1
|
He T, Yang Y, Chen XB. Preparation, Stimulus-Response Mechanisms and Applications of Micro/Nanorobots. MICROMACHINES 2023; 14:2253. [PMID: 38138422 PMCID: PMC10745970 DOI: 10.3390/mi14122253] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/20/2023] [Revised: 12/10/2023] [Accepted: 12/13/2023] [Indexed: 12/24/2023]
Abstract
Micro- and nanorobots are highly intelligent and efficient. They can perform various complex tasks as per the external stimuli. These robots can adapt to the required functional form, depending on the different stimuli, thus being able to meet the requirements of various application scenarios. So far, microrobots have been widely used in the fields of targeted therapy, drug delivery, tissue engineering, environmental remediation and so on. Although microbots are promising in some fields, few reviews have yet focused on them. It is therefore necessary to outline the current status of these microbots' development to provide some new insights into the further evolution of this field. This paper critically assesses the research progress of microbots with respect to their preparation methods, stimulus-response mechanisms and applications. It highlights the suitability of different preparation methods and stimulus types, while outlining the challenges experienced by microbots. Viable solutions are also proposed for the promotion of their practical use.
Collapse
Affiliation(s)
| | | | - Xue-Bo Chen
- School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China; (T.H.); (Y.Y.)
| |
Collapse
|
2
|
Zhou Y, Ye M, Hu C, Qian H, Nelson BJ, Wang X. Stimuli-Responsive Functional Micro-/Nanorobots: A Review. ACS NANO 2023; 17:15254-15276. [PMID: 37534824 DOI: 10.1021/acsnano.3c01942] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/04/2023]
Abstract
Stimuli-responsive functional micro-/nanorobots (srFM/Ns) are a class of intelligent, efficient, and promising microrobots that can react to external stimuli (such as temperature, light, ultrasound, pH, ion, and magnetic field) and perform designated tasks. Through adaptive transformation into the corresponding functional forms, they can perfectly match the demands depending on different applications, which manifest extremely important roles in targeted therapy, biological detection, tissue engineering, and other fields. Promising as srFM/Ns can be, few reviews have focused on them. It is therefore necessary to provide an overview of the current development of these intelligent srFM/Ns to provide clear inspiration for further development of this field. Hence, this review summarizes the current advances of stimuli-responsive functional microrobots regarding their response mechanism, the achieved functions, and their applications to highlight the pros and cons of different stimuli. Finally, we emphasize the existing challenges of srFM/Ns and propose possible strategies to help accelerate the study of this field and promote srFM/Ns toward actual applications.
Collapse
Affiliation(s)
- Yan Zhou
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Min Ye
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Chengzhi Hu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Huihuan Qian
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
- Chinese University of Hong Kong, Shenzhen, Shenzhen 518172, China
| | - Bradley J Nelson
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092 Zurich, Switzerland
| | - Xiaopu Wang
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| |
Collapse
|
3
|
Zhou H, Dong G, Gao G, Du R, Tang X, Ma Y, Li J. Hydrogel-Based Stimuli-Responsive Micromotors for Biomedicine. CYBORG AND BIONIC SYSTEMS (WASHINGTON, D.C.) 2022; 2022:9852853. [PMID: 36285306 PMCID: PMC9579945 DOI: 10.34133/2022/9852853] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/04/2022] [Accepted: 09/23/2022] [Indexed: 11/07/2022]
Abstract
The rapid development of medical micromotors draws a beautiful blueprint for the noninvasive or minimally invasive diagnosis and therapy. By combining stimuli-sensitive hydrogel materials, micromotors are bestowed with new characteristics such as stimuli-responsive shape transformation/morphing, excellent biocompatibility and biodegradability, and drug loading ability. Actuated by chemical fuels or external fields (e.g., magnetic field, ultrasound, light, and electric field), hydrogel-based stimuli-responsive (HBSR) micromotors can be utilized to load therapeutic agents into the hydrogel networks or directly grip the target cargos (e.g., drug-loaded particles, cells, and thrombus), transport them to sites of interest (e.g., tumor area and diseased tissues), and unload the cargos or execute a specific task (e.g., cell capture, targeted sampling, and removal of blood clots) in response to a stimulus (e.g., change of temperature, pH, ion strength, and chemicals) in the physiological environment. The high flexibility, adaptive capacity, and shape morphing property enable the HBSR micromotors to complete specific medical tasks in complex physiological scenarios, especially in confined, hard-to-reach tissues, and vessels of the body. Herein, this review summarizes the current progress in hydrogel-based medical micromotors with stimuli responsiveness. The thermo-responsive, photothermal-responsive, magnetocaloric-responsive, pH-responsive, ionic-strength-responsive, and chemoresponsive micromotors are discussed in detail. Finally, current challenges and future perspectives for the development of HBSR micromotors in the biomedical field are discussed.
