y. Delivering Microrobots in the Musculoskeletal System. NANO-MICRO LETTERS 2024; 16:251. [PMID: 39037551 PMCID: PMC11263536 DOI: 10.1007/s40820-024-01464-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/08/2024] [Accepted: 06/16/2024] [Indexed: 07/23/2024]
Abstract
Disorders of the musculoskeletal system are the major contributors to the global burden of disease and current treatments show limited efficacy. Patients often suffer chronic pain and might eventually have to undergo end-stage surgery. Therefore, future treatments should focus on early detection and intervention of regional lesions. Microrobots have been gradually used in organisms due to their advantages of intelligent, precise and minimally invasive targeted delivery. Through the combination of control and imaging systems, microrobots with good biosafety can be delivered to the desired area for treatment. In the musculoskeletal system, microrobots are mainly utilized to transport stem cells/drugs or to remove hazardous substances from the body. Compared to traditional biomaterial and tissue engineering strategies, active motion improves the efficiency and penetration of local targeting of cells/drugs. This review discusses the frontier applications of microrobotic systems in different tissues of the musculoskeletal system. We summarize the challenges and barriers that hinder clinical translation by evaluating the characteristics of different microrobots and finally point out the future direction of microrobots in the musculoskeletal system.
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Affiliation(s)
- Mumin Cao
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Renwang Sheng
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Yimin Sun
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, 210009, People's Republic of China
| | - Ying Cao
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, 210009, People's Republic of China
| | - Hao Wang
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Ming Zhang
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Yunmeng Pu
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
| | - Yucheng Gao
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Yuanwei Zhang
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Panpan Lu
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Gaojun Teng
- Center of Interventional Radiology and Vascular Surgery, Department of Radiology, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China.
| | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, 210009, People's Republic of China.
| | - Yunfeng Rui
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China.
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China.
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China.
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Wang H, Xiong J, Cai Y, Fu W, Zhong Y, Jiang T, Cheang UK. Stabilization of CsPbBr 3 Nanowires Through SU-8 Encapsulation for the Fabrication of Bilayer Microswimmers with Magnetic and Fluorescence Properties. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2400346. [PMID: 38958090 DOI: 10.1002/smll.202400346] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/15/2024] [Revised: 05/07/2024] [Indexed: 07/04/2024]
Abstract
All-inorganic cesium lead halide (CsPbX3, X = Cl, Br, I) perovskite nanocrystals have drawn great interest because of their excellent photophysical properties and potential applications. However, their poor stability in water greatly limited their use in applications that require stable structures. In this work, a facile approach to stabilize CsPbBr3 nanowires is developed by using SU-8 as a protection medium; thereby creating stable CsPbBr3/SU-8 microstructures. Through photolithography and layer-by-layer deposition, CsPbBr3/SU-8 is used to fabricate bilayer achiral microswimmers (BAMs), which consist of a top CsPbBr3/SU-8 layer and a bottom Fe3O4 magnetic layer. Compared to pure CsPbBr3 nanowires, the CsPbBr3/SU-8 shows long-term structural and fluorescence stability in water against ultrasonication treatment. Due to the magnetic layer, the motion of the microswimmers can be controlled precisely under a rotating magnetic field, allowing them to swim at low Reynolds number and tumble or roll on surfaces. Furthermore, CsPbBr3/SU-8 can be used to fabricate various types of planar microstructures with high throughput, high consistency, and fluorescence properties. This work provides a method for the stabilization of CsPbBr3 and demonstrates the potential to mass fabricate planar microstructures with various shapes, which can be used in different applications such as microrobotics.
