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Zhong Y, Zhang J, Fang L, Cheang UK. MOF-Modified Microrollers for Bioimaging and Sustained Antibiotic Delivery. ACS APPLIED MATERIALS & INTERFACES 2024; 16:47163-47177. [PMID: 39196769 DOI: 10.1021/acsami.4c08535] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/30/2024]
Abstract
Central nervous system (CNS) infections caused by neurosurgery or intrathecal injection of contaminated cerebrospinal fluid are a common and difficult complication. Drug-delivery microrobots are among the latest solutions proposed for antibacterial applications. However, there is a lack of research into developing microrobots with the ability to sustain antibody delivery while can move efficiently in the CNS. Here, biocompatible antibacterial metal-organic framework (MOF)-modified microrollers (MMRs) to combat CNS infections are proposed. The MMRs are iron-based metal-organic framework (NH2-MIL-101(Fe)) modified for enhanced adsorption and Fe/Al coated for magnetic actuation and biocompatibility. The MMRs have demonstrated a faster and unhindered magnetically actuated motion on the uneven biological tissue surface in an organ-on-a-chip that mimicked the CNS compared to it on smooth surface. CFD results consistently align with the experimental findings. The MMRs can be loaded with rhodamine 6G for bioimaging, allowing them to be imaged through sections of the main human tissues by fluorescence microscopy, or tetracycline hydrochloride for antibiotic delivery, allowing them to inhibit the growth of Staphylococcus aureus biofilms by sustained release of antibiotics for 9 days. This study provides a strategy to integrate high-capacity adsorption material with magnetically actuated locomotion for long-term targeted antibacterial applications in biological environments.
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Affiliation(s)
- Yukun Zhong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Junkai Zhang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Lijun Fang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
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2
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Kudryavtseva V, Sukhorukov GB. Features of Anisotropic Drug Delivery Systems. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2307675. [PMID: 38158786 DOI: 10.1002/adma.202307675] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/31/2023] [Revised: 12/17/2023] [Indexed: 01/03/2024]
Abstract
Natural materials are anisotropic. Delivery systems occurring in nature, such as viruses, blood cells, pollen, and many others, do have anisotropy, while delivery systems made artificially are mostly isotropic. There is apparent complexity in engineering anisotropic particles or capsules with micron and submicron sizes. Nevertheless, some promising examples of how to fabricate particles with anisotropic shapes or having anisotropic chemical and/or physical properties are developed. Anisotropy of particles, once they face biological systems, influences their behavior. Internalization by the cells, flow in the bloodstream, biodistribution over organs and tissues, directed release, and toxicity of particles regardless of the same chemistry are all reported to be factors of anisotropy of delivery systems. Here, the current methods are reviewed to introduce anisotropy to particles or capsules, including loading with various therapeutic cargo, variable physical properties primarily by anisotropic magnetic properties, controlling directional motion, and making Janus particles. The advantages of combining different anisotropy in one entity for delivery and common problems and limitations for fabrication are under discussion.
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Affiliation(s)
- Valeriya Kudryavtseva
- School of Engineering and Materials Science, Queen Mary University of London, London, E1 4NS, UK
| | - Gleb B Sukhorukov
- School of Engineering and Materials Science, Queen Mary University of London, London, E1 4NS, UK
- Skolkovo Institute of Science and Technology, Moscow, 121205, Russia
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3
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Xu R, Xu Q. A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation. MICROMACHINES 2024; 15:468. [PMID: 38675279 PMCID: PMC11052276 DOI: 10.3390/mi15040468] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 03/23/2024] [Accepted: 03/28/2024] [Indexed: 04/28/2024]
Abstract
Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.
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Affiliation(s)
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China;
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4
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Kararsiz G, Duygu YC, Wang Z, Rogowski LW, Park SJ, Kim MJ. Navigation and Control of Motion Modes with Soft Microrobots at Low Reynolds Numbers. MICROMACHINES 2023; 14:1209. [PMID: 37374794 DOI: 10.3390/mi14061209] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/16/2023] [Revised: 05/30/2023] [Accepted: 06/05/2023] [Indexed: 06/29/2023]
Abstract
This study investigates the motion characteristics of soft alginate microrobots in complex fluidic environments utilizing wireless magnetic fields for actuation. The aim is to explore the diverse motion modes that arise due to shear forces in viscoelastic fluids by employing snowman-shaped microrobots. Polyacrylamide (PAA), a water-soluble polymer, is used to create a dynamic environment with non-Newtonian fluid properties. Microrobots are fabricated via an extrusion-based microcentrifugal droplet method, successfully demonstrating the feasibility of both wiggling and tumbling motions. Specifically, the wiggling motion primarily results from the interplay between the viscoelastic fluid environment and the microrobots' non-uniform magnetization. Furthermore, it is discovered that the viscoelasticity properties of the fluid influence the motion behavior of the microrobots, leading to non-uniform behavior in complex environments for microrobot swarms. Through velocity analysis, valuable insights into the relationship between applied magnetic fields and motion characteristics are obtained, facilitating a more realistic understanding of surface locomotion for targeted drug delivery purposes while accounting for swarm dynamics and non-uniform behavior.
