1
|
Cherukumilli S, Kirmizitas FC, Rivas DP, Sokolich M, Karakan MC, White AE, Das S. Programmable acoustic modular microrobots. JOURNAL OF MICRO-BIO ROBOTICS 2024; 20:11. [PMID: 39105158 PMCID: PMC11297829 DOI: 10.1007/s12213-024-00175-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/23/2024] [Revised: 07/24/2024] [Accepted: 07/26/2024] [Indexed: 08/07/2024]
Abstract
The field of microrobotics has emerged as a promising area of research with significant applications in biomedicine, both in vitro and in vivo, such as targeted cargo delivery, microsurgery, and cellular manipulation. Microrobots actuated with multiple modalities have the potential for greater adaptability, robustness, and capability to perform various tasks. Modular units that can reconfigure into various shapes, create structures that may be difficult to fabricate as one whole unit, and be assembled on-site, could provide more versatility by assembly and disassembly of units on demand. Such multi-modal modular microrobots have the potential to address challenging applications. Here, we present a biocompatible cylindrical microrobot with a dome-shaped cavity. The microrobot is actuated by both magnetic and acoustic fields and forms modular microstructures of various shapes. We demonstrate the use of these microrobots for cellular manipulation by creating patterns on a surface. Supplementary Information The online version contains supplementary material available at 10.1007/s12213-024-00175-y.
Collapse
Affiliation(s)
| | - Fatma Ceren Kirmizitas
- Department of Mechanical Engineering, University of Delaware, Newark, 19711 DE USA
- Department of Animal and Food Sciences, University of Delaware, Newark, 19711 DE USA
| | - David P. Rivas
- Department of Mechanical Engineering, University of Delaware, Newark, 19711 DE USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, 19711 DE USA
| | - M. Cagatay Karakan
- Department of Biomedical Engineering, Boston University, Boston, 02215 MA USA
| | - Alice E. White
- Department of Mechanical Engineering, and the Departments of Biomedical Engineering and Materials Science and Engineering, Boston University, Boston, 02215 MA USA
| | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, 19711 DE USA
| |
Collapse
|
2
|
Wang Q, Wang Q, Ning Z, Chan KF, Jiang J, Wang Y, Su L, Jiang S, Wang B, Ip BYM, Ko H, Leung TWH, Chiu PWY, Yu SCH, Zhang L. Tracking and navigation of a microswarm under laser speckle contrast imaging for targeted delivery. Sci Robot 2024; 9:eadh1978. [PMID: 38381838 DOI: 10.1126/scirobotics.adh1978] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/16/2023] [Accepted: 01/26/2024] [Indexed: 02/23/2024]
Abstract
Micro/nanorobotic swarms consisting of numerous tiny building blocks show great potential in biomedical applications because of their collective active delivery ability, enhanced imaging contrast, and environment-adaptive capability. However, in vivo real-time imaging and tracking of micro/nanorobotic swarms remain a challenge, considering the limited imaging size and spatial-temporal resolution of current imaging modalities. Here, we propose a strategy that enables real-time tracking and navigation of a microswarm in stagnant and flowing blood environments by using laser speckle contrast imaging (LSCI), featuring full-field imaging, high temporal-spatial resolution, and noninvasiveness. The change in dynamic convection induced by the microswarm can be quantitatively investigated by analyzing the perfusion unit (PU) distribution, offering an alternative approach to investigate the swarm behavior and its interaction with various blood environments. Both the microswarm and surrounding environment were monitored and imaged by LSCI in real time, and the images were further analyzed for simultaneous swarm tracking and navigation in the complex vascular system. Moreover, our strategy realized real-time tracking and delivery of a microswarm in vivo, showing promising potential for LSCI-guided active delivery of microswarm in the vascular system.
Collapse
Affiliation(s)
- Qinglong Wang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, China
| | - Zhipeng Ning
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Yuqiong Wang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Lin Su
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Shuai Jiang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, China
| | - Bonaventure Yiu Ming Ip
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Ho Ko
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Thomas Wai Hong Leung
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Philip Wai Yan Chiu
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
- Department of Surgery, CUHK, Shatin, N.T., Hong Kong, China
| | - Simon Chun Ho Yu
- Department of Imaging and Interventional Radiology, CUHK, Shatin, N.T., Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
- Department of Surgery, CUHK, Shatin, N.T., Hong Kong, China
- CUHK T Stone Robotics Institute, CUHK, Shatin, N.T., Hong Kong, China
| |
Collapse
|
3
|
Beaver LE, Sokolich M, Alsalehi S, Weiss R, Das S, Belta C. Learning a Tracking Controller for Rolling μbots. IEEE Robot Autom Lett 2024; 9:1819-1826. [PMID: 39131948 PMCID: PMC11315272 DOI: 10.1109/lra.2024.3350968] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/13/2024]
Abstract
Micron-scale robots (μbots) have recently shown great promise for emerging medical applications. Accurate control of μbots, while critical to their successful deployment, is challenging. In this work, we consider the problem of tracking a reference trajectory using a μbot in the presence of disturbances and uncertainty. The disturbances primarily come from Brownian motion and other environmental phenomena, while the uncertainty originates from errors in the model parameters. We model the μbot as an uncertain unicycle that is controlled by a global magnetic field. To compensate for disturbances and uncertainties, we develop a nonlinear mismatch controller. We define the model mismatch error as the difference between our model's predicted velocity and the actual velocity of the μbot. We employ a Gaussian Process to learn the model mismatch error as a function of the applied control input. Then we use a least-squares minimization to select a control action that minimizes the difference between the actual velocity of the μbot and a reference velocity. We demonstrate the online performance of our joint learning and control algorithm in simulation, where our approach accurately learns the model mismatch and improves tracking performance. We also validate our approach in an experiment and show that certain error metrics are reduced by up to 40%.
Collapse
Affiliation(s)
- Logan E Beaver
- Division of Systems Engineering, Boston University, Boston, MA 02215, USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 29716, USA
| | - Suhail Alsalehi
- Division of Systems Engineering, Boston University, Boston, MA 02215, USA
| | - Ron Weiss
- Department of Biological Engineering, Massachusetts Institute of Technology, Cambridge, MA 02142, USA
| | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 29716, USA
| | - Calin Belta
- Division of Systems Engineering, Boston University, Boston, MA 02215, USA
| |
Collapse
|
4
|
Liu X, Jing Y, Xu C, Wang X, Xie X, Zhu Y, Dai L, Wang H, Wang L, Yu S. Medical Imaging Technology for Micro/Nanorobots. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:2872. [PMID: 37947717 PMCID: PMC10648532 DOI: 10.3390/nano13212872] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/28/2023] [Revised: 10/23/2023] [Accepted: 10/26/2023] [Indexed: 11/12/2023]
Abstract
Due to their enormous potential to be navigated through complex biological media or narrow capillaries, microrobots have demonstrated their potential in a variety of biomedical applications, such as assisted fertilization, targeted drug delivery, tissue repair, and regeneration. Numerous initial studies have been conducted to demonstrate the biomedical applications in test tubes and in vitro environments. Microrobots can reach human areas that are difficult to reach by existing medical devices through precise navigation. Medical imaging technology is essential for locating and tracking this small treatment machine for evaluation. This article discusses the progress of imaging in tracking the imaging of micro and nano robots in vivo and analyzes the current status of imaging technology for microrobots. The working principle and imaging parameters (temporal resolution, spatial resolution, and penetration depth) of each imaging technology are discussed in depth.