Collapse
Affiliation(s)
- Huaijuan Zhou
- Advanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing 100081, China
| | - Guozhao Dong
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Ge Gao
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Ran Du
- School of Materials Science & Engineering, Key Laboratory of High Energy Density Materials of the Ministry of Education, Beijing Institute of Technology, Beijing 100081, China
| | - Xiaoying Tang
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China
| | - Yining Ma
- Department of Forensic Science, Jiangsu Police Institute, Nanjing 210031, China
| | - Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| |
Collapse
|
4
|
Garello F, Svenskaya Y, Parakhonskiy B, Filippi M. Micro/Nanosystems for Magnetic Targeted Delivery of Bioagents. Pharmaceutics 2022; 14:pharmaceutics14061132. [PMID: 35745705 PMCID: PMC9230665 DOI: 10.3390/pharmaceutics14061132] [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: 03/16/2022] [Revised: 05/09/2022] [Accepted: 05/19/2022] [Indexed: 01/09/2023] Open
Abstract
Targeted delivery of pharmaceuticals is promising for efficient disease treatment and reduction in adverse effects. Nano or microstructured magnetic materials with strong magnetic momentum can be noninvasively controlled via magnetic forces within living beings. These magnetic carriers open perspectives in controlling the delivery of different types of bioagents in humans, including small molecules, nucleic acids, and cells. In the present review, we describe different types of magnetic carriers that can serve as drug delivery platforms, and we show different ways to apply them to magnetic targeted delivery of bioagents. We discuss the magnetic guidance of nano/microsystems or labeled cells upon injection into the systemic circulation or in the tissue; we then highlight emergent applications in tissue engineering, and finally, we show how magnetic targeting can integrate with imaging technologies that serve to assist drug delivery.
Collapse
Affiliation(s)
- Francesca Garello
- Molecular and Preclinical Imaging Centers, Department of Molecular Biotechnology and Health Sciences, University of Torino, Via Nizza 52, 10126 Torino, Italy;
| | - Yulia Svenskaya
- Science Medical Center, Saratov State University, 410012 Saratov, Russia;
| | - Bogdan Parakhonskiy
- Faculty of Bioscience Engineering, Ghent University, Coupure Links 653, B-9000 Ghent, Belgium;
| | - Miriam Filippi
- Soft Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Zurich, 8092 Zurich, Switzerland
- Correspondence:
| |
Collapse
|
5
|
A Brief Review on Challenges in Design and Development of Nanorobots for Medical Applications. APPLIED SCIENCES-BASEL 2021. [DOI: 10.3390/app112110385] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/04/2023]
Abstract
Robotics is a rapidly growing field, and the innovative idea to scale down the size of robots to the nanometer level has paved a new way of treating human health. Nanorobots have become the focus of many researchers aiming to explore their many potential applications in medicine. This paper focuses on manufacturing techniques involved in the fabrication of nanorobots and their associated challenges in terms of design architecture, sensors, actuators, powering, navigation, data transmission, followed by challenges in applications. In addition, an overview of various nanorobotic systems addresses different architectures of a nanorobot. Moreover, multiple medical applications, such as oncology, drug delivery, and surgery, are reviewed and summarized.