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Affiliation(s)
- Gokhan Kararsiz
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
| | - Yasin Cagatay Duygu
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
| | - Zhengguang Wang
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
| | - Louis William Rogowski
- Applied Research Associates, Inc. (ARA), 4300 San Mateo Blvd. NE, Suite A-220, Albuquerque, NM 87110, USA
| | - Sung Jea Park
- School of Mechanical Engineering, Korea University of Technology and Education, Cheonan 31253, Chungnam, Republic of Korea
| | - Min Jun Kim
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
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Li J, Yu J. Biodegradable Microrobots and Their Biomedical Applications: A Review. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:nano13101590. [PMID: 37242005 DOI: 10.3390/nano13101590] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/11/2023] [Revised: 05/04/2023] [Accepted: 05/04/2023] [Indexed: 05/28/2023]
Abstract
During recent years, microrobots have drawn extensive attention owing to their good controllability and great potential in biomedicine. Powered by external physical fields or chemical reactions, these untethered microdevices are promising candidates for in vivo complex tasks, such as targeted delivery, imaging and sensing, tissue engineering, hyperthermia, and assisted fertilization, among others. However, in clinical use, the biodegradability of microrobots is significant for avoiding toxic residue in the human body. The selection of biodegradable materials and the corresponding in vivo environment needed for degradation are increasingly receiving attention in this regard. This review aims at analyzing different types of biodegradable microrobots by critically discussing their advantages and limitations. The chemical degradation mechanisms behind biodegradable microrobots and their typical applications are also thoroughly investigated. Furthermore, we examine their feasibility and deal with the in vivo suitability of different biodegradable microrobots in terms of their degradation mechanisms; pathological environments; and corresponding biomedical applications, especially targeted delivery. Ultimately, we highlight the prevailing obstacles and perspective solutions, ranging from their manufacturing methods, control of movement, and degradation rate to insufficient and limited in vivo tests, that could be of benefit to forthcoming clinical applications.
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Affiliation(s)
- Jinxin Li
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518172, China
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Magazzù A, Marcuello C. Investigation of Soft Matter Nanomechanics by Atomic Force Microscopy and Optical Tweezers: A Comprehensive Review. NANOMATERIALS (BASEL, SWITZERLAND) 2023; 13:963. [PMID: 36985857 PMCID: PMC10053849 DOI: 10.3390/nano13060963] [Citation(s) in RCA: 43] [Impact Index Per Article: 43.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/26/2023] [Revised: 02/28/2023] [Accepted: 03/02/2023] [Indexed: 05/17/2023]
Abstract
Soft matter exhibits a multitude of intrinsic physico-chemical attributes. Their mechanical properties are crucial characteristics to define their performance. In this context, the rigidity of these systems under exerted load forces is covered by the field of biomechanics. Moreover, cellular transduction processes which are involved in health and disease conditions are significantly affected by exogenous biomechanical actions. In this framework, atomic force microscopy (AFM) and optical tweezers (OT) can play an important role to determine the biomechanical parameters of the investigated systems at the single-molecule level. This review aims to fully comprehend the interplay between mechanical forces and soft matter systems. In particular, we outline the capabilities of AFM and OT compared to other classical bulk techniques to determine nanomechanical parameters such as Young's modulus. We also provide some recent examples of nanomechanical measurements performed using AFM and OT in hydrogels, biopolymers and cellular systems, among others. We expect the present manuscript will aid potential readers and stakeholders to fully understand the potential applications of AFM and OT to soft matter systems.
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Affiliation(s)
- Alessandro Magazzù
- CNR-IPCF, Istituto per i Processi Chimico-Fisici, 98158 Mesina, Italy
- NLHT-Lab, Department of Physics, University of Calabria, 87036 Rende, Italy
| | - Carlos Marcuello
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC-Universidad de Zaragoza, 50009 Zaragoza, Spain
- Laboratorio de Microscopias Avanzadas (LMA), Universidad de Zaragoza, 50018 Zaragoza, Spain
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Arifin DR, Bulte JWM. In Vivo Imaging of Naked and Microencapsulated Islet Cell Transplantation. Methods Mol Biol 2023; 2592:75-88. [PMID: 36507986 PMCID: PMC10437091 DOI: 10.1007/978-1-0716-2807-2_5] [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] [Indexed: 12/14/2022]
Abstract
We describe step-by-step methods to label human pancreatic islet cells and murine insulinoma cells and their subsequent transplantation into type I diabetic mouse models with a focus on in vivo imaging using clinically applicable scanners. We also cover islets that are microencapsulated within alginate hydrogels loaded with imaging agents. By following these methods, it is possible to image cell grafts using T1-weighted and T2/T2*-weighted 1H magnetic resonance imaging (MRI), 19F MRI, computed tomography, ultrasound imaging, and bioluminescence imaging in vivo. Considering a myriad of factors that may affect the outcome of proper in vivo detection, we discuss potential issues that may be encountered during and after the process of labeling. The ultimate goal is to use these in vivo imaging approaches to determine and optimize naked and encapsulated islet cell survival, therapeutic function, and engraftment procedures.
