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Patel D, Shetty S, Acha C, Pantoja IEM, Zhao A, George D, Gracias DH. Microinstrumentation for Brain Organoids. Adv Healthc Mater 2024; 13:e2302456. [PMID: 38217546 DOI: 10.1002/adhm.202302456] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/30/2023] [Revised: 12/10/2023] [Indexed: 01/15/2024]
Abstract
Brain organoids are three-dimensional aggregates of self-organized differentiated stem cells that mimic the structure and function of human brain regions. Organoids bridge the gaps between conventional drug screening models such as planar mammalian cell culture, animal studies, and clinical trials. They can revolutionize the fields of developmental biology, neuroscience, toxicology, and computer engineering. Conventional microinstrumentation for conventional cellular engineering, such as planar microfluidic chips; microelectrode arrays (MEAs); and optical, magnetic, and acoustic techniques, has limitations when applied to three-dimensional (3D) organoids, primarily due to their limits with inherently two-dimensional geometry and interfacing. Hence, there is an urgent need to develop new instrumentation compatible with live cell culture techniques and with scalable 3D formats relevant to organoids. This review discusses conventional planar approaches and emerging 3D microinstrumentation necessary for advanced organoid-machine interfaces. Specifically, this article surveys recently developed microinstrumentation, including 3D printed and curved microfluidics, 3D and fast-scan optical techniques, buckling and self-folding MEAs, 3D interfaces for electrochemical measurements, and 3D spatially controllable magnetic and acoustic technologies relevant to two-way information transfer with brain organoids. This article highlights key challenges that must be addressed for robust organoid culture and reliable 3D spatiotemporal information transfer.
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Affiliation(s)
- Devan Patel
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Saniya Shetty
- Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Chris Acha
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Itzy E Morales Pantoja
- Center for Alternatives to Animal Testing (CAAT), Department of Environmental Health and Engineering, Bloomberg School of Public Health, Johns Hopkins University, Baltimore, MD, 21205, USA
| | - Alice Zhao
- Department of Biology, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Derosh George
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - David H Gracias
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA
- Department of Chemistry, Johns Hopkins University, Baltimore, MD, 21218, USA
- Department of Materials Science and Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA
- Department of Oncology, Johns Hopkins University School of Medicine, Baltimore, MD, 21205, USA
- Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, 21218, USA
- Sidney Kimmel Comprehensive Cancer Center (SKCCC), Johns Hopkins School of Medicine, Baltimore, MD, 21205, USA
- Center for MicroPhysiological Systems (MPS), Johns Hopkins School of Medicine, Baltimore, MD, 21205, USA
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Siebenmorgen C, Wang C, Navarro LB, Parisi D, Misra S, Venkiteswaran VK, van Rijn P. Minimally designed thermo-magnetic dual responsive soft robots for complex applications. J Mater Chem B 2024; 12:5339-5349. [PMID: 38597898 DOI: 10.1039/d3tb02839a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/11/2024]
Abstract
The fabrication of thermo-magnetic dual-responsive soft robots often requires intricate designs to implement complex locomotion patterns and utilize the implemented responsive behaviors. This work demonstrates a minimally designed soft robot based on poly-N-isopropylacrylamide (pNIPAM) and ferromagnetic particles, showcasing excellent control over both thermo- and magnetic responses. Free radical polymerization enables the magnetic particles to be entrapped homogeneously within the polymeric network. The integration of magnetic shape programming and temperature response allows the robot to perform various tasks including shaping, locomotion, pick-and-place, and release maneuvers of objects using independent triggers. The robot can be immobilized in a gripping state through magnetic actuation, and a subsequent increase in temperature transitions the robot from a swollen to a collapsed state. The temperature switch enables the robot to maintain a secured configuration while executing other movements via magnetic actuation. This approach offers a straightforward yet effective solution for achieving full control over both stimuli in dual-responsive soft robotics.
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Affiliation(s)
- Clio Siebenmorgen
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
| | - Chen Wang
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
| | - Laurens Bosscher Navarro
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
| | - Daniele Parisi
- University of Groningen, Faculty of Science and Engineering, Product Technology - Engineering and Technology Institute Groningen, Nijenborgh 4, 9747 AG Groningen, The Netherlands
| | - Sarthak Misra
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
- Surgical Robotics Laboratory, Department of Biomechanical Engineering University of Twente, Drienerlolaan 5, 7522 NB Enschede, The Netherlands.
| | | | - Patrick van Rijn
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
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Zhou H, Zhang S, Liu Z, Chi B, Li J, Wang Y. Untethered Microgrippers for Precision Medicine. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305805. [PMID: 37941516 DOI: 10.1002/smll.202305805] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Revised: 10/07/2023] [Indexed: 11/10/2023]
Abstract
Microgrippers, a branch of micro/nanorobots, refer to motile miniaturized machines that are of a size in the range of several to hundreds of micrometers. Compared with tethered grippers or other microscopic diagnostic and surgical equipment, untethered microgrippers play an indispensable role in biomedical applications because of their characteristics such as miniaturized size, dexterous shape tranformation, and controllable motion, which enables the microgrippers to enter hard-to-reach regions to execute specific medical tasks for disease diagnosis and treatment. To date, numerous medical microgrippers are developed, and their potential in cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery are explored. To achieve controlled locomotion and efficient target-oriented actions, the materials, size, microarchitecture, and morphology of microgrippers shall be deliberately designed. In this review, the authors summarizes the latest progress in untethered micrometer-scale grippers. The working mechanisms of shape-morphing and actuation methods for effective movement are first introduced. Then, the design principle and state-of-the-art fabrication techniques of microgrippers are discussed. Finally, their applications in the precise medicine are highlighted, followed by offering future perspectives for the development of untethered medical microgrippers.
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Affiliation(s)
- Huaijuan Zhou
- Advanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing, 100081, China
| | - Shengchang Zhang
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Zijian Liu
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Bowen Chi
- Department of Neurology, Beijing Tiantan Hospital, Capital Medical University, Beijing, 100070, China
| | - Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yilong Wang
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
- Department of Neurology, Beijing Tiantan Hospital, Capital Medical University, Beijing, 100070, China
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Remlova E, Feig VR, Kang Z, Patel A, Ballinger I, Ginzburg A, Kuosmanen J, Fabian N, Ishida K, Jenkins J, Hayward A, Traverso G. Activated Metals to Generate Heat for Biomedical Applications. ACS MATERIALS LETTERS 2023; 5:2508-2517. [PMID: 37680546 PMCID: PMC10481395 DOI: 10.1021/acsmaterialslett.3c00581] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/31/2023] [Accepted: 08/10/2023] [Indexed: 09/09/2023]
Abstract
Delivering heat in vivo could enhance a wide range of biomedical therapeutic and diagnostic technologies, including long-term drug delivery devices and cancer treatments. To date, providing thermal energy is highly power-intensive, rendering it oftentimes inaccessible outside of clinical settings. We developed an in vivo heating method based on the exothermic reaction between liquid-metal-activated aluminum and water. After establishing a method for consistent activation, we characterized the heat generation capabilities with thermal imaging and heat flux measurements. We then demonstrated one application of this reaction: to thermally actuate a gastric resident device made from a shape-memory alloy called Nitinol. Finally, we highlight the advantages and future directions for leveraging this novel in situ heat generation method beyond the showcased example.
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Affiliation(s)
- Eva Remlova
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- Department
of Health Sciences and Technology, Eidgenössische
Technische Hochschule Zürich, Universitätstrasse 2, 8092 Zürich, Switzerland
| | - Vivian Rachel Feig
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- The
David H. Koch Institute for Integrative Cancer Research, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Ziliang Kang
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- Department
of Mechanical Engineering, Massachusetts
Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Ashka Patel
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- Department
of Bioengineering, Northeastern University, Boston, Massachusetts 02115, United States
| | - Ian Ballinger
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
| | - Anna Ginzburg
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- Department
of Cell/Cellular and Molecular Biology, Northeastern University, Boston, Massachusetts 02115, United States
| | - Johannes Kuosmanen
- Department
of Mechanical Engineering, Massachusetts
Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Niora Fabian
- Department
of Mechanical Engineering, Massachusetts
Institute of Technology, Cambridge, Massachusetts 02139, United States
- Division
of Comparative Medicine, Massachusetts Institute
of Technology, Cambridge, Massachusetts 02139, United States
| | - Keiko Ishida
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- The
David H. Koch Institute for Integrative Cancer Research, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Joshua Jenkins
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- Department
of Mechanical Engineering, Massachusetts
Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Alison Hayward
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- Department
of Mechanical Engineering, Massachusetts
Institute of Technology, Cambridge, Massachusetts 02139, United States
- Division
of Comparative Medicine, Massachusetts Institute
of Technology, Cambridge, Massachusetts 02139, United States
| | - Giovanni Traverso
- Division
of Gastroenterology, Department of Medicine, Brigham and Women’s Hospital, Harvard Medical School, Boston, Massachusetts 02115, United States
- The
David H. Koch Institute for Integrative Cancer Research, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
- Department
of Mechanical Engineering, Massachusetts
Institute of Technology, Cambridge, Massachusetts 02139, United States
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5
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Liu W, Choi SJ, George D, Li L, Zhong Z, Zhang R, Choi SY, Selaru FM, Gracias DH. Untethered shape-changing devices in the gastrointestinal tract. Expert Opin Drug Deliv 2023; 20:1801-1822. [PMID: 38044866 PMCID: PMC10872387 DOI: 10.1080/17425247.2023.2291450] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2023] [Accepted: 12/01/2023] [Indexed: 12/05/2023]
Abstract
INTRODUCTION Advances in microfabrication, automation, and computer engineering seek to revolutionize small-scale devices and machines. Emerging trends in medicine point to smart devices that emulate the motility, biosensing abilities, and intelligence of cells and pathogens that inhabit the human body. Two important characteristics of smart medical devices are the capability to be deployed in small conduits, which necessitates being untethered, and the capacity to perform mechanized functions, which requires autonomous shape-changing. AREAS COVERED We motivate the need for untethered shape-changing devices in the gastrointestinal tract for drug delivery, diagnosis, and targeted treatment. We survey existing structures and devices designed and utilized across length scales from the macro to the sub-millimeter. These devices range from triggerable pre-stressed thin film microgrippers and spring-loaded devices to shape-memory and differentially swelling structures. EXPERT OPINION Recent studies demonstrate that when fully enabled, tether-free and shape-changing devices, especially at sub-mm scales, could significantly advance the diagnosis and treatment of GI diseases ranging from cancer and inflammatory bowel disease (IBD) to irritable bowel syndrome (IBS) by improving treatment efficacy, reducing costs, and increasing medication compliance. We discuss the challenges and possibilities associated with ensuring safe, reliable, and autonomous operation of these smart devices.