Collapse
Affiliation(s)
- Xuejia Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Yizhan Jing
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Chengxin Xu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Xiaoxiao Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Xiaopeng Xie
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Yanhe Zhu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Lizhou Dai
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Haocheng Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Lin Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (X.L.); (Y.J.); (C.X.); (X.W.); (X.X.); (Y.Z.); (L.D.); (L.W.)
| | - Shimin Yu
- College of Engineering, Ocean University of China, Qingdao 266100, China
| |
Collapse
|
5
|
Yang Y, Kirmizitas FC, Sokolich M, Valencia A, Rivas D, Karakan MÇ, White AE, Malikopoulos AA, Das S. Rolling Helical Microrobots for Cell Patterning. ... INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES (MARSS). INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES 2023; 2023:10.1109/marss58567.2023.10294113. [PMID: 38952455 PMCID: PMC11215787 DOI: 10.1109/marss58567.2023.10294113] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/03/2024]
Abstract
Microrobots, untethered miniature devices capable of performing tasks at the microscale, have gained significant attention in the fields of robotics and biomedicine. These devices hold immense potential for various industrial and scientific applications, including targeted drug delivery and cell manipulation. In this study, we present a novel magnetic rolling helical microrobot specifically designed for bio-compatible cell patterning. Our microrobot incorporates both open-loop and closed-loop control mechanisms, providing flexible, precise, and rapid control for various applications. Through experiments, we demonstrate the microrobot's ability to manipulate cells by pushing them while rolling and arranging cells into desired patterns. This result is particularly significant as it has implications for diverse biological applications such as tissue engineering and organoid development. Moreover, we showcase the effectiveness of our microrobot in a closed-loop control system, where it successfully follows a predetermined path from an origin to a destination. The combination of cellular manipulation capabilities and trajectory-tracking performance underlines the versatility and potential of our magnetic rolling helical microrobot. The ability to control and navigate the microrobot with high precision opens up new possibilities for advanced biomedical applications. These findings contribute to the growing body of knowledge in microbotics and pave the way for further research and development in the field.
Collapse
Affiliation(s)
- Yanda Yang
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Fatma Ceren Kirmizitas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
- Department of Animal and Food Sciences, University of Delaware, Newark, DE 19716 USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Alejandra Valencia
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - David Rivas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - M Çağatay Karakan
- Department of Biomedical Engineering, Boston University, Boston, MA 02215 USA
| | - Alice E White
- Department of Mechanical Engineering, and the departments of Biomedical Engineering and Materials Science and Engineering, Boston University, Boston, MA 02215 USA
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| |
Collapse
|
6
|
Huaroto JJ, Capuano L, Kaya M, Hlukhau I, Assayag F, Mohanty S, Römer GW, Misra S. Two-photon microscopy for microrobotics: Visualization of micro-agents below fixed tissue. PLoS One 2023; 18:e0289725. [PMID: 37561749 PMCID: PMC10414647 DOI: 10.1371/journal.pone.0289725] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2023] [Accepted: 07/25/2023] [Indexed: 08/12/2023] Open
Abstract
Optical microscopy is frequently used to visualize microrobotic agents (i.e., micro-agents) and physical surroundings with a relatively high spatio-temporal resolution. However, the limited penetration depth of optical microscopy techniques used in microrobotics (in the order of 100 μm) reduces the capability of visualizing micro-agents below biological tissue. Two-photon microscopy is a technique that exploits the principle of two-photon absorption, permitting live tissue imaging with sub-micron resolution and optical penetration depths (over 500 μm). The two-photon absorption principle has been widely applied to fabricate sub-millimeter scale components via direct laser writing (DLW). Yet, its use as an imaging tool for microrobotics remains unexplored in the state-of-the-art. This study introduces and reports on two-photon microscopy as an alternative technique for visualizing micro-agents below biological tissue. In order to validate two-photon image acquisition for microrobotics, two-type micro-agents are fabricated and employed: (1) electrospun fibers stained with an exogenous fluorophore and (2) bio-inspired structure printed with autofluorescent resin via DLW. The experiments are devised and conducted to obtain three-dimensional reconstructions of both micro-agents, perform a qualitative study of laser-tissue interaction, and visualize micro-agents along with tissue using second-harmonic generation. We experimentally demonstrate two-photon microscopy of micro-agents below formalin-fixed tissue with a maximum penetration depth of 800 μm and continuous imaging of magnetic electrospun fibers with one frame per second acquisition rate (in a field of view of 135 × 135 μm2). Our results show that two-photon microscopy can be an alternative imaging technique for microrobotics by enabling visualization of micro-agents under in vitro and ex ovo conditions. Furthermore, bridging the gap between two-photon microscopy and the microrobotics field has the potential to facilitate in vivo visualization of micro-agents.
Collapse
Affiliation(s)
- Juan J. Huaroto
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Luigi Capuano
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Mert Kaya
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University Medical Centre Groningen and University of Groningen, Groningen, The Netherlands
| | - Ihar Hlukhau
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Franck Assayag
- Animal Facility, Technical Medical Centre (TechMed Centre) Infrastructure, Faculty of Science and Technology, University of Twente, Enschede, The Netherlands
| | - Sumit Mohanty
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- Autonomous Matter Department, AMOLF, Amsterdam, The Netherlands
| | - Gert-willem Römer
- Chair of Laser Processing, Department of Mechanics of Solids, Surfaces & Systems (MS3), Faculty of Engineering Technology, University of Twente, Enschede, The Netherlands
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University Medical Centre Groningen and University of Groningen, Groningen, The Netherlands
| |
Collapse
|
7
|
Shah ZH, Wu B, Das S. Multistimuli-responsive microrobots: A comprehensive review. Front Robot AI 2022; 9:1027415. [PMID: 36420129 PMCID: PMC9676497 DOI: 10.3389/frobt.2022.1027415] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/25/2022] [Accepted: 10/24/2022] [Indexed: 11/16/2023] Open
Abstract
Untethered robots of the size of a few microns have attracted increasing attention for the potential to transform many aspects of manufacturing, medicine, health care, and bioengineering. Previously impenetrable environments have become available for high-resolution in situ and in vivo manipulations as the size of the untethered robots goes down to the microscale. Nevertheless, the independent navigation of several robots at the microscale is challenging as they cannot have onboard transducers, batteries, and control like other multi-agent systems, due to the size limitations. Therefore, various unconventional propulsion mechanisms have been explored to power motion at the nanoscale. Moreover, a variety of combinations of actuation methods has also been extensively studied to tackle different issues. In this survey, we present a thorough review of the recent developments of various dedicated ways to actuate and control multistimuli-enabled microrobots. We have also discussed existing challenges and evolving concepts associated with each technique.
Collapse
Affiliation(s)
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE, United States
| |
Collapse
|
8
|
Fan Q, Cui G, Zhao Z, Shen J. Obstacle Avoidance for Microrobots in Simulated Vascular Environment Based on Combined Path Planning. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3191540] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- Qigao Fan
- School of Internet of Things Engineering, Jiangnan University, Wuxi, China
| | - Guangming Cui
- School of Internet of Things Engineering, Jiangnan University, Wuxi, China
| | - Zhengqing Zhao
- Xinchang power supply company, State Grid, Shaoxing, China
| | - Jun Shen
- School of Internet of Things Engineering, Jiangnan University, Wuxi, China
| |
Collapse
|
9
|
Iron-Based Magnetic Nanosystems for Diagnostic Imaging and Drug Delivery: Towards Transformative Biomedical Applications. Pharmaceutics 2022; 14:pharmaceutics14102093. [PMID: 36297529 PMCID: PMC9607318 DOI: 10.3390/pharmaceutics14102093] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/25/2022] [Revised: 09/27/2022] [Accepted: 09/28/2022] [Indexed: 11/07/2022] Open
Abstract
The advancement of biomedicine in a socioeconomically sustainable manner while achieving efficient patient-care is imperative to the health and well-being of society. Magnetic systems consisting of iron based nanosized components have gained prominence among researchers in a multitude of biomedical applications. This review focuses on recent trends in the areas of diagnostic imaging and drug delivery that have benefited from iron-incorporated nanosystems, especially in cancer treatment, diagnosis and wound care applications. Discussion on imaging will emphasise on developments in MRI technology and hyperthermia based diagnosis, while advanced material synthesis and targeted, triggered transport will be the focus for drug delivery. Insights onto the challenges in transforming these technologies into day-to-day applications will also be explored with perceptions onto potential for patient-centred healthcare.