Collapse
|
6
|
|
7
|
Ganguly S, Margel S. Review: Remotely controlled magneto-regulation of therapeutics from magnetoelastic gel matrices. Biotechnol Adv 2020; 44:107611. [PMID: 32818552 DOI: 10.1016/j.biotechadv.2020.107611] [Citation(s) in RCA: 32] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/26/2020] [Revised: 07/14/2020] [Accepted: 08/13/2020] [Indexed: 12/14/2022]
|
8
|
Aziz A, Pane S, Iacovacci V, Koukourakis N, Czarske J, Menciassi A, Medina-Sánchez M, Schmidt OG. Medical Imaging of Microrobots: Toward In Vivo Applications. ACS NANO 2020; 14:10865-10893. [PMID: 32869971 DOI: 10.1021/acsnano.0c05530] [Citation(s) in RCA: 93] [Impact Index Per Article: 23.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Medical microrobots (MRs) have been demonstrated for a variety of non-invasive biomedical applications, such as tissue engineering, drug delivery, and assisted fertilization, among others. However, most of these demonstrations have been carried out in in vitro settings and under optical microscopy, being significantly different from the clinical practice. Thus, medical imaging techniques are required for localizing and tracking such tiny therapeutic machines when used in medical-relevant applications. This review aims at analyzing the state of the art of microrobots imaging by critically discussing the potentialities and limitations of the techniques employed in this field. Moreover, the physics and the working principle behind each analyzed imaging strategy, the spatiotemporal resolution, and the penetration depth are thoroughly discussed. The paper deals with the suitability of each imaging technique for tracking single or swarms of MRs and discusses the scenarios where contrast or imaging agent's inclusion is required, either to absorb, emit, or reflect a determined physical signal detected by an external system. Finally, the review highlights the existing challenges and perspective solutions which could be promising for future in vivo applications.
Collapse
Affiliation(s)
- Azaam Aziz
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstrasse 20, 01069 Dresden, Germany
| | - Stefano Pane
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - Veronica Iacovacci
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - Nektarios Koukourakis
- Chair of Measurement and Sensor System Technique, School of Engineering, TU Dresden, Helmholtzstrasse 18, 01069 Dresden, Germany
- Center for Biomedical Computational Laser Systems, TU Dresden, 01062 Dresden, Germany
| | - Jürgen Czarske
- Chair of Measurement and Sensor System Technique, School of Engineering, TU Dresden, Helmholtzstrasse 18, 01069 Dresden, Germany
- Cluster of Excellence Physics of Life, TU Dresden, 01307 Dresden, Germany
- Center for Biomedical Computational Laser Systems, TU Dresden, 01062 Dresden, Germany
| | - Arianna Menciassi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa 56025, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - Mariana Medina-Sánchez
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstrasse 20, 01069 Dresden, Germany
| | - Oliver G Schmidt
- Institute for Integrative Nanosciences, Leibniz IFW Dresden, Helmholtzstrasse 20, 01069 Dresden, Germany
- Center for Materials, Architectures, and Integration of Nanomembranes (MAIN), TU Chemnitz, Reichenhainer Strasse 10, 09107 Chemnitz, Germany
- School of Science, TU Dresden, 01062 Dresden, Germany
| |
Collapse
|
9
|
Kim D, Lee H, Kwon S, Sung YJ, Song WK, Park S. Bilayer Hydrogel Sheet-Type Intraocular Microrobot for Drug Delivery and Magnetic Nanoparticles Retrieval. Adv Healthc Mater 2020; 9:e2000118. [PMID: 32431072 DOI: 10.1002/adhm.202000118] [Citation(s) in RCA: 31] [Impact Index Per Article: 7.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2020] [Revised: 04/08/2020] [Indexed: 12/27/2022]
Abstract
By virtue of minimum invasiveness and driving ability using a magnetic field, drug delivery with the aid of a microrobot has an inherent potential for targeted treatment for the eye. The use of microrobots, however, has the limitation of leaving magnetic nanoparticles (MNPs) in the eye that can cause side effects. In this study, a bilayer hydrogel microrobot capable of retrieving MNPs after drug delivery is proposed that overcomes the limitations of existing microrobots. The bilayer hydrogel microrobot is composed of an MNPs layer and a therapeutic layer. Upon applying an alternating magnetic field (AMF) at the target point, the therapeutic layer is dissolved to deliver drug particles, and then the MNPs layer can be retrieved using a magnetic field. The targeting and MNPs retrieval tests validate the drug delivery and MNPs retrieval ability of the microrobot. The ex vivo bovine vitreous and in vitro cell tests demonstrate the potential for the vitreous migration of the microrobot and the therapeutic effect against retinoblastoma Y79 cancer cells. This bilayer hydrogel sheet-type intraocular microrobot provides a new drug delivery paradigm that overcomes the limitations of microrobot by maintaining the advantages of conventional microrobots in delivering drugs to the eye and retrieving MNPs after drug delivery.