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Affiliation(s)
- Wangqu Liu
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Soo Jin Choi
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Derosh George
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Ling Li
- Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University School of Medicine, Baltimore, MD 21287, USA
| | - Zijian Zhong
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Ruili Zhang
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Si Young Choi
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Florin M. Selaru
- Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University School of Medicine, Baltimore, MD 21287, USA
| | - David H. Gracias
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
- Department of Chemistry, Johns Hopkins University, Baltimore, MD 21218, USA
- Department of Materials Science and Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
- Department of Oncology, Johns Hopkins University School of Medicine, Baltimore, MD 21205, USA
- Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD 21218, USA
- Sidney Kimmel Comprehensive Cancer Center (SKCCC), Johns Hopkins School of Medicine, Baltimore, MD 21205, USA
- Center for MicroPhysiological Systems (MPS), Johns Hopkins School of Medicine, Baltimore, MD 21205, USA
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6
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Zhang D, Gorochowski TE, Marucci L, Lee HT, Gil B, Li B, Hauert S, Yeatman E. Advanced medical micro-robotics for early diagnosis and therapeutic interventions. Front Robot AI 2023; 9:1086043. [PMID: 36704240 PMCID: PMC9871318 DOI: 10.3389/frobt.2022.1086043] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/01/2022] [Accepted: 12/15/2022] [Indexed: 01/12/2023] Open
Abstract
Recent technological advances in micro-robotics have demonstrated their immense potential for biomedical applications. Emerging micro-robots have versatile sensing systems, flexible locomotion and dexterous manipulation capabilities that can significantly contribute to the healthcare system. Despite the appreciated and tangible benefits of medical micro-robotics, many challenges still remain. Here, we review the major challenges, current trends and significant achievements for developing versatile and intelligent micro-robotics with a focus on applications in early diagnosis and therapeutic interventions. We also consider some recent emerging micro-robotic technologies that employ synthetic biology to support a new generation of living micro-robots. We expect to inspire future development of micro-robots toward clinical translation by identifying the roadblocks that need to be overcome.
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Affiliation(s)
- Dandan Zhang
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, Bristol, United Kingdom
| | - Thomas E. Gorochowski
- School of Biological Sciences, University of Bristol, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Lucia Marucci
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- School of Biological Sciences, University of Bristol, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Hyun-Taek Lee
- Department of Mechanical Engineering, Inha University, Incheon, South Korea
| | - Bruno Gil
- Department of Electrical and Electronic Engineering, Imperial College London, London, United Kingdom
| | - Bing Li
- The Institute for Materials Discovery, University College London, London, United Kingdom
- Department of Brain Science, Imperial College London, London, United Kingdom
- Care Research & Technology Centre, UK Dementia Research Institute, Imperial College London, London, United Kingdom
| | - Sabine Hauert
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, Bristol, United Kingdom
- BrisEngBio, University of Bristol, Bristol, United Kingdom
| | - Eric Yeatman
- Department of Electrical and Electronic Engineering, Imperial College London, London, United Kingdom
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7
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Mukherjee P, Park SH, Pathak N, Patino CA, Bao G, Espinosa HD. Integrating Micro and Nano Technologies for Cell Engineering and Analysis: Toward the Next Generation of Cell Therapy Workflows. ACS NANO 2022; 16:15653-15680. [PMID: 36154011 DOI: 10.1021/acsnano.2c05494] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
The emerging field of cell therapy offers the potential to treat and even cure a diverse array of diseases for which existing interventions are inadequate. Recent advances in micro and nanotechnology have added a multitude of single cell analysis methods to our research repertoire. At the same time, techniques have been developed for the precise engineering and manipulation of cells. Together, these methods have aided the understanding of disease pathophysiology, helped formulate corrective interventions at the cellular level, and expanded the spectrum of available cell therapeutic options. This review discusses how micro and nanotechnology have catalyzed the development of cell sorting, cellular engineering, and single cell analysis technologies, which have become essential workflow components in developing cell-based therapeutics. The review focuses on the technologies adopted in research studies and explores the opportunities and challenges in combining the various elements of cell engineering and single cell analysis into the next generation of integrated and automated platforms that can accelerate preclinical studies and translational research.
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Affiliation(s)
- Prithvijit Mukherjee
- Department of Mechanical Engineering, Northwestern University, Evanston, Illinois 60208, United States
- Theoretical and Applied Mechanics Program, Northwestern University, Evanston, Illinois 60208, United States
| | - So Hyun Park
- Department of Bioengineering, Rice University, 6500 Main Street, Houston, Texas 77030, United States
| | - Nibir Pathak
- Department of Mechanical Engineering, Northwestern University, Evanston, Illinois 60208, United States
- Theoretical and Applied Mechanics Program, Northwestern University, Evanston, Illinois 60208, United States
| | - Cesar A Patino
- Department of Mechanical Engineering, Northwestern University, Evanston, Illinois 60208, United States
| | - Gang Bao
- Department of Bioengineering, Rice University, 6500 Main Street, Houston, Texas 77030, United States
| | - Horacio D Espinosa
- Department of Mechanical Engineering, Northwestern University, Evanston, Illinois 60208, United States
- Theoretical and Applied Mechanics Program, Northwestern University, Evanston, Illinois 60208, United States
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8
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Son H, Park Y, Na Y, Yoon C. 4D Multiscale Origami Soft Robots: A Review. Polymers (Basel) 2022; 14:polym14194235. [PMID: 36236182 PMCID: PMC9571758 DOI: 10.3390/polym14194235] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/18/2022] [Revised: 09/29/2022] [Accepted: 10/06/2022] [Indexed: 11/06/2022] Open
Abstract
Time-dependent shape-transferable soft robots are important for various intelligent applications in flexible electronics and bionics. Four-dimensional (4D) shape changes can offer versatile functional advantages during operations to soft robots that respond to external environmental stimuli, including heat, pH, light, electric, or pneumatic triggers. This review investigates the current advances in multiscale soft robots that can display 4D shape transformations. This review first focuses on material selection to demonstrate 4D origami-driven shape transformations. Second, this review investigates versatile fabrication strategies to form the 4D mechanical structures of soft robots. Third, this review surveys the folding, rolling, bending, and wrinkling mechanisms of soft robots during operation. Fourth, this review highlights the diverse applications of 4D origami-driven soft robots in actuators, sensors, and bionics. Finally, perspectives on future directions and challenges in the development of intelligent soft robots in real operational environments are discussed.
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Affiliation(s)
- Hyegyo Son
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Yunha Park
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Youngjin Na
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence: (Y.N.); (C.Y.)
| | - ChangKyu Yoon
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Institute of Advanced Materials and Systems, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence: (Y.N.); (C.Y.)
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9
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Park Y, Kang J, Na Y. Reconfigurable Shape Morphing With Origami-Inspired Pneumatic Blocks. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3191417] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Yunha Park
- Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul, South Korea
| | - Joohyeon Kang
- Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul, South Korea
| | - Youngjin Na
- Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul, South Korea
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Buron C, Vrlinic T, Lakard S, Jurin F, Quinart M, Monney S, Lakard B. Use of hydrogen bonded layer-by-layer assemblies for particle manipulation. Colloids Surf A Physicochem Eng Asp 2022. [DOI: 10.1016/j.colsurfa.2022.129251] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/03/2022]
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11
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Dunn CR, Lee BP, Rajachar RM. Thermomagnetic-Responsive Self-Folding Microgrippers for Improving Minimally Invasive Surgical Techniques and Biopsies. Molecules 2022; 27:5196. [PMID: 36014435 PMCID: PMC9412701 DOI: 10.3390/molecules27165196] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2022] [Revised: 08/05/2022] [Accepted: 08/09/2022] [Indexed: 11/16/2022] Open
Abstract
Traditional open surgery complications are typically due to trauma caused by accessing the procedural site rather than the procedure itself. Minimally invasive surgery allows for fewer complications as microdevices operate through small incisions or natural orifices. However, current minimally invasive tools typically have restricted maneuverability, accessibility, and positional control of microdevices. Thermomagnetic-responsive microgrippers are microscopic multi-fingered devices that respond to temperature changes due to the presence of thermal-responsive polymers. Polymeric devices, made of poly(N-isopropylacrylamide-co-acrylic acid) (pNIPAM-AAc) and polypropylene fumarate (PPF), self-fold due to swelling and contracting of the hydrogel layer. In comparison, soft metallic devices feature a pre-stressed metal bilayer and polymer hinges that soften with increased temperature. Both types of microdevices can self-actuate when exposed to the elevated temperature of a cancerous tumor region, allowing for direct targeting for biopsies. Microgrippers can also be doped to become magnetically responsive, allowing for direction without tethers and the retrieval of microdevices containing excised tissue. The smaller size of stimuli-responsive microgrippers allows for their movement through hard-to-reach areas within the body and the successful extraction of intact cells, RNA and DNA. This review discusses the mechanisms of thermal- and magnetic-responsive microdevices and recent advances in microgripper technology to improve minimally invasive surgical techniques.