Collapse
|
10
|
Wu R, Zhu Y, Cai X, Wu S, Xu L, Yu T. Recent Process in Microrobots: From Propulsion to Swarming for Biomedical Applications. MICROMACHINES 2022; 13:1473. [PMID: 36144096 PMCID: PMC9503943 DOI: 10.3390/mi13091473] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/31/2022] [Revised: 08/26/2022] [Accepted: 08/30/2022] [Indexed: 06/16/2023]
Abstract
Recently, robots have assisted and contributed to the biomedical field. Scaling down the size of robots to micro/nanoscale can increase the accuracy of targeted medications and decrease the danger of invasive operations in human surgery. Inspired by the motion pattern and collective behaviors of the tiny biological motors in nature, various kinds of sophisticated and programmable microrobots are fabricated with the ability for cargo delivery, bio-imaging, precise operation, etc. In this review, four types of propulsion-magnetically, acoustically, chemically/optically and hybrid driven-and their corresponding features have been outlined and categorized. In particular, the locomotion of these micro/nanorobots, as well as the requirement of biocompatibility, transportation efficiency, and controllable motion for applications in the complex human body environment should be considered. We discuss applications of different propulsion mechanisms in the biomedical field, list their individual benefits, and suggest their potential growth paths.
Collapse
|
11
|
Wu Y, Boymelgreen A, Yossifon G. Micromotor-mediated label-free cargo manipulation. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101611] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
|
12
|
Soft microswimmers: Material capabilities and biomedical applications. Curr Opin Colloid Interface Sci 2022. [DOI: 10.1016/j.cocis.2022.101609] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
|
13
|
Beaver LE, Wu B, Das S, Malikopoulos AA. A First-Order Approach to Model Simultaneous Control of Multiple Microrobots. ... INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES (MARSS). INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES 2022; 2022:10.1109/marss55884.2022.9870476. [PMID: 37663238 PMCID: PMC10474613 DOI: 10.1109/marss55884.2022.9870476] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/05/2023]
Abstract
The control of swarm systems is relatively well understood for simple robotic platforms at the macro scale. However, there are still several unanswered questions about how similar results can be achieved for microrobots. In this paper, we propose a modeling framework based on a dynamic model of magnetized self-propelling Janus microrobots under a global magnetic field. We verify our model experimentally and provide methods that can aim at accurately describing the behavior of microrobots while modeling their simultaneous control. The model can be generalized to other microrobotic platforms in low Reynolds number environments.
Collapse
|
14
|
Agarwal D, Thakur AD, Thakur A. Magnetic microbot-based micromanipulation of surrogate biological objects in fluidic channels. JOURNAL OF MICRO-BIO ROBOTICS 2022. [DOI: 10.1007/s12213-022-00151-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
|
15
|
Fan Q, Chen W, Huang W, Xie L, Bi K, Zhu Y. Combined Magnetic Field Decoupling and Disturbance Rejection Control of Microrobots Based on Extended State Observer. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3148785] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|
16
|
Lee H, Lee D, Jeon S. A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils. MICROMACHINES 2022; 13:mi13030416. [PMID: 35334708 PMCID: PMC8949200 DOI: 10.3390/mi13030416] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/11/2022] [Revised: 02/25/2022] [Accepted: 03/05/2022] [Indexed: 02/01/2023]
Abstract
This paper proposes an effective method to manipulate the 2D motions of a magnetic small-scale robot (microrobot) within a relatively large working area using a triad of electromagnetic coils (TEC). The TEC is a combination of three identical circular coils placed at the vertices of an equilateral triangle. Since it is geometrically compact and requires only three control variables (input currents), the TEC can be effectively used to generate various magnetic fields that can be used to maneuver various functional microrobots. In this paper, we established several equations to calculate the input currents of the TEC required to move a microrobot along a designated pathway effectively and precisely. We also constructed an experimental setup to demonstrate and validate the controlled motions of the microrobot using the proposed method. The results showed that the proposed method can effectively improve the TEC’s practical working area (region of interest) for manipulating the microrobot, which can possibly be applied to biomedical and biological applications, including minimally invasive surgery, targeted drug and cargo delivery, microfluidic control, etc.
Collapse
|
17
|
Ahmad B, Gauthier M, Laurent GJ, Bolopion A. Mobile Microrobots for In Vitro Biomedical Applications: A Survey. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3085245] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
|
18
|
Analysis and Comparison of Electromagnetic Microrobotic Platforms for Biomedical Applications. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12010456] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Abstract
Magnetic microrobotics is a promising technology for improving minimally invasive surgery (MIS) with the ambition of enhancing patient care and comfort. The potential benefits include limited incisions, less hemorrhaging and postoperative pain, and faster recovery time. To achieve this, a key issue relies on the design of a proper electromagnetic actuation (EMA) setup which is based on the use of magnetic sources. The magnetic field and its gradient generated by the EMA platform is then used to induce magnetic torque and force for microrobot manipulations inside the human body. Like any control systems, the EMA system must be adapted to the given controlled microrobot and customized for the application. With great research efforts on magnetic manipulating of microrobots, the EMA systems are approaching commercial applications, and their configurations are becoming more suitable to be employed in real medical surgeries. However, most of the proposed designs have not followed any specific rule allowing to take into account the biomedical applications constraints. Through reviewing the different proposed EMA systems in the literature, their various specifications and configurations are comprehensively discussed and analyzed. This study focus on EMA platforms that use electromagnets. From this review and based on the biomedical application specifications, the appropriate EMA system can be determined efficiently.
Collapse
|
19
|
Engineering Biological Tissues from the Bottom-Up: Recent Advances and Future Prospects. MICROMACHINES 2021; 13:mi13010075. [PMID: 35056239 PMCID: PMC8780533 DOI: 10.3390/mi13010075] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/13/2021] [Revised: 12/24/2021] [Accepted: 12/28/2021] [Indexed: 02/06/2023]
Abstract
Tissue engineering provides a powerful solution for current organ shortages, and researchers have cultured blood vessels, heart tissues, and bone tissues in vitro. However, traditional top-down tissue engineering has suffered two challenges: vascularization and reconfigurability of functional units. With the continuous development of micro-nano technology and biomaterial technology, bottom-up tissue engineering as a promising approach for organ and tissue modular reconstruction has gradually developed. In this article, relevant advances in living blocks fabrication and assembly techniques for creation of higher-order bioarchitectures are described. After a critical overview of this technology, a discussion of practical challenges is provided, and future development prospects are proposed.
Collapse
|
20
|
Li J, Fan L, Li Y, Wei T, Wang C, Li F, Tian H, Sun D. Development of Cell-Carrying Magnetic Microrobots with Bioactive Nanostructured Titanate Surface for Enhanced Cell Adhesion. MICROMACHINES 2021; 12:mi12121572. [PMID: 34945424 PMCID: PMC8707319 DOI: 10.3390/mi12121572] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/05/2021] [Revised: 12/13/2021] [Accepted: 12/14/2021] [Indexed: 11/16/2022]
Abstract
Cell-carrying magnet-driven microrobots are easily affected by blood flow or body fluids during transportation in the body, and thus cells often fall off from the microrobots. To reduce the loss of loaded cells, we developed a microrobot with a bioactive nanostructured titanate surface (NTS), which enhances cell adhesion. The microrobot was fabricated using 3D laser lithography and coated with nickel for magnetic actuation. Then, the microrobot was coated with titanium for the external generation of an NTS through reactions in NaOH solution. Enhanced cell adhesion may be attributed to the changes in the surface wettability of the microrobot and in the morphology of the loaded cells. An experiment was performed on a microfluidic chip for the simulation of blood flow environment, and result revealed that the cells adhered closely to the microrobot with NTS and were not obviously affected by flow. The cell viability and protein absorption test and alkaline phosphatase activity assay indicated that NTS can provide a regulatory means for improving cell proliferation and early osteogenic differentiation. This research provided a novel microrobotic platform that can positively influence the behaviour of cells loaded on microrobots through surface nanotopography, thereby opening up a new route for microrobot cell delivery.
Collapse
Affiliation(s)
- Junyang Li
- Department of Biomedical Engineering, City University of Hong Kong, 83 Tat Chee Avenue, Hong Kong, China; (J.L.); (L.F.); (Y.L.); (T.W.)
- Centre for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen 518057, China
- Hong Kong Center for Cerebro-Cardiovascular Health Engineering (COCHE), Science Park, Hong Kong, China
| | - Lei Fan
- Department of Biomedical Engineering, City University of Hong Kong, 83 Tat Chee Avenue, Hong Kong, China; (J.L.); (L.F.); (Y.L.); (T.W.)