Collapse
Affiliation(s)
- Dong‐In Kim
- Department of Robotics EngineeringDaegu Gyeongbuk Institute of Science and Technology Daegu 42988 Republic of Korea
| | - Hyoryong Lee
- Department of Robotics EngineeringDaegu Gyeongbuk Institute of Science and Technology Daegu 42988 Republic of Korea
| | - Su‐Hyun Kwon
- Department of Robotics EngineeringDaegu Gyeongbuk Institute of Science and Technology Daegu 42988 Republic of Korea
| | - Young Je Sung
- Department of OphthalmologyCHA Bundang Medical CenterCHA University College of Medicine Bundang‐gu Seongnam Gyunggido 13496 Republic of Korea
| | - Won Kyung Song
- Department of OphthalmologyCHA Bundang Medical CenterCHA University College of Medicine Bundang‐gu Seongnam Gyunggido 13496 Republic of Korea
| | - Sukho Park
- Department of Robotics EngineeringDaegu Gyeongbuk Institute of Science and Technology Daegu 42988 Republic of Korea
| |
Collapse
|
10
|
Veloso SRS, Ferreira PMT, Martins JA, Coutinho PJG, Castanheira EMS. Magnetogels: Prospects and Main Challenges in Biomedical Applications. Pharmaceutics 2018; 10:E145. [PMID: 30181472 PMCID: PMC6161300 DOI: 10.3390/pharmaceutics10030145] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/01/2018] [Revised: 08/24/2018] [Accepted: 08/30/2018] [Indexed: 11/17/2022] Open
Abstract
Drug delivery nanosystems have been thriving in recent years as a promising application in therapeutics, seeking to solve the lack of specificity of conventional chemotherapy targeting and add further features such as enhanced magnetic resonance imaging, biosensing and hyperthermia. The combination of magnetic nanoparticles and hydrogels introduces a new generation of nanosystems, the magnetogels, which combine the advantages of both nanomaterials, apart from showing interesting properties unobtainable when both systems are separated. The presence of magnetic nanoparticles allows the control and targeting of the nanosystem to a specific location by an externally applied magnetic field gradient. Moreover, the application of an alternating magnetic field (AMF) not only allows therapy through hyperthermia, but also enhances drug delivery and chemotherapeutic desired effects, which combined with the hydrogel specificity, confer a high therapeutic efficiency. Therefore, the present review summarizes the magnetogels properties and critically discusses their current and recent biomedical applications, apart from an outlook on future goals and perspectives.
Collapse
Affiliation(s)
- Sérgio R S Veloso
- Centre of Physics (CFUM), University of Minho, Campus de Gualtar, 4710-057 Braga, Portugal.
| | - Paula M T Ferreira
- Centre of Chemistry (CQ-UM), University of Minho, Campus de Gualtar, 4710-057 Braga, Portugal.
| | - J A Martins
- Centre of Chemistry (CQ-UM), University of Minho, Campus de Gualtar, 4710-057 Braga, Portugal.
| | - Paulo J G Coutinho
- Centre of Physics (CFUM), University of Minho, Campus de Gualtar, 4710-057 Braga, Portugal.