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Affiliation(s)
- Caleigh R. Dunn
- Department of Biomedical Engineering, Michigan Technological University, Houghton, MI 49931, USA
| | - Bruce P. Lee
- Department of Biomedical Engineering, Michigan Technological University, Houghton, MI 49931, USA
| | - Rupak M. Rajachar
- Department of Biomedical Engineering, Michigan Technological University, Houghton, MI 49931, USA
- Marine Ecology and Telemetry Research (MarEcoTel), Seabeck, WA 98380, USA
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12
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Zhang X, Wu Y, Li Y, Jiang H, Yang Q, Wang Z, Liu J, Wang Y, Fan X, Kong J. Small-scale soft grippers with environmentally responsive logic gates. MATERIALS HORIZONS 2022; 9:1431-1439. [PMID: 35380150 DOI: 10.1039/d2mh00097k] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Small-scale soft grippers are adaptive and deformable, and can be utilized for confined environments (e.g., the human body). Small-scale soft grippers require logic-based computation to achieve intelligent control and perform logical analysis of the surrounding information. However, it is a great challenge to integrate electronic chips and power supplies (i.e., batteries) on their small systems. Here, the approach provides a route to add computational capabilities via environmentally responsive logic gates in small-scale soft grippers, without electronics, external control, or tethering. Various origami-inspired grippers performing YES, NOT, XOR, AND, OR, NOR and NAND gates, respectively, were developed by stimuli-responsive hydrogels as building blocks. Although the hydrogels respond to different kinds of stimuli, their outputs are the same: a change in hydrogel size, leading to the bending of the arms of the grippers. Hence, the logic gates can be integrated easily within a gripper (e.g., connecting an AND gate to another AND gate). Moreover, the gripper fabricated by dual-responsive hydrogels can intelligently and autonomously switch from an AND gate to an OR gate upon varied environmental stimuli. In addition, a magnetic gripper with an AND gate was fabricated that can analyse different stimuli, and capture and release the targeted object via the environmentally responsive logic gates. This strategy provides a new route to incorporate on-board perception, control and computation via environmentally responsive logic gates in small-scale soft robots and machines.
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Affiliation(s)
- Xuan Zhang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Ya Wu
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Yan Li
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - He Jiang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Qinglin Yang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Zichao Wang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Jiahao Liu
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Yang Wang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Xiaodong Fan
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Jie Kong
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
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13
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Xin C, Jin D, Hu Y, Yang L, Li R, Wang L, Ren Z, Wang D, Ji S, Hu K, Pan D, Wu H, Zhu W, Shen Z, Wang Y, Li J, Zhang L, Wu D, Chu J. Environmentally Adaptive Shape-Morphing Microrobots for Localized Cancer Cell Treatment. ACS NANO 2021; 15:18048-18059. [PMID: 34664936 DOI: 10.1021/acsnano.1c06651] [Citation(s) in RCA: 56] [Impact Index Per Article: 18.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/27/2023]
Abstract
Microrobots have attracted considerable attention due to their extensive applications in microobject manipulation and targeted drug delivery. To realize more complex micro-/nanocargo manipulation (e.g., encapsulation and release) in biological applications, it is highly desirable to endow microrobots with a shape-morphing adaptation to dynamic environments. Here, environmentally adaptive shape-morphing microrobots (SMMRs) have been developed by programmatically encoding different expansion rates in a pH-responsive hydrogel. Due to a combination with magnetic propulsion, a shape-morphing microcrab (SMMC) is able to perform targeted microparticle delivery, including gripping, transporting, and releasing by "opening-closing" of a claw. As a proof-of-concept demonstration, a shape-morphing microfish (SMMF) is designed to encapsulate a drug (doxorubicin (DOX)) by closing its mouth in phosphate-buffered saline (PBS, pH ∼ 7.4) and release the drug by opening its mouth in a slightly acidic solution (pH < 7). Furthermore, localized HeLa cell treatment in an artificial vascular network is realized by "opening-closing" of the SMMF mouth. With the continuous optimization of size, motion control, and imaging technology, these magnetic SMMRs will provide ideal platforms for complex microcargo operations and on-demand drug release.
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Affiliation(s)
- Chen Xin
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong 999077, China
| | - Yanlei Hu
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Liang Yang
- Institute of Nanotechnology Karlsruhe Institute of Technology (KIT), Karlsruhe 76128, Germany
| | - Rui Li
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Li Wang
- Intelligent Nanomedicine Institute, The First Affiliated Hospital of USTC, Division of Life Sciences and Medicine and Division of Molecular Medicine, the CAS Key Laboratory of Innate Immunity and Chronic Disease, School of Life Sciences, University of Science and Technology of China, Hefei 230026, China
| | - Zhongguo Ren
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Dawei Wang
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Shengyun Ji
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Kai Hu
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Deng Pan
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Hao Wu
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Wulin Zhu
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Zuojun Shen
- Intelligent Nanomedicine Institute, The First Affiliated Hospital of USTC, Division of Life Sciences and Medicine and Division of Molecular Medicine, the CAS Key Laboratory of Innate Immunity and Chronic Disease, School of Life Sciences, University of Science and Technology of China, Hefei 230026, China
| | - Yucai Wang
- Intelligent Nanomedicine Institute, The First Affiliated Hospital of USTC, Division of Life Sciences and Medicine and Division of Molecular Medicine, the CAS Key Laboratory of Innate Immunity and Chronic Disease, School of Life Sciences, University of Science and Technology of China, Hefei 230026, China
| | - Jiawen Li
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong 999077, China
| | - Dong Wu
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Jiaru Chu
- Hefei National Laboratory for Physical Sciences at the Microscale, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
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14
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Lee HJ, Baik S, Hwang GW, Song JH, Kim DW, Park BY, Min H, Kim JK, Koh JS, Yang TH, Pang C. An Electronically Perceptive Bioinspired Soft Wet-Adhesion Actuator with Carbon Nanotube-Based Strain Sensors. ACS NANO 2021; 15:14137-14148. [PMID: 34425674 DOI: 10.1021/acsnano.1c05130] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
The development of bioinspired switchable adhesive systems has promising solutions in various industrial/medical applications. Switchable and perceptive adhesion regardless of the shape or surface shape of the object is still challenging in dry and aquatic surroundings. We developed an electronic sensory soft adhesive device that recapitulates the attaching, mechanosensory, and decision-making capabilities of a soft adhesion actuator. The soft adhesion actuator of an artificial octopus sucker may precisely control its robust attachment against surfaces with various topologies in wet environments as well as a rapid detachment upon deflation. Carbon nanotube-based strain sensors are three-dimensionally coated onto the irregular surface of the artificial octopus sucker to mimic nerve-like functions of an octopus and identify objects via patterns of strain distribution. An integration with machine learning complements decision-making capabilities to predict the weight and center of gravity for samples with diverse shapes, sizes, and mechanical properties, and this function may be useful in turbid water or fragile environments, where it is difficult to utilize vision.
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Affiliation(s)
- Heon Joon Lee
- School of Chemical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
| | - Sangyul Baik
- School of Chemical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
| | - Gui Won Hwang
- School of Chemical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
| | - Jin Ho Song
- School of Chemical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
- Department SKKU Advanced Institute of Nanotechnology, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
| | - Da Wan Kim
- School of Chemical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
| | - Bo-Yong Park
- McConnell Brain Imaging Centre, Montreal Neurological Institute and Hospital, McGill University, Montreal H3A 2B4, Quebec, Canada
- Department of Data Science, Inha University, Incheon 22212, Republic of Korea
| | - Hyeongho Min
- Department SKKU Advanced Institute of Nanotechnology, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
| | - Jung Kyu Kim
- School of Chemical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
| | - Je-Sung Koh
- Department of Mechanical Engineering, Ajou University, Suwon 16499, Gyeonggi-do, Republic of Korea
| | - Tae-Heon Yang
- Department of Electronic Engineering, Korea National University of Transportation, Chungju-si 27469, Chungbuk, Republic of Korea
| | - Changhyun Pang
- School of Chemical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon 16419, Gyeonggi-do, Republic of Korea
- Samsung Advanced Institute for Health Sciences and Technology, Sungkyunkwan University, Suwon 16419, Gyunggi-do, Republic of Korea
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15
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Kreuzer LP, Geiger C, Widmann T, Wang P, Cubitt R, Hildebrand V, Laschewsky A, Papadakis CM, Müller-Buschbaum P. Solvation Behavior of Poly(sulfobetaine)-Based Diblock Copolymer Thin Films in Mixed Water/Methanol Vapors. Macromolecules 2021. [DOI: 10.1021/acs.macromol.1c01179] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/28/2022]
Affiliation(s)
- Lucas P. Kreuzer
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Christina Geiger
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Tobias Widmann
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Peixi Wang
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Robert Cubitt
- Institut Laue-Langevin, 6 rue Jules Horowitz, 38000 Grenoble, France
| | - Viet Hildebrand
- Institut für Chemie, Universität Potsdam, Karl-Liebknecht-Str. 24-25, 14476 Potsdam-Golm, Germany
| | - André Laschewsky
- Institut für Chemie, Universität Potsdam, Karl-Liebknecht-Str. 24-25, 14476 Potsdam-Golm, Germany
- Fraunhofer Institut für Angewandte Polymerforschung, Geiselbergstr. 69, 14476 Potsdam-Golm, Germany
| | - Christine M. Papadakis
- Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Peter Müller-Buschbaum
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
- Heinz Maier-Leibnitz Zentrum (MLZ), Technische Universität München, Lichtenbergstr. 1, 85748 Garching, Germany
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16
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Chen Q, Lv P, Huang J, Huang TY, Duan H. Intelligent Shape-Morphing Micromachines. RESEARCH (WASHINGTON, D.C.) 2021; 2021:9806463. [PMID: 34056618 PMCID: PMC8139332 DOI: 10.34133/2021/9806463] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/23/2020] [Accepted: 04/11/2021] [Indexed: 11/06/2022]
Abstract
Intelligent machines are capable of switching shape configurations to adapt to changes in dynamic environments and thus have offered the potentials in many applications such as precision medicine, lab on a chip, and bioengineering. Even though the developments of smart materials and advanced micro/nanomanufacturing are flouring, how to achieve intelligent shape-morphing machines at micro/nanoscales is still significantly challenging due to the lack of design methods and strategies especially for small-scale shape transformations. This review is aimed at summarizing the principles and methods for the construction of intelligent shape-morphing micromachines by introducing the dimensions, modes, realization methods, and applications of shape-morphing micromachines. Meanwhile, this review highlights the advantages and challenges in shape transformations by comparing micromachines with the macroscale counterparts and presents the future outlines for the next generation of intelligent shape-morphing micromachines.