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Affiliation(s)
- Haoying Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Junfeng Xiong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Yuzhen Cai
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Wei Fu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Yukun Zhong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Teng Jiang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
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Fazeli A, Thakore V, Ala-Nissila T, Karttunen M. Non-Stokesian dynamics of magnetic helical nanoswimmers under confinement. PNAS NEXUS 2024; 3:pgae182. [PMID: 38765716 PMCID: PMC11102084 DOI: 10.1093/pnasnexus/pgae182] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/22/2024] [Accepted: 04/19/2024] [Indexed: 05/22/2024]
Abstract
Electromagnetically propelled helical nanoswimmers offer great potential for nanorobotic applications. Here, the effect of confinement on their propulsion is characterized using lattice-Boltzmann simulations. Two principal mechanisms give rise to their forward motion under confinement: (i) pure swimming and (ii) the thrust created by the differential pressure due to confinement. Under strong confinement, they face greater rotational drag but display a faster propulsion for fixed driving frequency in agreement with experimental findings. This is due to the increased differential pressure created by the boundary walls when they are sufficiently close to each other and the particle. We have proposed two analytical relations (i) for predicting the swimming speed of an unconfined particle as a function of its angular speed and geometrical properties, and (ii) an empirical expression to accurately predict the propulsion speed of a confined swimmer as a function of the degree of confinement and its unconfined swimming speed. At low driving frequencies and degrees of confinement, the systems retain the expected linear behavior consistent with the predictions of the Stokes equation. However, as the driving frequency and/or the degree of confinement increase, their impact on propulsion leads to increasing deviations from the Stokesian regime and emergence of nonlinear behavior.
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Affiliation(s)
- Alireza Fazeli
- Department of Mathematics, Western University, London, ON N6A 5B7, Canada
- Center for Advanced Materials and Biomaterials Research, Western University, London, ON N6A 5B7, Canada
| | - Vaibhav Thakore
- Department of Mathematics, Western University, London, ON N6A 5B7, Canada
- Center for Advanced Materials and Biomaterials Research, Western University, London, ON N6A 5B7, Canada
| | - Tapio Ala-Nissila
- Multiscale Statistical and Quantum Physics Group, Quantum Technology Finland Centre of Excellence, Department of Applied Physics, Aalto University, FI-00076 Aalto, Espoo, Finland
- Interdisciplinary Centre for Mathematical Modelling, Department of Mathematical Sciences, Loughborough University, Loughborough, Leicestershire LE11 3TU, UK
| | - Mikko Karttunen
- Department of Physics and Astronomy, Western University, London, ON N6A 5B7, Canada
- Department of Chemistry, Western University, London, ON N6A 3K7, Canada
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5
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Xu R, Xu Q. A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation. MICROMACHINES 2024; 15:468. [PMID: 38675279 PMCID: PMC11052276 DOI: 10.3390/mi15040468] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 03/23/2024] [Accepted: 03/28/2024] [Indexed: 04/28/2024]
Abstract
Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.
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Affiliation(s)
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China;
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6
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Chen Z, Song X, Mu X, Zhang J, Cheang UK. 2D Magnetic Microswimmers for Targeted Cell Transport and 3D Cell Culture Structure Construction. ACS APPLIED MATERIALS & INTERFACES 2023; 15:8840-8853. [PMID: 36752406 DOI: 10.1021/acsami.2c18955] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Cell delivery using magnetic microswimmers is a promising tool for targeted therapy. However, it remains challenging to rapidly and uniformly manufacture cell-loaded microswimmers that can be assembled into cell-supporting structures at diseased sites. Here, rapid and uniform manufacturable 2D magnetic achiral microswimmers with pores were fabricated to deliver bone marrow mesenchymal stem cells (BMSCs) to regenerate articular-damaged cartilage. Under actuation with magnetic fields, the BMSC-loaded microswimmers take advantage of the achiral structure to exhibit rolling or swimming motions to travel on smooth and rough surfaces, up inclined planes, or in the bulk fluid. Cell viability, proliferation, and differentiation tests performed days after cell seeding verified the microswimmers' biocompatibility. Long-distance targeting and in situ assemblies into 3D cell-supporting structures with BMSC-loaded microswimmers were demonstrated using a knee model and U-shaped wells. Overall, combining the advantages of preparing an achiral 2D structured microswimmer with magnetically driven motility results in a platform for cell transport and constructing 3D cell cultures that can improve cell delivery at lesion sites for biomedical applications.