| | | |
Collapse
|
11
|
Bi C, Guix M, Johnson BV, Jing W, Cappelleri DJ. Design of Microscale Magnetic Tumbling Robots for Locomotion in Multiple Environments and Complex Terrains. MICROMACHINES 2018; 9:E68. [PMID: 30393344 PMCID: PMC6187462 DOI: 10.3390/mi9020068] [Citation(s) in RCA: 49] [Impact Index Per Article: 8.2] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/05/2017] [Revised: 01/25/2018] [Accepted: 01/30/2018] [Indexed: 11/17/2022]
Abstract
This paper presents several variations of a microscale magnetic tumbling ( μ TUM) robot capable of traversing complex terrains in dry and wet environments. The robot is fabricated by photolithography techniques and consists of a polymeric body with two sections with embedded magnetic particles aligned at the ends and a middle nonmagnetic bridge section. The robot's footprint dimensions are 400 μ m × 800 μ m. Different end geometries are used to test the optimal conditions for low adhesion and increased dynamic response to an actuating external rotating magnetic field. When subjected to a magnetic field as low as 7 mT in dry conditions, this magnetic microrobot is able to operate with a tumbling locomotion mode and translate with speeds of over 60 body lengths/s (48 mm/s) in dry environments and up to 17 body lengths/s (13.6 mm/s) in wet environments. Two different tumbling modes were observed and depend on the alignment of the magnetic particles. A technique was devised to measure the magnetic particle alignment angle relative to the robot's geometry. Rotational frequency limits were observed experimentally, becoming more prohibitive as environment viscosity increases. The μ TUM's performance was studied when traversing inclined planes (up to 60°), showing promising climbing capabilities in both dry and wet conditions. Maximum open loop straight-line trajectory errors of less than 4% and 2% of the traversal distance in the vertical and horizontal directions, respectively, for the μ TUM were observed. Full directional control of μ TUM was demonstrated through the traversal of a P-shaped trajectory. Additionally, successful locomotion of the optimized μ TUM design over complex terrains was also achieved. By implementing machine vision control and/or embedding of payloads in the middle section of the robot, it is possible in the future to upgrade the current design with computer-optimized mobility through multiple environments and the ability to perform drug delivery tasks for biomedical applications.
Collapse
Affiliation(s)
- Chenghao Bi
- School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907-2088, USA.
| | - Maria Guix
- School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907-2088, USA.
| | - Benjamin V Johnson
- School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907-2088, USA.
| | - Wuming Jing
- A. Leon Linton Department of Mechanical Engineering, Lawrence Technological University, Southfield, MI 48075-1058, USA.
| | - David J Cappelleri
- School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907-2088, USA.
| |
Collapse
|
12
|
Tabatabaei SN, Tabatabaei MS, Girouard H, Martel S. Hyperthermia of magnetic nanoparticles allows passage of sodium fluorescein and Evans blue dye across the blood–retinal barrier. Int J Hyperthermia 2016; 32:657-65. [DOI: 10.1080/02656736.2016.1193903] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022] Open
Affiliation(s)
- Seyed Nasrollah Tabatabaei
- Institute of Biomedical Engineering, École Polytechnique de Montréal, Montréal, Canada
- Department of Pharmacology, Faculty of Medicine, Université de Montréal, Montréal, Canada
| | - Maryam Sadat Tabatabaei
- Institute of Biomedical Engineering, École Polytechnique de Montréal, Montréal, Canada
- Department of Pharmacology, Faculty of Medicine, Université de Montréal, Montréal, Canada
| | - Hélène Girouard
- Department of Pharmacology, Faculty of Medicine, Université de Montréal, Montréal, Canada
| | - Sylvain Martel
- Institute of Biomedical Engineering, École Polytechnique de Montréal, Montréal, Canada
- Department of Medical Nanorobotics, Nanorobotics Laboratory, Montreal, Canada
| |
Collapse
|
13
|
Palagi S, Mark AG, Reigh SY, Melde K, Qiu T, Zeng H, Parmeggiani C, Martella D, Sanchez-Castillo A, Kapernaum N, Giesselmann F, Wiersma DS, Lauga E, Fischer P. Structured light enables biomimetic swimming and versatile locomotion of photoresponsive soft microrobots. NATURE MATERIALS 2016; 15:647-53. [PMID: 26878315 DOI: 10.1038/nmat4569] [Citation(s) in RCA: 444] [Impact Index Per Article: 55.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/17/2015] [Accepted: 01/18/2016] [Indexed: 05/22/2023]
Abstract
Microorganisms move in challenging environments by periodic changes in body shape. In contrast, current artificial microrobots cannot actively deform, exhibiting at best passive bending under external fields. Here, by taking advantage of the wireless, scalable and spatiotemporally selective capabilities that light allows, we show that soft microrobots consisting of photoactive liquid-crystal elastomers can be driven by structured monochromatic light to perform sophisticated biomimetic motions. We realize continuum yet selectively addressable artificial microswimmers that generate travelling-wave motions to self-propel without external forces or torques, as well as microrobots capable of versatile locomotion behaviours on demand. Both theoretical predictions and experimental results confirm that multiple gaits, mimicking either symplectic or antiplectic metachrony of ciliate protozoa, can be achieved with single microswimmers. The principle of using structured light can be extended to other applications that require microscale actuation with sophisticated spatiotemporal coordination for advanced microrobotic technologies.