- Hong Kong Center for Cerebro-Cardiovascular Health Engineering (COCHE), Science Park, Hong Kong, China
| | - Yanfang Li
- Department of Biomedical Engineering, City University of Hong Kong, 83 Tat Chee Avenue, Hong Kong, China; (J.L.); (L.F.); (Y.L.); (T.W.)
| | - Tanyong Wei
- Department of Biomedical Engineering, City University of Hong Kong, 83 Tat Chee Avenue, Hong Kong, China; (J.L.); (L.F.); (Y.L.); (T.W.)
| | - Cheng Wang
- Department of Orthopaedics/Engineering Research Center of Bone and Joint Precision Medicine/Beijing Key Laboratory of Spinal Disease Research, Peking University Third Hospital, 49 North Garden Road, Haidian District, Beijing 100191, China; (C.W.); (F.L.); (H.T.)
| | - Feng Li
- Department of Orthopaedics/Engineering Research Center of Bone and Joint Precision Medicine/Beijing Key Laboratory of Spinal Disease Research, Peking University Third Hospital, 49 North Garden Road, Haidian District, Beijing 100191, China; (C.W.); (F.L.); (H.T.)
| | - Hua Tian
- Department of Orthopaedics/Engineering Research Center of Bone and Joint Precision Medicine/Beijing Key Laboratory of Spinal Disease Research, Peking University Third Hospital, 49 North Garden Road, Haidian District, Beijing 100191, China; (C.W.); (F.L.); (H.T.)
| | - Dong Sun
- Department of Biomedical Engineering, City University of Hong Kong, 83 Tat Chee Avenue, Hong Kong, China; (J.L.); (L.F.); (Y.L.); (T.W.)
- Centre for Robotics and Automation, Shenzhen Research Institute of City University of Hong Kong, Shenzhen 518057, China
- Hong Kong Center for Cerebro-Cardiovascular Health Engineering (COCHE), Science Park, Hong Kong, China
- Correspondence:
| |
Collapse
|
21
|
Day NB, Wixson WC, Shields CW. Magnetic systems for cancer immunotherapy. Acta Pharm Sin B 2021; 11:2172-2196. [PMID: 34522583 PMCID: PMC8424374 DOI: 10.1016/j.apsb.2021.03.023] [Citation(s) in RCA: 32] [Impact Index Per Article: 10.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/30/2020] [Revised: 02/05/2021] [Accepted: 02/25/2021] [Indexed: 02/06/2023] Open
Abstract
Immunotherapy is a rapidly developing area of cancer treatment due to its higher specificity and potential for greater efficacy than traditional therapies. Immune cell modulation through the administration of drugs, proteins, and cells can enhance antitumoral responses through pathways that may be otherwise inhibited in the presence of immunosuppressive tumors. Magnetic systems offer several advantages for improving the performance of immunotherapies, including increased spatiotemporal control over transport, release, and dosing of immunomodulatory drugs within the body, resulting in reduced off-target effects and improved efficacy. Compared to alternative methods for stimulating drug release such as light and pH, magnetic systems enable several distinct methods for programming immune responses. First, we discuss how magnetic hyperthermia can stimulate immune cells and trigger thermoresponsive drug release. Second, we summarize how magnetically targeted delivery of drug carriers can increase the accumulation of drugs in target sites. Third, we review how biomaterials can undergo magnetically driven structural changes to enable remote release of encapsulated drugs. Fourth, we describe the use of magnetic particles for targeted interactions with cellular receptors for promoting antitumor activity. Finally, we discuss translational considerations of these systems, such as toxicity, clinical compatibility, and future opportunities for improving cancer treatment.
Collapse
Key Words
- BW, body weight
- Biomaterials
- CpG, cytosine-phosphate-guanine
- DAMP, damage associated molecular pattern
- Drug delivery
- EPR, enhanced permeability and retention
- FFR, field free region
- HS-TEX, heat-stressed tumor cell exosomes
- HSP, heat shock protein
- ICD, immunogenic cell death
- IVIS, in vivo imaging system
- Immunotherapy
- MICA, MHC class I-related chain A
- MPI, magnetic particle imaging
- Magnetic hyperthermia
- Magnetic nanoparticles
- Microrobotics
- ODNs, oligodeoxynucleotides
- PARP, poly(adenosine diphosphate-ribose) polymerase
- PDMS, polydimethylsiloxane
- PEG, polyethylene glycol
- PLGA, poly(lactic-co-glycolic acid)
- PNIPAM, poly(N-isopropylacrylamide)
- PVA, poly(vinyl alcohol)
- SDF, stromal cell derived-factor
- SID, small implantable device
- SLP, specific loss power
Collapse
Affiliation(s)
- Nicole B Day
- Department of Chemical & Biological Engineering, University of Colorado, Boulder, CO 80303, USA
| | - William C Wixson
- Department of Chemical & Biological Engineering, University of Colorado, Boulder, CO 80303, USA
| | - C Wyatt Shields
- Department of Chemical & Biological Engineering, University of Colorado, Boulder, CO 80303, USA
| |
Collapse
|
22
|
Xu K, Liu B. Recent progress in actuation technologies of micro/nanorobots. BEILSTEIN JOURNAL OF NANOTECHNOLOGY 2021; 12:756-765. [PMID: 34367859 PMCID: PMC8313975 DOI: 10.3762/bjnano.12.59] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2021] [Accepted: 07/08/2021] [Indexed: 05/29/2023]
Abstract
As a research field of robotics, micro/nanorobots have been extensively studied in recent years because of their important application prospects in biomedical fields, such as medical diagnosis, nanoscale surgery, and targeted therapy. In this article, recent progress on micro/nanorobots is reviewed regarding actuation technologies. First, the different actuation mechanisms are divided into two types, external field actuation and self-actuation. Then, a few latest achievements on actuation methods are presented. On this basis, the principles of various actuation methods and their limitations are also analyzed. Finally, some key challenges in the development of micro/nanorobots are summarized and the next development direction of the field is explored.
Collapse
Affiliation(s)
- Ke Xu
- School of Information & Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China
| | - Bing Liu
- School of Information & Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China
| |
Collapse
|
23
|
A holistic survey on mechatronic Systems in Micro/Nano scale with challenges and applications. JOURNAL OF MICRO-BIO ROBOTICS 2021. [DOI: 10.1007/s12213-021-00145-8] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/01/2023]
|
24
|
Korayem MH, Rastegar Z. Path planning in three dimensional live environment with randomly moving obstacles for viscoelastic bio-particle. Microsc Res Tech 2021; 84:2119-2129. [PMID: 33974313 DOI: 10.1002/jemt.23767] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/31/2020] [Revised: 03/06/2021] [Accepted: 03/24/2021] [Indexed: 11/08/2022]
Abstract
Significant capabilities of atomic force microscopy (AFM) such as operating in various environments and scales made it a useful device in different operations. According to AFM abilities and applications, in this work, the path through the live environment with fixed and moving obstacles that are distributed all over the space randomly has been provided. The optimized path has been discovered in this article based on the applications mentioned above. Since for biological applications, the tool's accuracy plays an important role in success and reliability of the operation, in this article, the cost function is defined as combination of the tool's error, the maximum applied force on the tool, and the maximum deformation of the particle to be minimized. In this regard, constraints which limit the particle's motion and speed such as critical force and time and the maximum applied force have been considered. While in living environment obstacle existence is possible, fixed and moving obstacles with random profile and distribution will be considered. Routing of viscoelastic particle considering above conditions has been performed and comparison with the previous works proved the correctness of the path. The effects of different constraints have been compared using path optimization in different situations. The time of path planning for critical force and time was about 117.657, for the maximum applied force 118.240, and for all constraints together was 120.540 s which shows that the applied force constraint has been more effective than others and increases path planning time. Path planning in three dimensional live environment of HN5 cells. Consideration of viscoelasticity for biological particles. Consideration of randomly distributed stationary obstacles and moving obstacles with unknown motion profile. Minimization of tool error and particle deformation along with finding the shortest path.