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Affiliation(s)
- Zhi Chen
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Xiaoxia Song
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Xueliang Mu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Junkai Zhang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen 518055, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China
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Wang H, Song X, Xiong J, Cheang UK. Fabrication of Bilayer Magnetically Actuated L-Shaped Microrobot Based on Chitosan via Photolithography. Polymers (Basel) 2022; 14:polym14245509. [PMID: 36559876 PMCID: PMC9784805 DOI: 10.3390/polym14245509] [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: 11/04/2022] [Revised: 12/11/2022] [Accepted: 12/13/2022] [Indexed: 12/23/2022] Open
Abstract
Magnetically actuated microrobots showed increasing potential in various fields, especially in the biomedical area, such as invasive surgery, targeted cargo delivery, and treatment. However, it remains a challenge to incorporate biocompatible natural polymers that are favorable for practical biomedical applications. In this work, bilayer magnetic microrobots with an achiral planar design were fabricated using a biocompatible natural polymer and Fe3O4 nanoparticles through the photolithography by applying the layer-by-layer method. The microrobots consisted of a magnetic bottom layer and a photo-crosslinked chitosan top layer. The SEM results showed that the microrobot processed the L-shaped planar structure with the average width, length, and thickness of 99.18 ± 5.11 μm, 189.56 ± 11.37 μm, and 23.56 ± 4.08 μm, respectively. Moreover, microrobots actuated using a three-dimensional (3D) Helmholtz coil system was characterized and reached up to an average maximum velocity of 325.30 μm/s and a step-out frequency of 14 Hz. Furthermore, the microrobots exhibited excellent cell biocompatibility towards L929 cells in the CCK-8 assay. Therefore, the development of bi-layered chitosan-based microrobots offers a general solution for using magnetic microrobots in biomedical applications by providing an easy-to-fabricate, highly mobile microrobotic platform with the incorporation of biocompatible natural polymers for enhanced biocompatibility.
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Affiliation(s)
- Haoying Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Correspondence: (H.W.); (U.K.C.)
| | - Xiaoxia Song
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Junfeng Xiong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen 518055, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China
- Correspondence: (H.W.); (U.K.C.)
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Tan L, Wang Z, Chen Z, Shi X, Cheang UK. Improving Swimming Performance of Photolithography-Based Microswimmers Using Curvature Structures. MICROMACHINES 2022; 13:1965. [PMID: 36422394 PMCID: PMC9694957 DOI: 10.3390/mi13111965] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/13/2022] [Revised: 11/04/2022] [Accepted: 11/07/2022] [Indexed: 06/16/2023]
Abstract
The emergence of robotic microswimmers and their huge potential in biomedical applications such as drug delivery, non-invasive surgery, and bio-sensing facilitates studies to improve their effectiveness. Recently, achiral microswimmers that have neither flexible nor helical structures have garnered attention because of their simple structures and fabrication process while preserving adequate swimming velocity and controllability. In this paper, the crescent shape was utilized to create photolithography-fabricated crescent-shaped achiral microswimmers. The microswimmers were actuated using rotating magnetic fields at low Reynolds numbers. Compared with the previously reported achiral microswimmers, the crescent-shaped microswimmers showed significant improvement in forward swimming speed. The effects of different curvatures, arm angles, and procession angles on the velocities of microswimmers were investigated. Moreover, the optimal swimming motion was defined by adjusting the field strength of the magnetic field. Finally, the effect of the thickness of the microswimmers on their swimming velocity was investigated.
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Affiliation(s)
- Liyuan Tan
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Zihan Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Zhi Chen
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Xiangcheng Shi
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen 518055, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China
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Macrophage-compatible magnetic achiral nanorobots fabricated by electron beam lithography. Sci Rep 2022; 12:13080. [PMID: 35906371 PMCID: PMC9338296 DOI: 10.1038/s41598-022-17053-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2022] [Accepted: 07/20/2022] [Indexed: 12/05/2022] Open
Abstract
With the development and progress of nanotechnology, the prospect of using nanorobots to achieve targeted drug delivery is becoming possible. Although nanorobots can potentially improve nano-drug delivery systems, there remains a significant challenge to fabricating magnetically controllable nanorobots with a size suitable for drug delivery in complex in vivo environments. Most of the current research focused on the preparation and functionalization of microscale and milliscale robots due to the relative difficulties in fabricating nanoscale robots. To address this problem and move towards in vivo applications, this study uses electron beam lithography to fabricate achiral planar L-shaped nanorobots that are biocompatible with immune cells. Their minimal planar geometry enabled nanolithography to fabricate nanorobots with a minimum feature size down to 400 nm. Using an integrated imaging and control system, the locomotive behavior of the L-shaped nanorobots in a fluidic environment was studied by examining their velocity profiles and trajectories. Furthermore, the nanorobots exhibit excellent cell compatibility with various types of cells, including macrophage cells. Finally, the long-term cell culture medium immersion test demonstrated that the L-shaped nanorobots have robust stability. This work will demonstrate the potential to use these nanorobots to operate in vivo without triggering immune cell responses.