Collapse
Affiliation(s)
- Stefano Palagi
- Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Andrew G Mark
- Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Shang Yik Reigh
- Department of Applied Mathematics and Theoretical Physics, Centre for Mathematical Sciences, University of Cambridge, Cambridge CB3 0WA, UK
| | - Kai Melde
- Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Tian Qiu
- Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute of Bioengineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland
| | - Hao Zeng
- European Laboratory for Non Linear Spectroscopy (LENS), University of Florence, 50019 Sesto Fiorentino, Italy
| | - Camilla Parmeggiani
- European Laboratory for Non Linear Spectroscopy (LENS), University of Florence, 50019 Sesto Fiorentino, Italy
- CNR-INO, 50019 Sesto Fiorentino, Italy
| | - Daniele Martella
- European Laboratory for Non Linear Spectroscopy (LENS), University of Florence, 50019 Sesto Fiorentino, Italy
| | | | - Nadia Kapernaum
- Institut für Physikalische Chemie, Universität Stuttgart, 70569 Stuttgart, Germany
| | - Frank Giesselmann
- Institut für Physikalische Chemie, Universität Stuttgart, 70569 Stuttgart, Germany
| | - Diederik S Wiersma
- European Laboratory for Non Linear Spectroscopy (LENS), University of Florence, 50019 Sesto Fiorentino, Italy
| | - Eric Lauga
- Department of Applied Mathematics and Theoretical Physics, Centre for Mathematical Sciences, University of Cambridge, Cambridge CB3 0WA, UK
| | - Peer Fischer
- Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institut für Physikalische Chemie, Universität Stuttgart, 70569 Stuttgart, Germany
| |
Collapse
|
14
|
Tabatabaei SN, Girouard H, Carret AS, Martel S. Toward nonsystemic delivery of therapeutics across the blood-brain barrier. Nanomedicine (Lond) 2016. [PMID: 26214352 DOI: 10.2217/nnm.15.85] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/27/2022] Open
Affiliation(s)
| | - Hélène Girouard
- Department of Pharmacology, Faculty of Medicine, Université de Montréal, Montréal, QC, Canada
| | - Anne-Sophie Carret
- Pediatric Hematologist-Oncologistat CHU Sainte-Justine, Montréal, QC, Canada.,Department of Pediatrics, Faculty of Medicine, Université de Montréal, Montréal, QC, Canada
| | - Sylvain Martel
- Department of Computer & Software Engineering, Institute of Biomedical Engineering, Polytechnique de Montréal, Montréal, QC, Canada
| |
Collapse
|
15
|
Martel S. Swimming microorganisms acting as nanorobots versus artificial nanorobotic agents: A perspective view from an historical retrospective on the future of medical nanorobotics in the largest known three-dimensional biomicrofluidic networks. BIOMICROFLUIDICS 2016; 10:021301. [PMID: 27158285 PMCID: PMC4841799 DOI: 10.1063/1.4945734] [Citation(s) in RCA: 15] [Impact Index Per Article: 1.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/12/2015] [Accepted: 03/29/2016] [Indexed: 05/29/2023]
Abstract
The vascular system in each human can be described as a 3D biomicrofluidic network providing a pathway close to approximately 100 000 km in length. Such network can be exploited to target any parts inside the human body with further accessibility through physiological spaces such as the interstitial microenvironments. This fact has triggered research initiatives towards the development of new medical tools in the form of microscopic robotic agents designed for surgical, therapeutic, imaging, or diagnostic applications. To push the technology further towards medical applications, nanotechnology including nanomedicine has been integrated with