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Affiliation(s)
- Qianying Chen
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China
- CAPT, HEDPS, Peking University, Beijing 100871, China
| | - Pengyu Lv
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China
| | - Jianyong Huang
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China
| | - Tian-Yun Huang
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China
| | - Huiling Duan
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China
- CAPT, HEDPS, Peking University, Beijing 100871, China
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17
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Zhang J, Ren Z, Hu W, Soon RH, Yasa IC, Liu Z, Sitti M. Voxelated three-dimensional miniature magnetic soft machines via multimaterial heterogeneous assembly. Sci Robot 2021; 6:6/53/eabf0112. [PMID: 34043568 DOI: 10.1126/scirobotics.abf0112] [Citation(s) in RCA: 78] [Impact Index Per Article: 26.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/28/2020] [Accepted: 03/29/2021] [Indexed: 12/20/2022]
Abstract
Small-scale soft-bodied machines that respond to externally applied magnetic field have attracted wide research interest because of their unique capabilities and promising potential in a variety of fields, especially for biomedical applications. When the size of such machines approach the sub-millimeter scale, their designs and functionalities are severely constrained by the available fabrication methods, which only work with limited materials, geometries, and magnetization profiles. To free such constraints, here, we propose a bottom-up assembly-based 3D microfabrication approach to create complex 3D miniature wireless magnetic soft machines at the milli- and sub-millimeter scale with arbitrary multimaterial compositions, arbitrary 3D geometries, and arbitrary programmable 3D magnetization profiles at high spatial resolution. This approach helps us concurrently realize diverse characteristics on the machines, including programmable shape morphing, negative Poisson's ratio, complex stiffness distribution, directional joint bending, and remagnetization for shape reconfiguration. It enlarges the design space and enables biomedical device-related functionalities that are previously difficult to achieve, including peristaltic pumping of biological fluids and transport of solid objects, active targeted cargo transport and delivery, liquid biopsy, and reversible surface anchoring in tortuous tubular environments withstanding fluid flows, all at the sub-millimeter scale. This work improves the achievable complexity of 3D magnetic soft machines and boosts their future capabilities for applications in robotics and biomedical engineering.
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Affiliation(s)
- Jiachen Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ren Hao Soon
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
| | - Immihan Ceren Yasa
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany. .,Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland.,School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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18
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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.
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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
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19
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Ghosh A, Liu Y, Artemov D, Gracias DH. Magnetic Resonance Guided Navigation of Untethered Microgrippers. Adv Healthc Mater 2021; 10:e2000869. [PMID: 32691952 PMCID: PMC7854825 DOI: 10.1002/adhm.202000869] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/23/2020] [Revised: 06/25/2020] [Indexed: 12/22/2022]
Abstract
Microsurgical tools offer a path to less invasive clinical procedures with improved access, reduced trauma, and better recovery outcomes. There are a variety of rigid and flexible endoscopic devices that have significantly advanced diagnostics and microsurgery. However, they rely on wires or tethers for guidance and operation of small end-effector tools. While untethered physiologically responsive microgrippers have been previously shown to excise tissue from deep gastrointestinal locations in animal models, there are challenges associated with guiding them along paths and moving them to specific locations. In this communication, the magnetic dipole moment of untethered thermally responsive grippers is optimized for efficient coupling to external magnetic resonance (MR) fields. Gripper encapsulation in a millimeter sized wax pellet reduces the friction with the surrounding tissue and MR Navigation (MRN) of a 700 µm sized microgripper is realized within narrow channels in tissue phantoms and in an ex vivo porcine esophagus. The results show convincing proof-of-concept evidence that it is possible to sequentially image, move, and guide a submillimeter functional microsurgical tool in tissue conduits using a commercial preclinical MR system, and when combined with prior demonstrations of physiologically responsive in vivo biopsy are an important step towards the clinical translation of untethered microtools.
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Affiliation(s)
- Arijit Ghosh
- Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Yizhang Liu
- Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Dmitri Artemov
- Department of Radiology and Radiological Science, Johns Hopkins Medicine, Baltimore, MD 21287, USA
| | - David H. Gracias
- Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
- Materials Science and Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
- Department of Chemistry, Johns Hopkins University, Baltimore, MD 21218, USA
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20
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Kreuzer LP, Lindenmeir C, Geiger C, Widmann T, Hildebrand V, Laschewsky A, Papadakis CM, Müller-Buschbaum P. Poly(sulfobetaine) versus Poly( N-isopropylmethacrylamide): Co-Nonsolvency-Type Behavior of Thin Films in a Water/Methanol Atmosphere. Macromolecules 2021. [DOI: 10.1021/acs.macromol.0c02281] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/02/2023]
Affiliation(s)
- Lucas P. Kreuzer
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Christoph Lindenmeir
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Christina Geiger
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Tobias Widmann
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Viet Hildebrand
- Institut für Chemie, Universität Potsdam, Karl-Liebknecht-Str. 24-25, 14476 Potsdam-Golm, Germany
| | - André Laschewsky
- Institut für Chemie, Universität Potsdam, Karl-Liebknecht-Str. 24-25, 14476 Potsdam-Golm, Germany
- Fraunhofer Institut für Angewandte Polymerforschung, Geiselbergstr. 69, 14476 Potsdam-Golm, Germany
| | - Christine M. Papadakis
- Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Peter Müller-Buschbaum
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
- Heinz Maier-Leibnitz Zentrum (MLZ), Technische Universität München, Lichtenbergstr. 1, 85748 Garching, Germany
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21
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Ahmed A, Gauntlett OC, Camci-Unal G. Origami-Inspired Approaches for Biomedical Applications. ACS OMEGA 2021; 6:46-54. [PMID: 33458458 PMCID: PMC7807481 DOI: 10.1021/acsomega.0c05275] [Citation(s) in RCA: 12] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/29/2020] [Accepted: 12/17/2020] [Indexed: 05/05/2023]
Abstract
Modern day biomedical applications require progressions that combine advanced technology with the conformability of naturally occurring, complex biosystems. These advancements yield conformational interactions between the biomedical devices and the biological organisms' structures. Biomedical applications that adapt origami-inspired approaches have accrued aspired advances. Along with application-specific advantages, the most pertinent advances provided by origami-inspired strategies include voluminous structures with the ability to conform to biosystems, shape-shifting from two-dimensional (2D) to three-dimensional (3D) structures, and biocompatibility. Throughout this paper, the exploration of new studies, primarily within the past decade, with origami-based applications of biomedical devices, including their theories, experimental results, and plans for future testing are reviewed. This mini-review contains examples that aid the advancement of biomedical applications and hold promising future discoveries. The origami-inspired applications discussed within this paper are tissue scaffolds, drug delivery approaches, stents and catheters, implants, microfluidic devices, biosensors, and origami usage in surgery.
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Affiliation(s)
- Abdor
Rahman Ahmed
- Honors
College, School of Environmental and Biological Sciences, Rutgers University, New Brunswick, New Jersey 08901, United States
| | - Olivia C. Gauntlett
- Department
of Chemical Engineering, University of Massachusetts
Lowell, Lowell, Massachusetts 01854, United States
| | - Gulden Camci-Unal
- Department
of Chemical Engineering, University of Massachusetts
Lowell, Lowell, Massachusetts 01854, United States
- Department
of Surgery, University of Massachusetts
Medical School, Worcester, Massachusetts 01655, United States
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22
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Son H, Byun E, Yoon YJ, Nam J, Song SH, Yoon C. Untethered Actuation of Hybrid Hydrogel Gripper via Ultrasound. ACS Macro Lett 2020; 9:1766-1772. [PMID: 35653680 DOI: 10.1021/acsmacrolett.0c00702] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/03/2023]
Abstract
Stimuli-responsive hydrogels that exhibit reversible volume changes in response to stimulus cues such as heat, pH, and light have been utilized in soft robotics, microfluidics, electronics, and biomedical surgical tools. While the development of the soft robotics has widely expanded, most external triggering systems still have limited utilities due to the low selectivity. We present a hybrid gripper capable of undergoing preprogrammed shape transformation utilizing ultrasound energy on-off processes as the external triggering system, which can be utilized in invisible and nonselective environments. Furthermore, we describe the magnetic locomotion of the soft gripper enabled by the introduction of iron oxide (Fe2O3) ferrogel. By integrating these dual ultrasonic and magnetic control systems, we demonstrate the soft gripper could actively and safely perform pick-and-place tasks on a biological salmon roe in the aqueous maze environment. We expect that this study can provide the groundwork for the further important advances to the creation of ultrasound-responsive shape programmable and multifunctional smart soft robots.