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Song X, Fu W, Cheang UK. Immunomodulation and delivery of macrophages using nano-smooth drug-loaded magnetic microrobots for dual targeting cancer therapy. iScience 2022; 25:104507. [PMID: 35720266 PMCID: PMC9201018 DOI: 10.1016/j.isci.2022.104507] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/11/2021] [Revised: 04/04/2022] [Accepted: 05/27/2022] [Indexed: 11/24/2022] Open
Abstract
To realize the potential to use micro/nanorobots for targeted cancer therapy, it is important to improve their biocompatibility and targeting ability. Here, we report on drug-loaded magnetic microrobots capable of polarizing macrophages into the antitumor phenotype to target and inhibit cancer cells. In vitro tests demonstrated that the microrobots have good biocompatibility with normal cells and immune cells. Positively charged DOX was loaded onto the surface of microrobots via electrostatic interactions and exhibited pH-responsive release behavior. The nano-smooth surfaces of the microrobots activated M1 polarization of macrophages, thus activating their intrinsic targeting and antitumor abilities toward cancer cells. Through dual targeting from magnetic guidance and M1 macrophages, the microrobots were able to target and kill cancer cells in a 3D tumor spheroid culture assay. These findings demonstrate a way to improve the tumor-targeting and antitumor abilities of microrobots through the combined use of magnetic control, macrophages, and pH-responsive drug release.
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Affiliation(s)
- Xiaoxia Song
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Wei Fu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China
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11
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Liu F, Liu X, Huang Q, Arai T. Recent Progress of Magnetically Actuated DNA Micro/Nanorobots. CYBORG AND BIONIC SYSTEMS 2022; 2022:9758460. [PMID: 36285315 PMCID: PMC9494703 DOI: 10.34133/2022/9758460] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/25/2021] [Accepted: 12/22/2021] [Indexed: 01/12/2023] Open
Abstract
In the past few decades, the field of DNA origami-based micro/nanotechnology has developed dramatically and spawned attention increasingly, as its high integrality, rigid structure, and excellent resistance ability to enzyme digestion. Many two-dimensional and three-dimensional DNA nanostructures coordinated with optical, chemical, or magnetic triggers have been designed and assembled, extensively used as versatile templates for molecular robots, nanosensors, and intracellular drug delivery. The magnetic field has been widely regarded as an ideal driving and operating system for micro/nanomaterials, as it does not require high-intensity lasers like light control, nor does it need to change the chemical composition similar to chemical activation. Herein, we review the recent achievements in the induction and actuation of DNA origami-based nanodevices that respond to magnetic fields. These magnetic actuation-based DNA nanodevices were regularly combined with magnetic beads or gold nanoparticles and applied to generate single-stranded scaffolds, assemble various DNA nanostructures, and purify specific DNA nanostructures. Moreover, they also produced artificial magnetism or moved regularly driven by external magnetic fields to explain deeper scientific issues.
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Affiliation(s)
- Fengyu Liu
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Xiaoming Liu
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Qiang Huang
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Tatsuo Arai
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo 182-8585, Japan
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Propulsion of magnetically actuated achiral planar microswimmers in Newtonian and non-Newtonian fluids. Sci Rep 2021; 11:21190. [PMID: 34707091 PMCID: PMC8551179 DOI: 10.1038/s41598-021-00153-5] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/07/2021] [Accepted: 09/17/2021] [Indexed: 11/09/2022] Open
Abstract
Magnetic achiral planar microswimmers can be massively fabricated at low cost and are envisioned to be useful for in vivo biomedical applications. To understand locomotion in representative in vivo environments, we investigated the swimming performance of achiral planar microswimmers in methylcellulose solutions. We observed that these microswimmers displayed very similar swimming characteristics in methylcellulose solutions as in water. Furthermore, this study indicated that the range of precession angles increased as the concentration of MC solution increased. Last, it was demonstrated that achiral planar microswimmers with similar precession angles exhibited nearly the same dimensionless speeds in different concentrations of the methylcellulose solutions. Upon understanding swimmer kinematics, more effective control over the achiral planar microswimmers can be achieved to perform multiple biomedical tasks in in vivo environments.