Collapse
Affiliation(s)
- Moharam Habibnejad Korayem
- Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
| | - Zahra Rastegar
- Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
| |
Collapse
|
25
|
Abstract
![]()
Manipulation and navigation of micro
and nanoswimmers in different
fluid environments can be achieved by chemicals, external fields,
or even motile cells. Many researchers have selected magnetic fields
as the active external actuation source based on the advantageous
features of this actuation strategy such as remote and spatiotemporal
control, fuel-free, high degree of reconfigurability, programmability,
recyclability, and versatility. This review introduces fundamental
concepts and advantages of magnetic micro/nanorobots (termed here
as “MagRobots”) as well as basic knowledge of magnetic
fields and magnetic materials, setups for magnetic manipulation, magnetic
field configurations, and symmetry-breaking strategies for effective
movement. These concepts are discussed to describe the interactions
between micro/nanorobots and magnetic fields. Actuation mechanisms
of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave
locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted
motion), applications of magnetic fields in other propulsion approaches,
and magnetic stimulation of micro/nanorobots beyond motion are provided
followed by fabrication techniques for (quasi-)spherical, helical,
flexible, wire-like, and biohybrid MagRobots. Applications of MagRobots
in targeted drug/gene delivery, cell manipulation, minimally invasive
surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery,
pollution removal for environmental remediation, and (bio)sensing
are also reviewed. Finally, current challenges and future perspectives
for the development of magnetically powered miniaturized motors are
discussed.
Collapse
Affiliation(s)
- Huaijuan Zhou
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Tannenstrasse 3, 8092 Zurich, Switzerland
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Martin Pumera
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic.,Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung 40402, Taiwan.,Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, CZ-613 00 Brno, Czech Republic.,Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea.,Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, Brno CZ-612 00, Czech Republic
| |
Collapse
|
26
|
Ji F, Li T, Yu S, Wu Z, Zhang L. Propulsion Gait Analysis and Fluidic Trapping of Swinging Flexible Nanomotors. ACS NANO 2021; 15:5118-5128. [PMID: 33687190 DOI: 10.1021/acsnano.0c10269] [Citation(s) in RCA: 33] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/27/2023]
Abstract
Micro- and nanomachines as feasible agents to exploit the microworld have attracted extensive research interest, particularly in the manipulation of soft nanorobots at small scales. Herein, we propose a model for regulating the motion of a swinging flexible nanomotor (SFN) driven by an oscillating magnetic field. Multisegments of an SFN are synthesized from nickel, gold, and porous silver. The coupling of magnetic actuation and the swinging pattern of SFNs are studied to reveal their mobility. Additionally, an optimal frequency occurs from the coupling of magnetic torque and structural deformation, rather than the simply considered step-out phenomenon. Meanwhile, a fluidic trapping region is formulated alongside the SFN. Such a trapping region is demonstrated by trapping a living neutrophil and accomplishing in vitro transportation using fluidic mediation. On-demand cargo delivery can be realized using a programmable magnetic field, and SFNs can be recycled with ease after manipulation owing to environmental concerns. In this study, we demonstrated the properties of SFNs that are useful bases for their customization and control. These flexible nanomotors may have the potential to promote drug delivery and biomedical operations in noncontact modes.
Collapse
Affiliation(s)
- Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, NT Hong Kong SAR, China
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
- Institute of Pharmacy, Sechenov University, Moscow 119991, Russia
| | - Shimin Yu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Zhiguang Wu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
- Institute of Pharmacy, Sechenov University, Moscow 119991, Russia
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, NT Hong Kong SAR, China
| |
Collapse
|
27
|
Gao C, Wang Y, Ye Z, Lin Z, Ma X, He Q. Biomedical Micro-/Nanomotors: From Overcoming Biological Barriers to In Vivo Imaging. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2000512. [PMID: 32578282 DOI: 10.1002/adma.202000512] [Citation(s) in RCA: 164] [Impact Index Per Article: 54.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/21/2020] [Revised: 03/20/2020] [Indexed: 05/20/2023]
Abstract
Self-propelled micro- and nanomotors (MNMs) have shown great potential for applications in the biomedical field, such as active targeted delivery, detoxification, minimally invasive diagnostics, and nanosurgery, owing to their tiny size, autonomous motion, and navigation capacities. To enter the clinic, biomedical MNMs request the biodegradability of their manufacturing materials, the biocompatibility of chemical fuels or externally physical fields, the capability of overcoming various biological barriers (e.g., biofouling, blood flow, blood-brain barrier, cell membrane), and the in vivo visual positioning for autonomous navigation. Herein, the recent advances of synthetic MNMs in overcoming biological barriers and in vivo motion-tracking imaging techniques are highlighted. The challenges and future research priorities are also addressed. With continued attention and innovation, it is believed that, in the future, biomedical MNMs will pave the way to improve the targeted drug delivery efficiency.
Collapse
Affiliation(s)
- Changyong Gao
- Key Laboratory of Microsystems and Microstructures Manufacturing, Harbin Institute of Technology, 92 West Dazhi Street, Harbin, 150080, China
| | - Yong Wang
- State Key Laboratory of Advanced Welding and Joining (Shenzhen), Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen, 518055, China
| | - Zihan Ye
- State Key Laboratory of Advanced Welding and Joining (Shenzhen), Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen, 518055, China
| | - Zhihua Lin
- Key Laboratory of Microsystems and Microstructures Manufacturing, Harbin Institute of Technology, 92 West Dazhi Street, Harbin, 150080, China
| | - Xing Ma
- State Key Laboratory of Advanced Welding and Joining (Shenzhen), Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
- Shenzhen Bay Laboratory, No. 9 Duxue Road, Shenzhen, 518055, China
| | - Qiang He
- Key Laboratory of Microsystems and Microstructures Manufacturing, Harbin Institute of Technology, 92 West Dazhi Street, Harbin, 150080, China
| |
Collapse
|
28
|
Wang Q, Zhang L. External Power-Driven Microrobotic Swarm: From Fundamental Understanding to Imaging-Guided Delivery. ACS NANO 2021; 15:149-174. [PMID: 33417764 DOI: 10.1021/acsnano.0c07753] [Citation(s) in RCA: 84] [Impact Index Per Article: 28.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Untethered micro/nanorobots have been widely investigated owing to their potential in performing various tasks in different environments. The significant progress in this emerging interdisciplinary field has benefited from the distinctive features of those tiny active agents, such as wireless actuation, navigation under feedback control, and targeted delivery of small-scale objects. In recent studies, collective behaviors of these tiny machines have received tremendous attention because swarming agents can enhance the delivery capability and adaptability in complex environments and the contrast of medical imaging, thus benefiting the imaging-guided navigation and delivery. In this review, we summarize the recent research efforts on investigating collective behaviors of external power-driven micro/nanorobots, including the fundamental understanding of swarm formation, navigation, and pattern transformation. The fundamental understanding of swarming tiny machines provides the foundation for targeted delivery. We also summarize the swarm localization using different imaging techniques, including the imaging-guided delivery in biological environments. By highlighting the critical steps from understanding the fundamental interactions during swarm control to swarm localization and imaging-guided delivery applications, we envision that the microrobotic swarm provides a promising tool for delivering agents in an active, controlled manner.
Collapse
Affiliation(s)
- Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
- T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong 999077, China
| |
Collapse
|
29
|
Independent position control of two identical magnetic microrobots in a plane using rotating permanent magnets. JOURNAL OF MICRO-BIO ROBOTICS 2021. [DOI: 10.1007/s12213-021-00143-w] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/20/2023]
|
30
|
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: 167] [Impact Index Per Article: 55.7] [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.
Collapse
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
| |
Collapse
|
31
|
Yu J, Yang L, Du X, Chen H, Xu T, Zhang L. Adaptive Pattern and Motion Control of Magnetic Microrobotic Swarms. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2021.3130432] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
|
32
|
3D Navigation Control of Untethered Magnetic Microrobot in Centimeter-Scale Workspace Based on Field-of-View Tracking Scheme. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2021.3118205] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
33
|
Abstract
To create a miniature shapeshifting robot capable of controlled movement, subdivision, regeneration, passage through small channels, engulfment of particles, object manipulation, and flow manipulation, a droplet of magnetically responsive ferrofluid is used. The ferrofluidic robot can achieve the aforementioned functions when both its position and shape are controlled using a custom electromagnetic field generation system. It is demonstrated that the proposed robot can perform these functions with submillimeter and subdegree error. A robot having these capabilities can remotely perform medical and microassembly tasks requiring fine dexterity that are currently difficult or impossible.