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Affiliation(s)
- Hyegyo Son
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul, 04310, South Korea
| | - Eunjeong Byun
- Department of Electronics Engineering, Sookmyung Women’s University, Seoul, 04310, South Korea
| | - Yeon Ju Yoon
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul, 04310, South Korea
| | - JuHong Nam
- Department of Electronics Engineering, Sookmyung Women’s University, Seoul, 04310, South Korea
| | - Seung Hyun Song
- Institute of Advanced Materials and Systems, Sookmyung Women’s University, Seoul, 04310, South Korea
- Department of Electronics Engineering, Sookmyung Women’s University, Seoul, 04310, South Korea
| | - ChangKyu Yoon
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul, 04310, South Korea
- Institute of Advanced Materials and Systems, Sookmyung Women’s University, Seoul, 04310, South Korea
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23
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Joyee EB, Szmelter A, Eddington D, Pan Y. 3D Printed Biomimetic Soft Robot with Multimodal Locomotion and Multifunctionality. Soft Robot 2020; 9:1-13. [PMID: 33275498 DOI: 10.1089/soro.2020.0004] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Soft robots can outperform traditional rigid robots in terms of structural compliance, enhanced safety, and efficient locomotion. However, it is still a grand challenge to design and efficiently manufacture soft robots with multimodal locomotion capability together with multifunctionality for navigating in dynamic environments and meanwhile performing diverse tasks in real-life applications. This study presents a 3D-printed soft robot, which has spatially varied material compositions (0-50% particle-polymer weight ratio), multiscale hierarchical surface structures (10 nm, 1 μm, and 70 μm features on 5 mm wide robot footpads), and consists of functional components for multifunctionality. A novel additive manufacturing process, magnetic-field-assisted projection stereolithography (M-SL), is innovated to fabricate the proposed robot with prescribed material heterogeneity and structural hierarchy, and hence locally engineered flexibility and preprogrammed functionality. The robot incorporates untethered magnetic actuation with superior multimodal locomotion capabilities for completing tasks in harsh environments, including effective load carrying (up to ∼30 times of its own weight) and obstacle removing (up to 6.5 times of its own weight) in congested spaces (e.g., 5 mm diameter glass tube, gastric folds of a pig stomach) by gripping or pushing objects (e.g., 0.3-8 times of its own weight with a velocity up to 31 mm/s). Furthermore, the robot footpads are covered by multiscale hierarchical spike structures with features spanning from nanometers (e.g., 10 nm) to millimeters. Such high structural hierarchy enables multiple superior functions, including changing a naturally hydrophilic surface to hydrophobic, hairy adhesion, and excellent cell attaching and growth properties. It is found that the hairy adhesion and the engineered hydrophobicity of the robot footpad enable robust navigation in wet and slippery environments. The multimaterial multiscale robot design and the direct digital manufacturing method enable complex and versatile robot behaviors in sophisticated environments, facilitating a wide spectrum of real-life applications.
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Affiliation(s)
- Erina Baynojir Joyee
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago (UIC), Chicago, Illinois, USA
| | - Adam Szmelter
- Department of Bioengineering, University of Illinois at Chicago (UIC), Chicago, Illinois, USA
| | - David Eddington
- Department of Bioengineering, University of Illinois at Chicago (UIC), Chicago, Illinois, USA
| | - Yayue Pan
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago (UIC), Chicago, Illinois, USA
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Abstract
Hybrid stimuli-responsive soft robots have been extensively developed by incorporating multi-functional materials, such as carbon-based nanoparticles, nanowires, low-dimensional materials, and liquid crystals. In addition to the general functions of conventional soft robots, hybrid stimuli-responsive soft robots have displayed significantly advanced multi-mechanical, electrical, or/and optical properties accompanied with smart shape transformation in response to external stimuli, such as heat, light, and even biomaterials. This review surveys the current enhanced scientific methods to synthesize the integration of multi-functional materials within stimuli-responsive soft robots. Furthermore, this review focuses on the applications of hybrid stimuli-responsive soft robots in the forms of actuators and sensors that display multi-responsive and highly sensitive properties. Finally, it highlights the current challenges of stimuli-responsive soft robots and suggests perspectives on future directions for achieving intelligent hybrid stimuli-responsive soft robots applicable in real environments.
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25
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Ma Y, Hua M, Wu S, Du Y, Pei X, Zhu X, Zhou F, He X. Bioinspired high-power-density strong contractile hydrogel by programmable elastic recoil. SCIENCE ADVANCES 2020; 6:6/47/eabd2520. [PMID: 33208374 PMCID: PMC7673813 DOI: 10.1126/sciadv.abd2520] [Citation(s) in RCA: 60] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/11/2020] [Accepted: 10/02/2020] [Indexed: 05/22/2023]
Abstract
Stimuli-responsive hydrogels have large deformability but-when applied as actuators, smart switch, and artificial muscles-suffer from low work density due to low deliverable forces (~2 kPa) and speed through the osmotic pressure-driven actuation. Inspired by the energy conversion mechanism of many creatures during jumping, we designed an elastic-driven strong contractile hydrogel through storing and releasing elastic potential energy in polymer network. It can generate high contractile force (40 kPa) rapidly at ultrahigh work density (15.3 kJ/m3), outperforming current hydrogels (~0.01 kJ/m3) and even biological muscles (~8 kJ/m3). This demonstrated elastic energy storing and releasing method endows hydrogels with elasticity-plasticity switchability, multi-stable deformability in fully reversible and programmable manners, and anisotropic or isotropic deformation. With the high power density and programmability via this customizable modular design, these hydrogels demonstrated potential for broad applications in artificial muscles, contractile wound dressing, and high-power actuators.
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Affiliation(s)
- Yanfei Ma
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, China
- Department of Material Science and Engineering, University of California Los Angeles, Los Angeles, CA 90095, USA
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Mutian Hua
- Department of Material Science and Engineering, University of California Los Angeles, Los Angeles, CA 90095, USA
| | - Shuwang Wu
- Department of Material Science and Engineering, University of California Los Angeles, Los Angeles, CA 90095, USA
- School of Chemistry and Chemical Engineering, State Key Laboratory of Metal Matrix Composites, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China
| | - Yingjie Du
- Department of Material Science and Engineering, University of California Los Angeles, Los Angeles, CA 90095, USA
| | - Xiaowei Pei
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, China
| | - Xinyuan Zhu
- School of Chemistry and Chemical Engineering, State Key Laboratory of Metal Matrix Composites, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China
| | - Feng Zhou
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, China.
| | - Ximin He
- Department of Material Science and Engineering, University of California Los Angeles, Los Angeles, CA 90095, USA.
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26
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Kreuzer LP, Widmann T, Aldosari N, Bießmann L, Mangiapia G, Hildebrand V, Laschewsky A, Papadakis CM, Müller-Buschbaum P. Cyclic Water Storage Behavior of Doubly Thermoresponsive Poly(sulfobetaine)-Based Diblock Copolymer Thin Films. Macromolecules 2020. [DOI: 10.1021/acs.macromol.0c01335] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
Affiliation(s)
- Lucas P. Kreuzer
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Tobias Widmann
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Nawarah Aldosari
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Lorenz Bießmann
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Gaetano Mangiapia
- Helmholtz-Zentrum Geesthacht at Heinz Maier-Leibnitz Zentrum, Lichtenbergstr. 1, 85747 Garching, Germany
| | - Viet Hildebrand
- Institut für Chemie, Universität Potsdam, Karl-Liebknecht-Str. 24-25, 14476 Potsdam-Golm, Germany
| | - André Laschewsky
- Institut für Chemie, Universität Potsdam, Karl-Liebknecht-Str. 24-25, 14476 Potsdam-Golm, Germany
- Fraunhofer Institut für Angewandte Polymerforschung, Geiselbergstr. 69, 14476 Potsdam-Golm, Germany
| | - Christine M. Papadakis
- Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Peter Müller-Buschbaum
- Lehrstuhl für Funktionelle Materialien, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
- Heinz Maier-Leibnitz Zentrum (MLZ), Technische Universität München, Lichtenbergstr. 1, 85748 Garching, Germany
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27
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Ghosh A, Li L, Xu L, Dash RP, Gupta N, Lam J, Jin Q, Akshintala V, Pahapale G, Liu W, Sarkar A, Rais R, Gracias DH, Selaru FM. Gastrointestinal-resident, shape-changing microdevices extend drug release in vivo. SCIENCE ADVANCES 2020; 6:6/44/eabb4133. [PMID: 33115736 PMCID: PMC7608789 DOI: 10.1126/sciadv.abb4133] [Citation(s) in RCA: 53] [Impact Index Per Article: 13.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/22/2020] [Accepted: 09/11/2020] [Indexed: 05/05/2023]
Abstract
Extended-release gastrointestinal (GI) luminal delivery substantially increases the ease of administration of drugs and consequently the adherence to therapeutic regimens. However, because of clearance by intrinsic GI motility, device gastroretention and extended drug release over a prolonged duration are very challenging. Here, we report that GI parasite-inspired active mechanochemical therapeutic grippers, or theragrippers, can reside within the GI tract of live animals for 24 hours by autonomously latching onto the mucosal tissue. We also observe a notable sixfold increase in the elimination half-life using theragripper-mediated delivery of a model analgesic ketorolac tromethamine. These results provide first-in-class evidence that shape-changing and self-latching microdevices enhance the efficacy of extended drug delivery.