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Mu X, Wang Z, Zhong Y, Jiang T, Cheang UK. Development of 2D MOF-Based Microrobots under Annealing Treatment and Their Biomedical Application. Ind Eng Chem Res 2021. [DOI: 10.1021/acs.iecr.1c01409] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022]
Affiliation(s)
- Xueliang Mu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Zihan Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Yukun Zhong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Teng Jiang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
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14
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Wang B, Kostarelos K, Nelson BJ, Zhang L. Trends in Micro-/Nanorobotics: Materials Development, Actuation, Localization, and System Integration for Biomedical Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2002047. [PMID: 33617105 DOI: 10.1002/adma.202002047] [Citation(s) in RCA: 182] [Impact Index Per Article: 60.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/24/2020] [Revised: 08/24/2020] [Indexed: 05/23/2023]
Abstract
Micro-/nanorobots (m-bots) have attracted significant interest due to their suitability for applications in biomedical engineering and environmental remediation. Particularly, their applications in in vivo diagnosis and intervention have been the focus of extensive research in recent years with various clinical imaging techniques being applied for localization and tracking. The successful integration of well-designed m-bots with surface functionalization, remote actuation systems, and imaging techniques becomes the crucial step toward biomedical applications, especially for the in vivo uses. This review thus addresses four different aspects of biomedical m-bots: design/fabrication, functionalization, actuation, and localization. The biomedical applications of the m-bots in diagnosis, sensing, microsurgery, targeted drug/cell delivery, thrombus ablation, and wound healing are reviewed from these viewpoints. The developed biomedical m-bot systems are comprehensively compared and evaluated based on their characteristics. The current challenges and the directions of future research in this field are summarized.
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Affiliation(s)
- Ben Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, China
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518060, China
| | - Kostas Kostarelos
- Nanomedicine Lab, Faculty of Biology, Medicine & Health, The University of Manchester, AV Hill Building, Manchester, M13 9PT, UK
- Catalan Institute of Nanoscience and Nanotechnology (ICN2), Campus UAB, Bellaterra, Barcelona, Spain
| | - Bradley J Nelson
- Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Tannenstrasse 3, Zurich, CH-8092, Switzerland
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, China
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15
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Witten TA, Diamant H. A review of shaped colloidal particles in fluids: anisotropy and chirality. REPORTS ON PROGRESS IN PHYSICS. PHYSICAL SOCIETY (GREAT BRITAIN) 2020; 83:116601. [PMID: 33135667 DOI: 10.1088/1361-6633/abb5c4] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
This review treats asymmetric colloidal particles moving through their host fluid under the action of some form of propulsion. The propulsion can come from an external body force or from external shear flow. It may also come from externally-induced stresses at the surface, arising from imposed chemical, thermal or electrical gradients. The resulting motion arises jointly from the driven particle and the displaced fluid. If the objects are asymmetric, every aspect of their motion and interaction depends on the orientation of the objects. This orientation in turn changes in response to the driving. The objects' shape can thus lead to a range of emergent anisotropic and chiral motion not possible with isotropic spherical particles. We first consider what aspects of a body's asymmetry can affect its drift through a fluid, especially chiral motion. We next discuss driving by injecting external force or torque into the particles. Then we consider driving without injecting force or torque. This includes driving by shear flow and driving by surface stresses, such as electrophoresis. We consider how time-dependent driving can induce collective orientational order and coherent motion. We show how a given particle shape can be represented using an assembly of point forces called a Stokeslet object. We next consider the interactions between anisotropic propelled particles, the symmetries governing the interactions, and the possibility of bound pairs of particles. Finally we show how the collective hydrodynamics of a suspension can be qualitatively altered by the particles' shapes. The asymmetric responses discussed here are broadly relevant also for swimming propulsion of active micron-scale objects such as microorganisms.