Collapse
Affiliation(s)
- Reza Ahmed
- School for Engineering of Matter Transport and Energy (SEMTE), Arizona State University, Tempe, Arizona, USA
| | - Mahdi Ilami
- School for Engineering of Matter Transport and Energy (SEMTE), Arizona State University, Tempe, Arizona, USA
| | - Joseph Bant
- School for Engineering of Matter Transport and Energy (SEMTE), Arizona State University, Tempe, Arizona, USA
| | - Borhan Beigzadeh
- School for Engineering of Matter Transport and Energy (SEMTE), Arizona State University, Tempe, Arizona, USA
| | - Hamid Marvi
- School for Engineering of Matter Transport and Energy (SEMTE), Arizona State University, Tempe, Arizona, USA
| |
Collapse
|
34
|
Wei T, Liu J, Li D, Chen S, Zhang Y, Li J, Fan L, Guan Z, Lo CM, Wang L, Man K, Sun D. Development of Magnet-Driven and Image-Guided Degradable Microrobots for the Precise Delivery of Engineered Stem Cells for Cancer Therapy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2020; 16:e1906908. [PMID: 32954642 DOI: 10.1002/smll.201906908] [Citation(s) in RCA: 42] [Impact Index Per Article: 10.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/26/2019] [Revised: 07/03/2020] [Indexed: 06/11/2023]
Abstract
Precise delivery of therapeutic cells to the desired site in vivo is an emerging and promising cellular therapy in precision medicine. This paper presents the development of a magnet-driven and image-guided degradable microrobot that can precisely deliver engineered stem cells for orthotopic liver tumor treatment. The microrobot employs a burr-like porous sphere structure and is made with a synthesized composite to fulfill degradability, mechanical strength, and magnetic actuation capability simultaneously. The cells can be spontaneously released from the microrobots on the basis of the optimized microrobot structure. The microrobot is actuated by a gradient magnetic field and guided by a unique photoacoustic imaging technology. In preclinical experiments on nude mice, microrobots carrying cells are injected via the portal vein and the released cells from the microrobots can inhibit the tumor growth greatly. This paper reveals for the first time of using degradable microrobots for precise delivery of therapeutic cells in vascular tissue and demonstrates its therapeutic effect in preclinical test.
Collapse
Affiliation(s)
- Tanyong Wei
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Jiang Liu
- Department of Surgery, The University of Hong Kong, Hong Kong SAR, 999077, China
| | - Dongfang Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Shuxun Chen
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Yachao Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Junyang Li
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Lei Fan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Zhangyan Guan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Chung-Mau Lo
- Department of Surgery, The University of Hong Kong, Hong Kong SAR, 999077, China
| | - Lidai Wang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Kwan Man
- Department of Surgery, The University of Hong Kong, Hong Kong SAR, 999077, China
| | - Dong Sun
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| |
Collapse
|
35
|
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
|
36
|
Korayem MH, Shahali S, Rastegar Z, Far SK. Path planning of the viscoelastic micro biological particle to minimize path length and particle's deformation using genetic algorithm. Phys Eng Sci Med 2020; 43:903-914. [PMID: 32607782 DOI: 10.1007/s13246-020-00887-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/09/2018] [Accepted: 06/10/2020] [Indexed: 10/24/2022]
Abstract
Manipulation of biological particles including pulling, and holding-and-indenting them, using the atomic force microscope (AFM) has attracted enormous interests. High deformability and vulnerability of biological particles, especially cells, make moving toward the target point inside complex biological environments with the least invasion the most critical factor. In this article, the optimal path of the particle movement is determined by considering the mechanical and morphological properties of the biological cell. Furthermore, the shortest path with the least amount of cell deformation is determined by using the equations of 3D manipulation of spherical viscoelastic particles and genetic algorithm (GA). Eventually, the final path is determined considering the mechanical properties of breast cancer cells by applying different constraints such as folding factor and the particle's roughness.Results reveal that increasing the number of constraints raise the needed time to find the optimal path. Additionally, the maximum time belongs to the spherical particle in the presence of folding. As a result, the total path planning times for the smooth, rough, and folded spherical particle are 59.386, 129.578, and 214.404 s, respectively. Various optimal pathfinders are used, to reduce calculations and speed up the process, as well as obtaining the correct answer with high certainty. Comparing the error files founded for three methods including cellular learning Automata, Dijkstra, and GA, the third method has the best performance in the lowest error rate. Using the GA, the error rate can be reduced by 40%, compared to the cellular learning Automata method. Furthermore, comparing the cellular learning Automata method used in previous studies, it can be seen that not only the results are correct, but also less time spent, at the practically identical situation, on finding the optimal path for this algorithm.
Collapse
Affiliation(s)
- M H Korayem
- Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran.
| | - S Shahali
- Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
| | - Z Rastegar
- Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
| | - S Khazaei Far
- Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
| |
Collapse
|
37
|
Juřík M, Šmídl V, Mach F. Trade-off between resolution and frame rate of visual tracking of mini-robots on an experimental planar platform. JOURNAL OF MICRO-BIO ROBOTICS 2020. [DOI: 10.1007/s12213-020-00134-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
|
38
|
Feemster M, Piepmeier JA, Biggs H, Yee S, ElBidweihy H, Firebaugh SL. Autonomous Microrobotic Manipulation Using Visual Servo Control. MICROMACHINES 2020; 11:mi11020132. [PMID: 31991607 PMCID: PMC7074596 DOI: 10.3390/mi11020132] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/27/2019] [Revised: 01/21/2020] [Accepted: 01/22/2020] [Indexed: 12/20/2022]
Abstract
This describes the application of a visual servo control method to the microrobotic manipulation of polymer beads on a two-dimensional fluid interface. A microrobot, actuated through magnetic fields, is utilized to manipulate a non-magnetic polymer bead into a desired position. The controller utilizes multiple modes of robot actuation to address the different stages of the task. A filtering strategy employed in separation mode allows the robot to spiral from the manipuland in a fashion that promotes the manipulation positioning objective. Experiments demonstrate that our multiphase controller can be used to direct a microrobot to position a manipuland to within an average positional error of approximately 8 pixels (64 µm) over numerous trials.
Collapse
Affiliation(s)
- Matthew Feemster
- Weapons, Robotics, and Control Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA; (M.F.); (J.A.P.)
| | - Jenelle A. Piepmeier
- Weapons, Robotics, and Control Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA; (M.F.); (J.A.P.)
| | - Harrison Biggs
- Electrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA; (H.B.); (S.Y.); (H.E.)
| | - Steven Yee
- Electrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA; (H.B.); (S.Y.); (H.E.)
| | - Hatem ElBidweihy
- Electrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA; (H.B.); (S.Y.); (H.E.)
| | - Samara L. Firebaugh
- Electrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA; (H.B.); (S.Y.); (H.E.)
- Correspondence: ; Tel.: +1-410-293-6152
| |
Collapse
|
39
|
Nanomagnetic encoding of shape-morphing micromachines. Nature 2019; 575:164-168. [DOI: 10.1038/s41586-019-1713-2] [Citation(s) in RCA: 191] [Impact Index Per Article: 38.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/25/2019] [Accepted: 09/04/2019] [Indexed: 01/09/2023]
|
40
|
Ren L, Nama N, McNeill JM, Soto F, Yan Z, Liu W, Wang W, Wang J, Mallouk TE. 3D steerable, acoustically powered microswimmers for single-particle manipulation. SCIENCE ADVANCES 2019; 5:eaax3084. [PMID: 31692692 PMCID: PMC6814402 DOI: 10.1126/sciadv.aax3084] [Citation(s) in RCA: 126] [Impact Index Per Article: 25.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2019] [Accepted: 09/13/2019] [Indexed: 05/22/2023]
Abstract
The ability to precisely maneuver micro/nano objects in fluids in a contactless, biocompatible manner can enable innovative technologies and may have far-reaching impact in fields such as biology, chemical engineering, and nanotechnology. Here, we report a design for acoustically powered bubble-based microswimmers that are capable of autonomous motion in three dimensions and selectively transporting individual synthetic colloids and mammalian cells in a crowded group without labeling, surface modification, or effect on nearby objects. In contrast to previously reported microswimmers, their motion does not require operation at acoustic pressure nodes, enabling propulsion at low power and far from an ultrasonic transducer. In a megahertz acoustic field, the microswimmers are subject to two predominant forces: the secondary Bjerknes force and a locally generated acoustic streaming propulsive force. The combination of these two forces enables the microswimmers to independently swim on three dimensional boundaries or in free space under magnetical steering.