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Affiliation(s)
- Arijit Ghosh
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Ling Li
- Division of Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University, Baltimore, MD 21205, USA
| | - Liyi Xu
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Ranjeet P Dash
- Johns Hopkins Drug Discovery, Baltimore, MD 21205, USA
- Department of Neurology, Johns Hopkins University, Baltimore, MD 21205, USA
| | - Neha Gupta
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Jenny Lam
- Johns Hopkins Drug Discovery, Baltimore, MD 21205, USA
- Department of Neurology, Johns Hopkins University, Baltimore, MD 21205, USA
| | - Qianru Jin
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Venkata Akshintala
- Division of Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University, Baltimore, MD 21205, USA
| | - Gayatri Pahapale
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Wangqu Liu
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Anjishnu Sarkar
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Rana Rais
- Johns Hopkins Drug Discovery, Baltimore, MD 21205, USA
- Department of Neurology, Johns Hopkins University, Baltimore, MD 21205, USA
| | - David H Gracias
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.
- Department of Materials Science and Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
- Department of Chemistry, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Florin M Selaru
- Division of Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University, Baltimore, MD 21205, USA.
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28
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Agrawal M, Glotzer SC. Scale-free, programmable design of morphable chain loops of kilobots and colloidal motors. Proc Natl Acad Sci U S A 2020; 117:8700-8710. [PMID: 32265280 PMCID: PMC7183195 DOI: 10.1073/pnas.1922635117] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022] Open
Abstract
Micron-scale robots require systems that can morph into arbitrary target configurations controlled by external agents such as heat, light, electricity, and chemical environment. Achieving this behavior using conventional approaches is challenging because the available materials at these scales are not programmable like their macroscopic counterparts. To overcome this challenge, we propose a design strategy to make a robotic machine that is both programmable and compatible with colloidal-scale physics. Our strategy uses motors in the form of active colloidal particles that constantly propel forward. We sequence these motors end-to-end in a closed chain forming a two-dimensional loop that folds under its mechanical constraints. We encode the target loop shape and its motion by regulating six design parameters, each scale-invariant and achievable at the colloidal scale. We demonstrate the plausibility of our design strategy using centimeter-scale robots called kilobots We use Brownian dynamics simulation to explore the large design space beyond that possible with kilobots, and present an analytical theory to aid the design process. Multiple loops can also be fused together to achieve several complex shapes and robotic behaviors, demonstrated by folding a letter shape "M," a dynamic gripper, and a dynamic pacman The material-agnostic, scale-free, and programmable nature of our design enables building a variety of reconfigurable and autonomous robots at both colloidal scales and macroscales.
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Affiliation(s)
- Mayank Agrawal
- Department of Chemical Engineering, University of Michigan, Ann Arbor, MI 48109-2136
| | - Sharon C Glotzer
- Department of Chemical Engineering, University of Michigan, Ann Arbor, MI 48109-2136;
- Department of Materials Science and Engineering, University of Michigan, Ann Arbor, MI 48109-2136
- Biointerfaces Institute, University of Michigan, Ann Arbor, MI 48109-2136
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29
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Microinjection Molding of Out-of-Plane Bistable Mechanisms. MICROMACHINES 2020; 11:mi11020155. [PMID: 32019264 PMCID: PMC7074624 DOI: 10.3390/mi11020155] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/19/2019] [Revised: 01/23/2020] [Accepted: 01/28/2020] [Indexed: 11/22/2022]
Abstract
We present a novel fabrication technique of a miniaturized out-of-plane compliant bistable mechanism (OBM) by microinjection molding (MM) and assembling. OBMs are mostly in-plane monolithic devices containing delicate elastic elements fabricated in metal, plastic, or by a microelectromechanical system (MEMS) process. The proposed technique is based on stacking two out-of-plane V-beam structures obtained by mold fabrication and MM of thermoplastic polyacetal resin (POM) and joining their centers and outer frames to construct a double V-beam structure. A copper alloy mold insert was machined with the sectional dimensions of the V-beam cavities. Next, the insert was re-machined to reduce dimensional errors caused by part shrinkage. The V-beam structure was injection-molded at a high temperature. Gradually elongated short-shots were obtained by increasing pressure, showing the symmetrical melt filling through the V-beam cavities. The as-molded structure was buckled elastically by an external-force load but showed a monostable behavior because of a higher unconstrained buckling mode. The double V-beam device assembled with two single-molded structures shows clear bistability. The experimental force-displacement curve of the molded structure is presented for examination. This work can potentially contribute to the fabrication of architected materials with periodic assembly of the plastic bistable mechanism for diverse functionalities, such as energy absorption and shape morphing.
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30
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Sonntag L, Simmchen J, Magdanz V. Nano-and Micromotors Designed for Cancer Therapy. Molecules 2019; 24:E3410. [PMID: 31546857 PMCID: PMC6767050 DOI: 10.3390/molecules24183410] [Citation(s) in RCA: 38] [Impact Index Per Article: 7.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2019] [Revised: 08/30/2019] [Accepted: 09/05/2019] [Indexed: 12/18/2022] Open
Abstract
Research on nano- and micromotors has evolved into a frequently cited research area with innovative technology envisioned for one of current humanities' most deadly problems: cancer. The development of cancer targeting drug delivery strategies involving nano-and micromotors has been a vibrant field of study over the past few years. This review aims at categorizing recent significant results, classifying them according to the employed propulsion mechanisms starting from chemically driven micromotors, to field driven and biohybrid approaches. In concluding remarks of section 2, we give an insight into shape changing micromotors that are envisioned to have a significant contribution. Finally, we critically discuss which important aspects still have to be addressed and which challenges still lie ahead of us.
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Affiliation(s)
- Luisa Sonntag
- Chair of Physical Chemistry, TU Dresden, 01062 Dresden, Germany.
| | - Juliane Simmchen
- Chair of Physical Chemistry, TU Dresden, 01062 Dresden, Germany.
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31
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Ongaro F, Niehoff D, Mohanty S, Misra S. A Contactless and Biocompatible Approach for 3D Active Microrobotic Targeted Drug Delivery. MICROMACHINES 2019; 10:E504. [PMID: 31370254 PMCID: PMC6722705 DOI: 10.3390/mi10080504] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/01/2019] [Revised: 07/26/2019] [Accepted: 07/27/2019] [Indexed: 11/16/2022]
Abstract
As robotic tools are becoming a fundamental part of present day surgical interventions, microrobotic surgery is steadily approaching clinically-relevant scenarios. In particular, minimally invasive microrobotic targeted drug deliveries are reaching the grasp of the current state-of-the-art technology. However, clinically-relevant issues, such as lack of biocompatibility and dexterity, complicate the clinical application of the results obtained in controlled environments. Consequently, in this work we present a proof-of-concept fully contactless and biocompatible approach for active targeted delivery of a drug-model. In order to achieve full biocompatiblity and contacless actuation, magnetic fields are used for motion control, ultrasound is used for imaging, and induction heating is used for active drug-model release. The presented system is validated in a three-dimensional phantom of human vessels, performing ten trials that mimic targeted drug delivery using a drug-coated microrobot. The system is capable of closed-loop motion control with average velocity and positioning error of 0.3 mm/s and 0.4 mm, respectively. Overall, our findings suggest that the presented approach could augment the current capabilities of microrobotic tools, helping the development of clinically-relevant approaches for active in-vivo targeted drug delivery.
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Affiliation(s)
- Federico Ongaro
- Surgical Robotics Laboratory, Departmen of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
| | - Dennis Niehoff
- Surgical Robotics Laboratory, Departmen of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
| | - Sumit Mohanty
- Surgical Robotics Laboratory, Departmen of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
| | - Sarthak Misra
- Surgical Robotics Laboratory, Departmen of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands.
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University Medical Centre Groningen, University of Groningen, 9713 AV Groningen, The Netherlands.