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Affiliation(s)
- Thomas A Witten
- Department of Physics and James Franck Institute, University of Chicago, Chicago, IL 60637, United States of America
| | - Haim Diamant
- Raymond and Beverly Sackler School of Chemistry, Tel Aviv University, Tel Aviv 69978, Israel
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16
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Mirzae Y, Rubinstein BY, Morozov KI, Leshansky AM. Modeling Propulsion of Soft Magnetic Nanowires. Front Robot AI 2020; 7:595777. [PMID: 33501356 PMCID: PMC7806091 DOI: 10.3389/frobt.2020.595777] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/17/2020] [Accepted: 09/29/2020] [Indexed: 11/25/2022] Open
Abstract
The emergent interest in artificial nanostructures that can be remotely navigated a specific location in a fluidic environment is motivated by the enormous potential this technology offers to biomedical applications. Originally, bio-inspired micro-/nanohelices driven by a rotating magnetic field were proposed. However, fabrication of 3D helical nanostructures is complicated. One idea to circumvent complex microfabrication is to use 1D soft magnetic nanowires that acquire chiral shape when actuated by a rotating field. The paper describes the comprehensive numerical approach for modeling propulsion of externally actuated soft magnetic nanowires. The proposed bead-spring model allows for arbitrary filament geometry and flexibility and takes rigorous account of intra-filament hydrodynamic interactions. The comparison of the numerical predictions with the previous experimental results on propulsion of composite two-segment (Ni-Ag) nanowires shows an excellent agreement. Using our model we could substantiate and rationalize important and previously unexplained details, such as bidirectional propulsion of three-segment (Ni-Ag-Au) nanowires.
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Affiliation(s)
- Yoni Mirzae
- Department of Mathematics, Technion-Israel Institute of Technology, Haifa, Israel
| | | | - Konstantin I Morozov
- Department of Chemical Engineering, Technion-Israel Institute of Technology, Haifa, Israel
| | - Alexander M Leshansky
- Department of Chemical Engineering, Technion-Israel Institute of Technology, Haifa, Israel.,Russel Berrie Nanotechnology Institute, Technion-Israel Institute of Technology, Haifa, Israel
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17
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Vyskočil J, Mayorga-Martinez CC, Jablonská E, Novotný F, Ruml T, Pumera M. Cancer Cells Microsurgery via Asymmetric Bent Surface Au/Ag/Ni Microrobotic Scalpels Through a Transversal Rotating Magnetic Field. ACS NANO 2020; 14:8247-8256. [PMID: 32544324 DOI: 10.1021/acsnano.0c01705] [Citation(s) in RCA: 52] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/23/2023]
Abstract
The actuation of micro/nanomachines by means of a magnetic field is a promising fuel-free way to transport cargo in microscale dimensions. This type of movement has been extensively studied for a variety of micro/nanomachine designs, and a special magnetic field configuration results in a near-surface walking. We developed "walking" micromachines which transversally move in a magnetic field, and we used them as microrobotic scalpels to enter and exit an individual cancer cell and cut a small cellular fragment. In these microscalpels, the center of mass lies approximately in the middle of their length. The microrobotic scalpels show good propulsion efficiency and high step-out frequencies of the magnetic field. Au/Ag/Ni microrobotic scalpels controlled by a transversal rotating magnetic field can enter the cytoplasm of cancer cells and also are able to remove a piece of the cytosol while leaving the cytoplasmic membrane intact in a microsurgery-like manner. We believe that this concept can be further developed for potential biological or medical applications.
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Affiliation(s)
- Jan Vyskočil
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology, Prague 166 28, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology, Prague 166 28, Czech Republic
| | - Eva Jablonská
- Department of Biochemistry and Microbiology, University of Chemistry and Technology, Prague 166 28, Czech Republic
| | - Filip Novotný
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology, Prague 166 28, Czech Republic
| | - Tomáš Ruml
- Department of Biochemistry and Microbiology, University of Chemistry and Technology, Prague 166 28, Czech Republic
| | - Martin Pumera
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology, Prague 166 28, Czech Republic
- Department of Medical Research, China Medical University Hospital, China Medical University, Taichung 40402 Taiwan
- Department of Chemical and Biomolecular Engineering, Yonsei University, Seoul 03722, Korea
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Brno 612 00, Czech Republic
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18
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Calero C, García-Torres J, Ortiz-Ambriz A, Sagués F, Pagonabarraga I, Tierno P. Propulsion and energetics of a minimal magnetic microswimmer. SOFT MATTER 2020; 16:6673-6682. [PMID: 32627785 DOI: 10.1039/d0sm00564a] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/16/2023]
Abstract
In this manuscript we describe the realization of a minimal hybrid microswimmer, composed of a ferromagnetic nanorod and a paramagnetic microsphere. The unbounded pair is propelled in water upon application of a swinging magnetic field that induces a periodic relative movement of the two composing elements, where the nanorod rotates and slides on the surface of the paramagnetic sphere. When taken together, the processes of rotation and sliding describe a finite area in the parameter space, which increases with the frequency of the applied field. We develop a theoretical approach and combine it with numerical simulations, which allow us to understand the dynamics of the propeller and explain the experimental observations. Furthermore, we demonstrate a reversal of the microswimmer velocity by varying the length of the nanorod, as predicted by the model. Finally, we determine theoretically and in experiments the Lighthill's energetic efficiency of this minimal magnetic microswimmer.