Collapse
Affiliation(s)
- Liqiang Ren
- Department of Chemistry, Biochemistry and Molecular Biology, Physics, and Engineering Science and Mechanics, Pennsylvania State University, University Park, PA 16802, USA
| | - Nitesh Nama
- Department of Surgery, University of Michigan, Ann Arbor, MI 48109, USA
| | - Jeffrey M. McNeill
- Department of Chemistry, University of Pennsylvania, Philadelphia, PA, 19104, USA
| | - Fernando Soto
- Department of Nanoengineering, University of California San Diego, La Jolla, CA 92093, USA
| | - Zhifei Yan
- Department of Chemistry, Biochemistry and Molecular Biology, Physics, and Engineering Science and Mechanics, Pennsylvania State University, University Park, PA 16802, USA
| | - Wu Liu
- Department of Chemistry, Biochemistry and Molecular Biology, Physics, and Engineering Science and Mechanics, Pennsylvania State University, University Park, PA 16802, USA
| | - Wei Wang
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong 518055, China
- Corresponding author. (W.W.); (J.W.); (T.E.M.)
| | - Joseph Wang
- Department of Nanoengineering, University of California San Diego, La Jolla, CA 92093, USA
- Corresponding author. (W.W.); (J.W.); (T.E.M.)
| | - Thomas E. Mallouk
- Department of Chemistry, Biochemistry and Molecular Biology, Physics, and Engineering Science and Mechanics, Pennsylvania State University, University Park, PA 16802, USA
- Department of Chemistry, University of Pennsylvania, Philadelphia, PA, 19104, USA
- Corresponding author. (W.W.); (J.W.); (T.E.M.)
| |
Collapse
|
41
|
Abstract
This paper presents our work over the last decade in developing functional microrobotic systems, which include wireless actuation of microrobots to traverse complex surfaces, addition of sensing capabilities, and independent actuation of swarms of microrobots. We will discuss our work on the design, fabrication, and testing of a number of different mobile microrobots that are able to achieve these goals. These microrobots include the microscale magnetorestrictive asymmetric bimorph microrobot (
μ
MAB), our first attempt at magnetic actuation in the microscale; the microscale tumbling microrobot (
μ
TUM), our microrobot capable of traversing complex surfaces in both wet and dry conditions; and the micro-force sensing magnetic microrobot (
μ
FSMM), which is capable of real-time micro-force sensing feedback to the user as well as intuitive wireless actuation. Additionally, we will present our latest results on using local magnetic field actuation for independent control of multiple microrobots in the same workspace for microassembly tasks.
Collapse
|
42
|
Natu R, Islam M, Keck D, Martinez-Duarte R. Automated "pick and transfer" of targeted cells using dielectrophoresis. LAB ON A CHIP 2019; 19:2512-2525. [PMID: 31259984 DOI: 10.1039/c9lc00409b] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
Selective manipulation of single cells is an important step in sample preparation for biological analysis. A highly specific and automated device is desired for such an operation. An ideal device would be able to selectively pick several single cells in parallel from a heterogeneous population and transfer those to designated sites for further analysis without human intervention. The robotic manipulator developed here provides the basis for development of such a device. The device in this work is designed to selectively pick cells based on their inherent properties using dielectrophoresis (DEP) and automatically transfer and release those at a transfer site. Here we provide proof of concept of such a device and study the effect of different parameters on its operation. Successful experiments were conducted to separate Candida cells from a mixture with 10 μm latex particles and a viability assay was performed for separation of viable rat adipose stem cells (RASCs) from non-viable ones. The robotic DEP device was further used to pick and transfer single RASCs. This work also discusses the advantages and disadvantages of our current setup and illustrates the future steps required to improve the performance of this robotic DEP technology.
Collapse
Affiliation(s)
- Rucha Natu
- Multiscale Manufacturing Laboratory, Department of Mechanical Engineering, Clemson University, SC 29634, USA.
| | - Monsur Islam
- Multiscale Manufacturing Laboratory, Department of Mechanical Engineering, Clemson University, SC 29634, USA. and Karlsruhe Institute of Technology, Institute of Microstructure Technology, Hermann-von-Helmholtz-Platz 1 76344, Eggenstein-Leopoldshafen, Germany
| | - Devin Keck
- Multiscale Manufacturing Laboratory, Department of Mechanical Engineering, Clemson University, SC 29634, USA.
| | - Rodrigo Martinez-Duarte
- Multiscale Manufacturing Laboratory, Department of Mechanical Engineering, Clemson University, SC 29634, USA.
| |
Collapse
|
43
|
Yu J, Wang Q, Li M, Liu C, Wang L, Xu T, Zhang L. Characterizing Nanoparticle Swarms With Tuneable Concentrations for Enhanced Imaging Contrast. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2924055] [Citation(s) in RCA: 23] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
|
44
|
Hwang G, Paula AJ, Hunter EE, Liu Y, Babeer A, Karabucak B, Stebe K, Kumar V, Steager E, Koo H. Catalytic antimicrobial robots for biofilm eradication. Sci Robot 2019; 4:eaaw2388. [PMID: 31531409 PMCID: PMC6748647 DOI: 10.1126/scirobotics.aaw2388] [Citation(s) in RCA: 110] [Impact Index Per Article: 22.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
Abstract
Magnetically driven robots can perform complex functions in biological settings with minimal destruction. However, robots designed to damage deleterious biostructures could also have important impact. In particular, there is an urgent need for new strategies to eradicate bacterial biofilms as we approach a post-antibiotic era. Biofilms are intractable and firmly attached structures ubiquitously associated with drug-resistant infections and destruction of surfaces. Existing treatments are inadequate to both kill and remove bacteria leading to reinfection. Here we design catalytic antimicrobial robots (CARs) that precisely and controllably kill, degrade and remove biofilms with remarkable efficiency. CARs exploit iron oxide nanoparticles (NPs) with dual catalytic-magnetic functionality that (i) generate bactericidal free radicals, (ii) breakdown the biofilm exopolysaccharide (EPS) matrix, and (iii) remove the fragmented biofilm debris via magnetic field driven robotic assemblies. We develop two distinct CAR platforms. The first platform, the biohybrid CAR, is formed from NPs and biofilm degradation products. After catalytic bacterial killing and EPS disruption, magnetic field gradients assemble NPs and the biodegraded products into a plow-like superstructure. When driven with an external magnetic field, the biohybrid CAR completely removes biomass in a controlled manner, preventing biofilm regrowth. Biohybrid CARs can be swept over broad swathes of surface or can be moved over well-defined paths for localized removal with microscale precision. The second platform, the 3D molded CAR, is a polymeric soft robot with embedded catalytic-magnetic NPs, formed in a customized 3D printed mold to perform specific tasks in enclosed domains. Vane-shaped CARs remove biofilms from curved walls of cylindrical tubes, and helicoid-shaped CARs drill through biofilm clogs, while simultaneously killing bacteria. In addition, we demonstrate applications of CARs to target highly confined anatomical surfaces in the interior of human teeth. These 'kill-degrade-and-remove' CARs systems could have significant impact in fighting persistent biofilm-infections and in mitigating biofouling of medical devices and diverse surfaces.