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32
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Kreuzer LP, Widmann T, Hohn N, Wang K, Bießmann L, Peis L, Moulin JF, Hildebrand V, Laschewsky A, Papadakis CM, Müller-Buschbaum P. Swelling and Exchange Behavior of Poly(sulfobetaine)-Based Block Copolymer Thin Films. Macromolecules 2019. [DOI: 10.1021/acs.macromol.9b00443] [Citation(s) in RCA: 23] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/11/2022]
Affiliation(s)
- Lucas P. Kreuzer
- Lehrstuhl für Funktionelle Materialien/Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Tobias Widmann
- Lehrstuhl für Funktionelle Materialien/Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Nuri Hohn
- Lehrstuhl für Funktionelle Materialien/Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Kun Wang
- Lehrstuhl für Funktionelle Materialien/Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Lorenz Bießmann
- Lehrstuhl für Funktionelle Materialien/Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Leander Peis
- Lehrstuhl für Funktionelle Materialien/Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Jean-Francois Moulin
- Helmholtz-Zentrum Geesthacht at Heinz Maier-Leibnitz Zentrum, Lichtenbergstr. 1, 85747 Garching, Germany
| | - Viet Hildebrand
- Institut für Chemie, Universität Potsdam, Karl-Liebknecht-Str. 24−25, 14476 Potsdam-Golm, Germany
| | - André Laschewsky
- Institut für Chemie, Universität Potsdam, Karl-Liebknecht-Str. 24−25, 14476 Potsdam-Golm, Germany
- Fraunhofer Institut für Angewandte Polymerforschung, Geiselbergstr. 69, 14476 Potsdam-Golm, Germany
| | - Christine M. Papadakis
- Lehrstuhl für Funktionelle Materialien/Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
| | - Peter Müller-Buschbaum
- Lehrstuhl für Funktionelle Materialien/Fachgebiet Physik weicher Materie, Physik Department, Technische Universität München, James-Franck-Str. 1, 85748 Garching, Germany
- Heinz Maier-Leibnitz Zentrum (MLZ), Technische Universität München, Lichtenbergstr. 1, 85748 Garching, Germany
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33
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Xu T, Zhang J, Salehizadeh M, Onaizah O, Diller E. Millimeter-scale flexible robots with programmable three-dimensional magnetization and motions. Sci Robot 2019; 4:4/29/eaav4494. [DOI: 10.1126/scirobotics.aav4494] [Citation(s) in RCA: 267] [Impact Index Per Article: 53.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/23/2018] [Accepted: 03/18/2019] [Indexed: 12/19/2022]
Abstract
Flexible magnetic small-scale robots use patterned magnetization to achieve fast transformation into complex three-dimensional (3D) shapes and thereby achieve locomotion capabilities and functions. These capabilities address current challenges for microrobots in drug delivery, object manipulation, and minimally invasive procedures. However, possible microrobot designs are limited by the existing methods for patterning magnetic particles in flexible materials. Here, we report a method for patterning hard magnetic microparticles in an elastomer matrix. This method, based on ultraviolet (UV) lithography, uses controlled reorientation of magnetic particles and selective exposure to UV light to encode magnetic particles in planar materials with arbitrary 3D orientation with a geometrical feature size as small as 100 micrometers. Multiple planar microrobots with various sizes, different geometries, and arbitrary magnetization profiles can be fabricated from a single precursor in one process. Moreover, a 3D magnetization profile allows higher-order and multi-axis bending, large-angle bending, and combined bending and torsion in one sheet of polymer, creating previously unachievable shape changes and microrobotic locomotion mechanisms such as multi-arm power grasping and multi-legged paddle crawling. A physics-based model is also presented as a design tool to predict the shape changes under magnetic actuation.
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34
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Ongaro F, Pane S, Scheggi S, Misra S. Design of an Electromagnetic Setup for Independent Three-Dimensional Control of Pairs of Identical and Nonidentical Microrobots. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2018.2875393] [Citation(s) in RCA: 45] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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35
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Kobayashi K, Yoon C, Oh SH, Pagaduan JV, Gracias DH. Biodegradable Thermomagnetically Responsive Soft Untethered Grippers. ACS APPLIED MATERIALS & INTERFACES 2019; 11:151-159. [PMID: 30525417 DOI: 10.1021/acsami.8b15646] [Citation(s) in RCA: 38] [Impact Index Per Article: 7.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
Soft-robotic devices such as polymeric microgrippers offer the possibility for pick and place of fragile biological cargo in hard-to-reach conduits with potential applications in drug delivery, minimally invasive surgery, and biomedical engineering. Previously, millimeter-sized self-folding thermomagnetically responsive soft grippers have been designed, fabricated, and utilized for pick-and-place applications but there is a concern that such devices could get lost or left behind after their utilization in practical clinical applications in the human body. Consequently, strategies need to be developed to ensure that these soft-robotic devices are biodegradable so that they would disintegrate if left behind in the body. In this paper, we describe the photopatterning of bilayer gels composed of a thermally responsive high-swelling poly(oligoethylene glycol methyl ether methacrylate ( Mn = 500)-bis(2-methacryloyl)oxyethyl disulfide), P(OEGMA-DSDMA), and a low-swelling poly(acrylamide- N, N'-bis(acyloyl)cystamine) hydrogel, in the shape of untethered grippers. These grippers can change shape in response to thermal cues and open and close due to the temperature-induced swelling of the P(OEGMA-DSDMA) layer. We demonstrate that the grippers can be doped with magnetic nanoparticles so that they can be moved using magnetic fields or loaded with chemicals for potential applications as drug-eluting theragrippers. Importantly, they are also biodegradable at physiological body temperature (∼37 °C) on the basis of cleavage of disulfide bonds by reduction. This approach that combines thermoresponsive shape change, magnetic guidance, and biodegradability represents a significant advance to the safe implementation of untethered shape-changing biomedical devices and soft robots for medical and surgical applications.
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Affiliation(s)
- Kunihiko Kobayashi
- JSR Corporation , 1-9-2, Higashi-Shimbashi , Minato-ku, Tokyo 105-8640 , Japan
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Baba JS, McKnight TE, Ericson MN, Johnson A, Moise KJ, Evans BM. Characterization of a reversible thermally-actuated polymer-valve: A potential dynamic treatment for congenital diaphragmatic hernia. PLoS One 2018; 13:e0209855. [PMID: 30589888 PMCID: PMC6307748 DOI: 10.1371/journal.pone.0209855] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/17/2018] [Accepted: 12/12/2018] [Indexed: 11/19/2022] Open
Abstract
BACKGROUND Congenital diaphragmatic hernia (CDH) is a fetal defect comprising an incomplete diaphragm and the herniation of abdominal organs into the chest cavity that interfere with fetal pulmonary development. Though the most promising treatment for CDH is via interventional fetoscopic tracheal occlusion (TO) surgery in-utero, it has produced mixed results due to the static nature of the inserted occlusion. We hypothesize that a suitable noninvasively-actuatable, cyclic-release tracheal occlusion device can be developed to enable dynamic tracheal occlusion (dTO) implementation. OBJECTIVE To conduct an in-vitro proof-of-concept investigation of the construction of thermo-responsive polymer valves designed for targeted activation within a physiologically realizable temperature range as a first step towards potential development of a noninvasively-actuatable implantable device to facilitate dynamic tracheal occlusion (dTO) therapy. METHODS Six thermo-responsive polymer valves, with a critical solution temperature slightly higher than normal physiological body temperature of 37°C, were fabricated using a copolymer of n-isopropylacrylamide (NIPAM) and dimethylacrylamide (DMAA). Three of the valves underwent ethylene oxide (EtO) sterilization while the other three served as controls for EtO-processing compatibility testing. Thermal response actuation of the valves and their steady-state flow performances were evaluated using water and caprine amniotic fluid. RESULTS All six valves consisting of 0.3-mole fraction of DMAA were tested for thermal actuation of caprine amniotic fluid flow at temperatures ranging from 30-44°C. They all exhibited initiation of valve actuation opening at ~40°C with full completion at ~44°C. The overall average coefficient of variation (CV) for the day-to-day flow performance of the valves tested was less than 12%. Based on a Student t-test, there was no significant difference in the operational characteristics for the EtO processed versus the non-EtO processed valves tested. CONCLUSIONS We successfully fabricated and demonstrated physiological realizable temperature range operation of thermo-responsive polymer valves in-vitro and their suitability for standard EtO sterilization processing, a prerequisite for future in-vivo surgical implantation testing.
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Affiliation(s)
- Justin S. Baba
- Electrical and Electronics Systems Research Division, Oak Ridge National Laboratory, Oak Ridge, Tennessee, United States of America
- Biophotonics Center, Department of Biomedical Engineering, Vanderbilt University, Nashville, Tennessee, United States of America
| | - Timothy E. McKnight
- Electrical and Electronics Systems Research Division, Oak Ridge National Laboratory, Oak Ridge, Tennessee, United States of America
| | - M. Nance Ericson
- Electrical and Electronics Systems Research Division, Oak Ridge National Laboratory, Oak Ridge, Tennessee, United States of America
| | - Anthony Johnson
- Department of Obstetrics, Gynecology, Baylor College of Medicine, Houston, Texas, United States of America
| | - Kenneth J. Moise
- Department of Obstetrics, Gynecology, Baylor College of Medicine, Houston, Texas, United States of America
| | - Boyd M. Evans
- Electrical and Electronics Systems Research Division, Oak Ridge National Laboratory, Oak Ridge, Tennessee, United States of America
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Bettinger CJ. Materialien und Strukturen für schluckbare elektromechanische medizinische Funktionseinheiten. Angew Chem Int Ed Engl 2018. [DOI: 10.1002/ange.201806470] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Affiliation(s)
- Christopher J. Bettinger
- Department of Materials Science and Engineering Department of Biomedical Engineering Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213-3890 USA
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Bettinger CJ. Advances in Materials and Structures for Ingestible Electromechanical Medical Devices. Angew Chem Int Ed Engl 2018; 57:16946-16958. [PMID: 29999578 DOI: 10.1002/anie.201806470] [Citation(s) in RCA: 34] [Impact Index Per Article: 5.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/05/2018] [Indexed: 12/13/2022]
Abstract
Ingestible biomedical devices that diagnose, prevent, or treat diseases has been a dream of engineers and clinicians for decades. The increasing apparent importance of gut health on overall well-being and the prevalence of many gastrointestinal diseases have renewed focus on this emerging class of medical devices. Several prominent examples of commercially successful ingestible medical devices exist. However, many technical challenges remain before ingestible medical devices can achieve their full clinical potential. This Minireview summarizes recent discoveries in this interdisciplinary topic including novel materials, advanced materials processing techniques, and select examples of integrated ingestible electromechanical systems. After a brief historical perspective, these topics will be reviewed with a dedicated focus on advanced functional materials and fabrication strategies in the context of clinical translation and potential regulatory considerations. Future perspectives, challenges, and opportunities related to ingestible medical devices will also be summarized.