principles of robotics. This new field of research is known as medical nanorobotics. It has been particularly creative in recent years to make what was and often still considered science-fiction to offer concrete implementations with the potential to enhance significantly many actual medical practices. In such a global effort, two main strategic trends have emerged where artificial and synthetic implementations presently compete with swimming microorganisms being harnessed to act as medical nanorobotic agents. Recognizing the potentials of each approach, efforts to combine both towards the implementation of hybrid nanorobotic agents where functionalities are implemented using both artificial/synthetic and microorganism-based entities have also been initiated. Here, through the main eras of progressive developments in this field, the evolutionary path being described from some of the main historical achievements to recent technological innovations is extrapolated in an attempt to provide a perspective view on the future of medical nanorobotics capable of targeting any parts of the human body accessible through the vascular network.
Collapse
Affiliation(s)
- Sylvain Martel
- NanoRobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal , Montréal, Québec H3T 1J4, Canada
| |
Collapse
|
16
|
Häring M, Schiller J, Mayr J, Grijalvo S, Eritja R, Díaz DD. Magnetic Gel Composites for Hyperthermia Cancer Therapy. Gels 2015; 1:135-161. [PMID: 30674170 PMCID: PMC6318599 DOI: 10.3390/gels1020135] [Citation(s) in RCA: 39] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/31/2015] [Accepted: 09/02/2015] [Indexed: 12/13/2022] Open
Abstract
Hyperthermia therapy is a medical treatment based on the exposition of body tissue to slightly higher temperatures than physiological (i.e., between 41 and 46 °C) to damage and kill cancer cells or to make them more susceptible to the effects of radiation and anti-cancer drugs. Among several methods suitable for heating tumor areas, magnetic hyperthermia involves the introduction of magnetic micro/nanoparticles into the tumor tissue, followed by the application of an external magnetic field at fixed frequency and amplitude. A very interesting approach for magnetic hyperthermia is the use of biocompatible thermo-responsive magnetic gels made by the incorporation of the magnetic particles into cross-linked polymer gels. Mainly because of the hysteresis loss from the magnetic particles subjected to a magnetic field, the temperature of the system goes up and, once the temperature crosses the lower critical solution temperature, thermo-responsive gels undergo large volume changes and may deliver anti-cancer drug molecules that have been previously entrapped in their networks. This tutorial review describes the main properties and formulations of magnetic gel composites conceived for magnetic hyperthermia therapy.
Collapse
Affiliation(s)
- Marleen Häring
- Institut für Organische Chemie, Universität Regensburg, Universitätsstr. 31, Regensburg 93040, Germany.
| | - Jana Schiller
- Institut für Organische Chemie, Universität Regensburg, Universitätsstr. 31, Regensburg 93040, Germany.
| | - Judith Mayr
- Institut für Organische Chemie, Universität Regensburg, Universitätsstr. 31, Regensburg 93040, Germany.
| | - Santiago Grijalvo
- IQAC-CSIC, Jordi Girona 18-26, Barcelona 08034, Spain.
- The Biomedical Research Networking Center in Bioengineering, Biomaterials and Nanomedicine (CIBER-BBN), Jordi Girona 18-26, Barcelona 08034, Spain.
| | - Ramon Eritja
- IQAC-CSIC, Jordi Girona 18-26, Barcelona 08034, Spain.