Collapse
Affiliation(s)
- Geelsu Hwang
- Biofilm Research Labs, Levy Center for Oral Health, Department of Orthodontics, School of Dental Medicine, University of Pennsylvania, USA
| | - Amauri J. Paula
- Biofilm Research Labs, Levy Center for Oral Health, Department of Orthodontics, School of Dental Medicine, University of Pennsylvania, USA
- Solid-Biological Interface Group (SolBIN), Department of Physics, Universidade Federal do Ceará, Fortaleza-CE, Brazil
| | - Elizabeth E. Hunter
- GRASP Laboratory, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, USA
| | - Yuan Liu
- Biofilm Research Labs, Levy Center for Oral Health, Department of Orthodontics, School of Dental Medicine, University of Pennsylvania, USA
| | - Alaa Babeer
- Biofilm Research Labs, Levy Center for Oral Health, Department of Orthodontics, School of Dental Medicine, University of Pennsylvania, USA
- Department of Endodontics, School of Dental Medicine, University of Pennsylvania, USA
| | - Bekir Karabucak
- Department of Endodontics, School of Dental Medicine, University of Pennsylvania, USA
| | - Kathleen Stebe
- Department of Chemical and Biomolecular Engineering, University of Pennsylvania, Philadelphia, PA, USA
| | - Vijay Kumar
- Department of Endodontics, School of Dental Medicine, University of Pennsylvania, USA
| | - Edward Steager
- Department of Endodontics, School of Dental Medicine, University of Pennsylvania, USA
| | - Hyun Koo
- Biofilm Research Labs, Levy Center for Oral Health, Department of Orthodontics, School of Dental Medicine, University of Pennsylvania, USA
| |
Collapse
|
45
|
|
46
|
Fu Q, Zhang S, Guo S, Guo J. Performance Evaluation of a Magnetically Actuated Capsule Microrobotic System for Medical Applications. MICROMACHINES 2018; 9:E641. [PMID: 30518087 PMCID: PMC6316535 DOI: 10.3390/mi9120641] [Citation(s) in RCA: 27] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/23/2018] [Revised: 11/08/2018] [Accepted: 11/14/2018] [Indexed: 12/03/2022]
Abstract
The paper aims to propose a magnetic actuated capsule microrobotic system, which is composed of a magnetically actuated microrobot with a screw jet mechanism, a driving system, and a positioning system. The magnetically actuated microrobot embedded an O-ring magnet as an actuator has potential for achieving a particular task, such as medical diagnose or drug delivery. The driving system composes of a three axes Helmholtz coils to generate a rotational magnetic field for controlling the magnetically actuated microrobot to realize the basic motion in pipe, e.g., forward/backward motion and upward/downward motion. The positioning system is used to detect the pose of the magnetically actuated microrobot in pipe. We will discuss the shape of the Helmholtz coils and the magnetic field around the O-ring magnet to obtain an optimal performance of the magnetically actuated microrobot. The experimental result indicated that the microrobot with screw jet motion has a flexible movement in pipe by adjusting the rotational magnetic field plane and the magnetic field changing frequency.
Collapse
Affiliation(s)
- Qiang Fu
- Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory, School of Electrical and Electronic Engineering, Tianjin University of Technology, Binshui Xidao 391, Tianjin 300384, China.
| | - Songyuan Zhang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
| | - Shuxiang Guo
- School of Life Science, Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, The Institute of Advanced Biomedical Engineering System, Beijing Institute of Technology, Beijing 100081, China.
- Faculty of Engineering, Kagawa University, Takamatsu 761-0396, Japan.
| | - Jian Guo
- Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory, School of Electrical and Electronic Engineering, Tianjin University of Technology, Binshui Xidao 391, Tianjin 300384, China.
| |
Collapse
|
47
|
Zhu L, Huang W, Yang F, Yin L, Liang S, Zhao W, Mao L, Yu X(J, Qiao R, Zhao Y. Manipulation of Single Cells Using a Ferromagnetic Nanorod Cluster Actuated by Weak AC Magnetic Fields. ACTA ACUST UNITED AC 2018; 3:e1800246. [DOI: 10.1002/adbi.201800246] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/28/2018] [Revised: 09/26/2018] [Indexed: 01/02/2023]
Affiliation(s)
- Lu Zhu
- School of Chemical Materials and Biomedical Engineering College of Engineering University of Georgia Athens GA 30602 USA
| | - Weijie Huang
- Department of Physics and Astronomy University of Georgia Athens GA 30602 USA
| | - Fengchang Yang
- Department of Mechanical Engineering Virginia Tech Blacksburg VA 24061 USA
- JENSEN HUGHES, Inc. Blacksburg VA 24060 USA
| | - Lei Yin
- College of Public Health University of Georgia Athens GA 30602 USA
| | - Shenxuan Liang
- College of Public Health University of Georgia Athens GA 30602 USA
| | - Wujun Zhao
- School of Electrical and Computer Engineering College of Engineering University of Georgia Athens GA 30602 USA
| | - Leidong Mao
- School of Electrical and Computer Engineering College of Engineering University of Georgia Athens GA 30602 USA
| | | | - Rui Qiao
- Department of Mechanical Engineering Virginia Tech Blacksburg VA 24061 USA
| | - Yiping Zhao
- Department of Physics and Astronomy University of Georgia Athens GA 30602 USA
| |
Collapse
|
48
|
Guix M, Wang J, An Z, Adam G, Cappelleri DJ. Real-Time Force-Feedback Micromanipulation Using Mobile Microrobots With Colored Fiducials. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2854909] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
49
|
Yu J, Wang B, Du X, Wang Q, Zhang L. Ultra-extensible ribbon-like magnetic microswarm. Nat Commun 2018; 9:3260. [PMID: 30131487 PMCID: PMC6104072 DOI: 10.1038/s41467-018-05749-6] [Citation(s) in RCA: 174] [Impact Index Per Article: 29.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/09/2018] [Accepted: 07/23/2018] [Indexed: 01/18/2023] Open
Abstract
Various types of structures self-organised by animals exist in nature, such as bird flocks and insect swarms, which stem from the local communications of vast numbers of limited individuals. Through the designing of algorithms and wireless communication, robotic systems can emulate some complex swarm structures in nature. However, creating a swarming robotic system at the microscale that embodies functional collective behaviours remains a challenge. Herein, we report a strategy to reconfigure paramagnetic nanoparticles into ribbon-like swarms using oscillating magnetic fields, and the mechanisms are analysed. By tuning the input fields, the microswarm can perform a reversible elongation with an extremely high aspect ratio, as well as splitting and merging. Moreover, we investigate the behaviours of the microswarm when it encounters solid boundaries, and demonstrate that under navigation, the colloidal microswarm passes through confined channel networks towards multiple targets with high access rates and high swarming pattern stability.
Collapse
Affiliation(s)
- Jiangfan Yu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Ben Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Xingzhou Du
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China.
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China.
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China.
- T-Stone Robotics Institute, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China.
| |
Collapse
|
50
|
Yu J, Yang L, Zhang L. Pattern generation and motion control of a vortex-like paramagnetic nanoparticle swarm. Int J Rob Res 2018. [DOI: 10.1177/0278364918784366] [Citation(s) in RCA: 87] [Impact Index Per Article: 14.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Controlling a swarm of microrobots with external fields is one of the major challenges for untethered microrobots. In this work, we present a new method to generate a vortex-like paramagnetic nanoparticle swarm (VPNS) from dispersed nanoparticles with a diameter of 500 nm, using rotating magnetic fields. The VPNS exhibits a dynamic-equilibrium structure, in which the nanoparticles perform synchronized motions. The mechanisms of the pattern-generation process are analyzed, simulated, and validated by experiments. By tuning the rotating frequency of the input magnetic field, the pattern of a VPNS changes accordingly. Analytical models for estimating the areal change of the pattern are proposed, and they have good agreement with the experimental data. Moreover, reversible merging and splitting of vortex-like swarms are demonstrated and investigated. Serving as a mobile robotic end-effector, a VPNS is capable of making locomotion by tuning the pitch angle of the actuating rotating field. With a small pitch angle, e.g. 2°, the whole swarm moves as an entity, and the shape of the pattern remains intact. In addition, the trapping forces of VPNSs are verified, showing the critical input parameters of the magnetic field that affect the morphology of the swarm. Finally, we demonstrate that VPNSs pass through curved and branched channels with high positioning precision, and the access rates for targeted delivery are over 90%, which are significantly higher than those in the cases of particle swarms moving with tumbling motions.
Collapse
Affiliation(s)
- Jiangfan Yu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, NT, Hong Kong
| | - Lidong Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, NT, Hong Kong
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, NT, Hong Kong
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, NT, Hong Kong
- T-Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
| |
Collapse
|