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Affiliation(s)
- Carles Calero
- Departament de Física de la Matèria Condensada, Universitat de Barcelona, Av. Diagonal 647, 08028, Barcelona, Spain. and Institut de Nanociència i Nanotecnologia, Universitat de Barcelona, Barcelona, Spain
| | - José García-Torres
- Departament de Física de la Matèria Condensada, Universitat de Barcelona, Av. Diagonal 647, 08028, Barcelona, Spain. and Institut de Nanociència i Nanotecnologia, Universitat de Barcelona, Barcelona, Spain
| | - Antonio Ortiz-Ambriz
- Departament de Física de la Matèria Condensada, Universitat de Barcelona, Av. Diagonal 647, 08028, Barcelona, Spain. and Institut de Nanociència i Nanotecnologia, Universitat de Barcelona, Barcelona, Spain
| | - Francesc Sagués
- Institut de Nanociència i Nanotecnologia, Universitat de Barcelona, Barcelona, Spain and Departament de Ciència de Materials i Química Física, Universitat de Barcelona, Barcelona, Spain
| | - Ignacio Pagonabarraga
- Departament de Física de la Matèria Condensada, Universitat de Barcelona, Av. Diagonal 647, 08028, Barcelona, Spain. and CECAM, Centre Européen de Calcul Atomique et Moléculaire, École Polytechnique Fédérale de Lasuanne (EPFL), Batochime, Avenue Forel 2, Lausanne, Switzerland and Universitat de Barcelona Institute of Complex Systems (UBICS), Universitat de Barcelona, Barcelona, Spain
| | - Pietro Tierno
- Departament de Física de la Matèria Condensada, Universitat de Barcelona, Av. Diagonal 647, 08028, Barcelona, Spain. and Institut de Nanociència i Nanotecnologia, Universitat de Barcelona, Barcelona, Spain and Universitat de Barcelona Institute of Complex Systems (UBICS), Universitat de Barcelona, Barcelona, Spain
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19
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Morozov KI, Leshansky AM. Towards focusing of a swarm of magnetic micro/nanomotors. Phys Chem Chem Phys 2020; 22:16407-16420. [PMID: 32657316 DOI: 10.1039/d0cp01514h] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
Abstract
Magnetic micro- and nanoparticles propelled by a rotating magnetic field provide a new technology for targeted drug delivery. The therapeutic effect of the technology is achievable with the collective action of large groups (swarms) of the motors. Narrowing of the swarm width before it reaches the target or, vice versa, its expansion prior to deposition on the channel walls are of high importance. Here we show how such swarm tuning can be achieved using a combination of the in-plane rotating and static magnetic field acting in the same plane. Although for this asymmetric actuating field the steady synchronous solutions of the problem do not materialize, the developed approach admits an analytical consideration for the average motor orientation and propulsion. The unique property of an average motion in the actuation by an asymmetric magnetic field is the emergence of propeller's net drift in plane of the field rotation. The drift velocity can be comparable in magnitude to the propulsion velocity along the axis of the field rotation. The field-induced drift is studied in detail for achiral V-shaped and chiral helical propellers, depending on their magnetization. Finally, we suggest spatial configuration of the constant magnetic field capable of focusing/defocusing swarms of magnetic motors.