- The Biomedical Research Networking Center in Bioengineering, Biomaterials and Nanomedicine (CIBER-BBN), Jordi Girona 18-26, Barcelona 08034, Spain.
| | - David Díaz Díaz
- Institut für Organische Chemie, Universität Regensburg, Universitätsstr. 31, Regensburg 93040, Germany.
- IQAC-CSIC, Jordi Girona 18-26, Barcelona 08034, Spain.
| |
Collapse
|
17
|
Nain S, Sharma N. Propulsion of an artificial nanoswimmer: a comprehensive review. FRONTIERS IN LIFE SCIENCE 2014. [DOI: 10.1080/21553769.2014.962103] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/15/2023]
|
18
|
|
19
|
Fusco S, Sakar MS, Kennedy S, Peters C, Bottani R, Starsich F, Mao A, Sotiriou GA, Pané S, Pratsinis SE, Mooney D, Nelson BJ. An integrated microrobotic platform for on-demand, targeted therapeutic interventions. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2014; 26:952-7. [PMID: 24510666 DOI: 10.1002/adma.201304098] [Citation(s) in RCA: 133] [Impact Index Per Article: 13.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/14/2013] [Indexed: 05/22/2023]
Abstract
The presented microrobotic platform combines together the advantages of self-folding NIR light sensitive polymer bilayers, magnetic alginate microbeads, and a 3D manipulation system, to propose a solution for targeted, on-demand drug and cell delivery. First feasibility studies are presented together with the potential of the full design.
Collapse
Affiliation(s)
- Stefano Fusco
- Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH-8092, Switzerland
| | | | | | | | | | | | | | | | | | | | | | | |
Collapse
|
20
|
Robots in Health and Social Care: A Complementary Technology to Home Care and Telehealthcare? ROBOTICS 2013. [DOI: 10.3390/robotics3010001] [Citation(s) in RCA: 86] [Impact Index Per Article: 7.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/28/2022] Open
|
21
|
Diller E, Zhang N, Sitti M. Modular micro-robotic assembly through magnetic actuation and thermal bonding. JOURNAL OF MICRO-BIO ROBOTICS 2013. [DOI: 10.1007/s12213-013-0071-7] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/01/2022]
|
22
|
Tabatabaei SN, Duchemin S, Girouard H, Martel S. Towards MR-navigable Nanorobotic Carriers for Drug Delivery into the Brain. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION : ICRA : [PROCEEDINGS]. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION 2012:727-732. [PMID: 23518572 DOI: 10.1109/icra.2012.6225041] [Citation(s) in RCA: 19] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/08/2023]
Abstract
Magnetic Resonance Navigation (MRN) relies on Magnetic Nanoparticles (MNPs) embedded in microcarriers or microrobots to allow the induction of a directional propelling force by 3-D magnetic gradients. These magnetic gradients are superposed on a sufficiently high homogeneous magnetic field (e.g. the Bo field of a MR scanner) to achieve maximum propelling force through magnetization saturation of the MNPs. As previously demonstrated by our group, such technique was successful at maintaining microcarriers along a planned trajectory in the blood vessels based on tracking information gathered using Magnetic Resonance Imaging (MRI) sequences from artifacts caused by the same MNPs. Besides propulsion and tracking, the same MNPs can be synthesized with characteristics that can allow for the diffusion of therapeutic cargo carried by these MR-navigable carriers through the Blood Brain Barrier (BBB) using localized hyperthermia without compromising the MRN capabilities. In the present study, localized hyperthermia induced by an alternating magnetic field (AC field) is investigated for the purpose of transient controlled disruption of the BBB and hence local delivery of therapeutic agents into the brain. Here, an external heating apparatus was used to impose a regional heat shock on the skull of a living mouse model. The effect of heat on the permeability of the BBB was assessed using histological observation and tissue staining by Evans blue dye. Results show direct correlation between hyperthermia and BBB leakage as well as its recovery from thermal damage. Therefore, in addition to on-command propulsion and remote tracking, the proposed navigable agents could be suitable for controlled opening of the BBB by hyperthermia and selective brain drug delivery.
Collapse
|