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Affiliation(s)
- Christopher J Bettinger
- Department of Materials Science and Engineering, Department of Biomedical Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA, 15213-3890, USA
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Wang H, Zhan J, Xiao K, Luo F, Li J, Tan H. Thermoresponsive Three-Stage Optical Modulation of a Self-Healing Composite Hydrogel. MACROMOL CHEM PHYS 2018. [DOI: 10.1002/macp.201800329] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Affiliation(s)
- Haihuan Wang
- College of Polymer Science and Engineering; State Key Laboratory of Polymer Materials Engineering; Sichuan University; Chengdu 610065 China
| | - Jianghao Zhan
- College of Polymer Science and Engineering; State Key Laboratory of Polymer Materials Engineering; Sichuan University; Chengdu 610065 China
| | - Kechen Xiao
- College of Polymer Science and Engineering; State Key Laboratory of Polymer Materials Engineering; Sichuan University; Chengdu 610065 China
| | - Feng Luo
- College of Polymer Science and Engineering; State Key Laboratory of Polymer Materials Engineering; Sichuan University; Chengdu 610065 China
| | - Jiehua Li
- College of Polymer Science and Engineering; State Key Laboratory of Polymer Materials Engineering; Sichuan University; Chengdu 610065 China
| | - Hong Tan
- College of Polymer Science and Engineering; State Key Laboratory of Polymer Materials Engineering; Sichuan University; Chengdu 610065 China
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Bolaños Quiñones VA, Zhu H, Solovev AA, Mei Y, Gracias DH. Origami Biosystems: 3D Assembly Methods for Biomedical Applications. ACTA ACUST UNITED AC 2018. [DOI: 10.1002/adbi.201800230] [Citation(s) in RCA: 47] [Impact Index Per Article: 7.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/28/2022]
Affiliation(s)
- Vladimir A. Bolaños Quiñones
- Department of Materials Science State Key Laboratory of ASIC and Systems Fudan University Shanghai 200433 P. R. China
| | - Hong Zhu
- Department of Materials Science State Key Laboratory of ASIC and Systems Fudan University Shanghai 200433 P. R. China
| | - Alexander A. Solovev
- Department of Materials Science State Key Laboratory of ASIC and Systems Fudan University Shanghai 200433 P. R. China
| | - Yongfeng Mei
- Department of Materials Science State Key Laboratory of ASIC and Systems Fudan University Shanghai 200433 P. R. China
| | - David H. Gracias
- Department of Chemical and Biomolecular Engineering Johns Hopkins University 3400 N Charles Street, 221 Maryland Hall Baltimore MD 21218 USA
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Polymer Microgripper with Autofocusing and Visual Tracking Operations to Grip Particle Moving in Liquid. ACTUATORS 2018. [DOI: 10.3390/act7020027] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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Shintake J, Cacucciolo V, Floreano D, Shea H. Soft Robotic Grippers. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2018; 30:e1707035. [PMID: 29736928 DOI: 10.1002/adma.201707035] [Citation(s) in RCA: 407] [Impact Index Per Article: 67.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/01/2017] [Revised: 01/23/2018] [Indexed: 05/18/2023]
Abstract
Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.
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Affiliation(s)
- Jun Shintake
- Laboratory of Intelligent Systems, Institute of Microengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015, Lausanne, Switzerland
| | - Vito Cacucciolo
- Soft Transducers Laboratory, Institute of Microengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Rue de la Maladière 71b, 2000, Neuchâtel, Switzerland
| | - Dario Floreano
- Laboratory of Intelligent Systems, Institute of Microengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015, Lausanne, Switzerland
| | - Herbert Shea
- Soft Transducers Laboratory, Institute of Microengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Rue de la Maladière 71b, 2000, Neuchâtel, Switzerland
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Power M, Thompson AJ, Anastasova S, Yang GZ. A Monolithic Force-Sensitive 3D Microgripper Fabricated on the Tip of an Optical Fiber Using 2-Photon Polymerization. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2018; 14:e1703964. [PMID: 29479810 DOI: 10.1002/smll.201703964] [Citation(s) in RCA: 40] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/13/2017] [Revised: 01/15/2018] [Indexed: 06/08/2023]
Abstract
Microscale robotic devices have myriad potential applications including drug delivery, biosensing, cell manipulation, and microsurgery. In this work, a tethered, 3D, compliant grasper with an integrated force sensor is presented, the entirety of which is fabricated on the tip of an optical fiber in a single-step process using 2-photon polymerization. This gripper can prove useful for the interrogation of biological microstructures such as alveoli, villi, or even individual cells. The position of the passively actuated grasper is controlled via micromanipulation of the optical fiber, and the microrobotic device measures approximately 100 µm in length and breadth. The force estimation is achieved using optical interferometry: high-dimensional spectral readings are used to train artificial neural networks to predict the axial force exerted on/by the gripper. The design, characterization, and testing of the grasper are described and its real-time force-sensing capability with an accuracy below 2.7% of the maximum calibrated force is demonstrated.
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Affiliation(s)
- Maura Power
- Hamlyn Centre for Robotic Surgery, Bessemer Building, Imperial College London, South Kensington, London, SW7 2AZ, UK
| | - Alex J Thompson
- Hamlyn Centre for Robotic Surgery, Bessemer Building, Imperial College London, South Kensington, London, SW7 2AZ, UK
- Surgical Innovation Centre, Paterson Building, Department of Medicine, St. Mary's Hospital, Imperial College London, South Wharf Road, London, W2 1NY, UK
| | - Salzitsa Anastasova
- Hamlyn Centre for Robotic Surgery, Bessemer Building, Imperial College London, South Kensington, London, SW7 2AZ, UK
| | - Guang-Zhong Yang
- Hamlyn Centre for Robotic Surgery, Bessemer Building, Imperial College London, South Kensington, London, SW7 2AZ, UK
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Wang W, Li C, Cho M, Ahn SH. Soft Tendril-Inspired Grippers: Shape Morphing of Programmable Polymer-Paper Bilayer Composites. ACS APPLIED MATERIALS & INTERFACES 2018; 10:10419-10427. [PMID: 29504740 DOI: 10.1021/acsami.7b18079] [Citation(s) in RCA: 49] [Impact Index Per Article: 8.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
Nastic movements in plants that occur in response to environmental stimuli have inspired many man-made shape-morphing systems. Tendril is an exemplification serving as a parasitic grasping component for the climbing plants by transforming from a straight shape into a coiled configuration via the asymmetric contraction of internal stratiform plant tissues. Inspired by tendrils, this study using a three-dimensional (3D) printing approach developed a class of soft grippers with preprogrammed deformations being capable of imitating the general motions of plant tendrils, including bending, spiral, and helical distortions for grasping. These grippers initially in flat configurations were tailored from a polymer-paper bilayer composite sheet fabricated via 3D printing a polymer on the paper substrate with different patterns. The rough and porous paper surface provides a printed polymer that is well-adhered to the paper substrate which in turn serves as a passive strain-limiting layer. During printing, the melted polymer filament is stretched, enabling the internal strain to be stored in the printed polymer as memory, and then it can be thermally released, which will be concurrently resisted by the paper layer, resulting in various transformations based on the different printed geometries. These obtained transformations were then used for designing grippers to grasp objects with corresponding motions. Furthermore, a fully equipped robotic tendril with three segments was reproduced, where one segment was used for grasping the object and the other two segments were used for forming a tendril-like twistless spring-like structure. This study further helps in the development of soft robots using active polymer materials for engineered systems.
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Ongaro F, Scheggi S, Ghosh A, Denasi A, Gracias DH, Misra S. Design, characterization and control of thermally-responsive and magnetically-actuated micro-grippers at the air-water interface. PLoS One 2017; 12:e0187441. [PMID: 29236716 PMCID: PMC5728485 DOI: 10.1371/journal.pone.0187441] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/15/2017] [Accepted: 10/19/2017] [Indexed: 11/19/2022] Open
Abstract
The design and control of untethered microrobotic agents has drawn a lot of attention in recent years. This technology truly possesses the potential to revolutionize the field of minimally invasive surgery and microassembly. However, miniaturization and reliable actuation of micro-fabricated grippers are still challenging at sub-millimeter scale. In this study, we design, manufacture, characterize, and control four similarly-structured semi-rigid thermoresponsive micro-grippers. Furthermore, we develop a closed loop-control algorithm to demonstrate and compare the performance of the said grippers when moving in hard-to-reach and unpredictable environments. Finally, we analyze the grasping characteristics of three of the presented designs. Overall, not only does the study demonstrate motion control in unstructured dynamic environments-at velocities up to 3.4, 2.9, 3.3, and 1 body-lengths/s with 980, 750, 250, and 100 μm-sized grippers, respectively-but it also aims to provide quantitative data and considerations to help a targeted design of magnetically-controlled thin micro-grippers.
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Affiliation(s)
- Federico Ongaro
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
| | - Stefano Scheggi
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
| | - Arijit Ghosh
- Department of Chemical and Biomolecular Engineering, The Johns Hopkins University, Baltimore, MD, 21218, United States of America
| | - Alper Denasi
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
| | - David H. Gracias
- Department of Materials Science and Engineering, The Johns Hopkins University, Baltimore, MD, 21218, United States of America
- Department of Chemical and Biomolecular Engineering, The Johns Hopkins University, Baltimore, MD, 21218, United States of America
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands
- Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, 9713 GZ Groningen, The Netherlands
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