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Affiliation(s)
| | - Alexander M Leshansky
- Department of Chemical Engineering, Technion-IIT, Haifa 32000, Israel. and Russel Berrie Nanotechnology Institute (RBNI), Technion-IIT, Haifa 32000, Israel
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20
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Tan L, Ali J, Cheang UK, Shi X, Kim D, Kim MJ. µ-PIV Measurements of Flows Generated by Photolithography-Fabricated Achiral Microswimmers. MICROMACHINES 2019; 10:E865. [PMID: 31835453 PMCID: PMC6953064 DOI: 10.3390/mi10120865] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/15/2019] [Revised: 12/02/2019] [Accepted: 12/04/2019] [Indexed: 11/16/2022]
Abstract
Robotic micro/nanoswimmers can potentially be used as tools for medical applications, such as drug delivery and noninvasive surgery. Recently, achiral microswimmers have gained significant attention because of their simple structures, which enables high-throughput fabrication and size scalability. Here, microparticle image velocimetry (µ-PIV) was used to study the hydrodynamics of achiral microswimmers near a boundary. The structures of these microswimmers resemble the letter L and were fabricated using photolithography and thin-film deposition. Through µ-PIV measurements, the velocity flow fields of the microswimmers rotating at different frequencies were observed. The results herein yield an understanding of the hydrodynamics of the L-shaped microswimmers, which will be useful in applications such as fluidic manipulation.
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Affiliation(s)
- Liyuan Tan
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China; (L.T.); (X.S.)
| | - Jamel Ali
- Department of Chemical and Biomedical Engineering, FAMU-FSU College of Engineering, Tallahassee, FL 32310, USA;
- National High Magnetic Field Laboratory, 1800 East Paul Dirac Drive, Tallahassee, FL 32310, USA
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China; (L.T.); (X.S.)
| | - Xiangcheng Shi
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China; (L.T.); (X.S.)
| | - Dalhyung Kim
- Department of Mechanical Engineering, Kennesaw State University, Marietta, GA 30060, USA;
| | - Min Jun Kim
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA;
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21
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Codutti A, Bachmann F, Faivre D, Klumpp S. Bead-Based Hydrodynamic Simulations of Rigid Magnetic Micropropellers. Front Robot AI 2018; 5:109. [PMID: 33500988 PMCID: PMC7805997 DOI: 10.3389/frobt.2018.00109] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/29/2018] [Accepted: 08/28/2018] [Indexed: 12/03/2022] Open
Abstract
The field of synthetic microswimmers, micro-robots moving in aqueous environments, has evolved significantly in the last years. Micro-robots actuated and steered by external magnetic fields are of particular interest because of the biocompatibility of this energy source and the possibility of remote control, features suited for biomedical applications. While initial work has mostly focused on helical shapes, the design space under consideration has widened considerably with recent works, opening up new possibilities for optimization of propellers to meet specific requirements. Understanding the relation between shape on the one hand and targeted actuation and steerability on the other hand requires an understanding of their propulsion behavior. Here we propose hydrodynamic simulations for the characterization of rigid micropropellers of any shape, actuated by rotating external magnetic fields. The method consists of approximating the propellers by rigid clusters of spheres. We characterize the influence of model parameters on the swimming behavior to identify optimal simulation parameters using helical propellers as a test system. We then explore the behavior of randomly shaped propellers that were recently characterized experimentally. The simulations show that the orientation of the magnetic moment with respect to the propeller's internal coordinate system has a strong impact on the propulsion behavior and has to be known with a precision of ≤ 5° to predict the propeller's velocity-frequency curve. This result emphasizes the importance of the magnetic properties of the micropropellers for the design of desired functionalities for potential biomedical applications, and in particular the importance of their orientation within the propeller's structure.
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Affiliation(s)
- Agnese Codutti
- Department Biomaterials, Max Planck Institute of Colloids and Interfaces, Potsdam, Germany.,Department Theory and Bio-Systems, Max Planck Institute of Colloids and Interfaces, Potsdam, Germany
| | - Felix Bachmann
- Department Biomaterials, Max Planck Institute of Colloids and Interfaces, Potsdam, Germany
| | - Damien Faivre
- Department Biomaterials, Max Planck Institute of Colloids and Interfaces, Potsdam, Germany.,Biosciences and Biotechnologies Institute (BIAM), CEA Cadarache, Saint Paul Lez Durance, France
| | - Stefan Klumpp
- Department Theory and Bio-Systems, Max Planck Institute of Colloids and Interfaces, Potsdam, Germany.,Institute for Nonlinear Dynamics, University of Göttingen, Göttingen, Germany
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