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Affiliation(s)
- Dian R Arifin
- Russell H. Morgan Department of Radiology and Radiological Science, Division of MR Research, The Johns Hopkins University School of Medicine, Baltimore, MD, USA
- Cellular Imaging Section and Vascular Biology Program, Institute for Cell Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, USA
| | - Jeff W M Bulte
- Russell H. Morgan Department of Radiology and Radiological Science, Division of MR Research, The Johns Hopkins University School of Medicine, Baltimore, MD, USA.
- Cellular Imaging Section and Vascular Biology Program, Institute for Cell Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, USA.
- Department of Chemical & Biomolecular Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, USA.
- Department of Biomedical Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, USA.
- Department of Oncology, The Johns Hopkins University School of Medicine, Baltimore, MD, USA.
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8
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Hussain SI, Mair LO, Willis AJ, Papavasiliou G, Liu B, Weinberg IN, Engelhard HH. Parallel Multichannel Assessment of Rotationally Manipulated Magnetic Nanoparticles. Nanotechnol Sci Appl 2022; 15:1-15. [PMID: 35469141 PMCID: PMC9034901 DOI: 10.2147/nsa.s358931] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/18/2022] [Accepted: 03/25/2022] [Indexed: 12/03/2022] Open
Abstract
Background Rotational manipulation of chains or clusters of magnetic nanoparticles (MNPs) offers a means for directed translation and payload delivery that should be explored for clinical use. Multiple MNP types are available, yet few studies have performed side-by-side comparisons to evaluate characteristics such as velocity, movement at a distance, and capacity for drug conveyance or dispersion. Purpose Our goal was to design, build, and study an electric device allowing simultaneous, multichannel testing (e.g., racing) of MNPs in response to a rotating magnetic field. We would then select the "best" MNP and use it with optimized device settings, to transport an unbound therapeutic agent. Methods A magnetomotive system was constructed, with a Helmholtz pair of coils on either side of a single perpendicular coil, on top of which was placed an acrylic tray having multiple parallel lanes. Five different MNPs were tested: graphene-coated cobalt MNPs (TurboBeads™), nickel nanorods, gold-iron alloy MNPs, gold-coated Fe3O4 MNPs, and uncoated Fe3O4 MNPs. Velocities were determined in response to varying magnetic field frequencies (5-200 Hz) and heights (0-18 cm). Velocities were normalized to account for minor lane differences. Doxorubicin was chosen as the therapeutic agent, assayed using a CLARIOstar Plus microplate reader. Results The MMS generated a maximal MNP velocity of 0.9 cm/s. All MNPs encountered a "critical" frequency at 20-30 Hz. Nickel nanorods had the optimal response based on tray height and were then shown to enable unbound doxorubicin dispersion along 10.5 cm in <30 sec. Conclusion A rotating magnetic field can be conveniently generated using a three-coil electromagnetic device, and used to induce rotational and translational movement of MNP aggregates over mesoscale distances. The responses of various MNPs can be compared side-by-side using multichannel acrylic trays to assess suitability for drug delivery, highlighting their potential for further in vivo applications.
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Affiliation(s)
- Syed I Hussain
- Department of Neurosurgery, The University of Illinois at Chicago, Chicago, IL, USA
- Biomedical Engineering Department, Illinois Institute of Technology, Chicago, IL, USA
- NanoMagnetic Therapeutics Corp., Wilmette, IL, USA
| | - Lamar O Mair
- Weinberg Medical Physics, Inc., North Bethesda, MD, USA
| | - Alexander J Willis
- Department of Medicine, The University of Illinois at Chicago, Chicago, IL, USA
| | - Georgia Papavasiliou
- Biomedical Engineering Department, Illinois Institute of Technology, Chicago, IL, USA
| | - Bing Liu
- IMRA America, Inc., Ann Arbor, MI, USA
| | | | - Herbert H Engelhard
- Department of Neurosurgery, The University of Illinois at Chicago, Chicago, IL, USA
- NanoMagnetic Therapeutics Corp., Wilmette, IL, USA
- Department of Bioengineering, The University of Illinois at Chicago, Chicago, IL, USA
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9
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Llacer-Wintle J, Rivas-Dapena A, Chen XZ, Pellicer E, Nelson BJ, Puigmartí-Luis J, Pané S. Biodegradable Small-Scale Swimmers for Biomedical Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2102049. [PMID: 34480388 DOI: 10.1002/adma.202102049] [Citation(s) in RCA: 27] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/15/2021] [Revised: 06/14/2021] [Indexed: 06/13/2023]
Abstract
Most forms of biomatter are ephemeral, which means they transform or deteriorate after a certain time. From this perspective, implantable healthcare devices designed for temporary treatments should exhibit the ability to degrade and either blend in with healthy tissues, or be cleared from the body with minimal disruption after accomplishing their designated tasks. This topic is currently being investigated in the field of biomedical micro- and nanoswimmers. These tiny devices have the ability to move through fluids by converting physical or chemical energy into motion. Several architectures of these devices have been designed to mimic the motion strategies of nature's motile microorganisms and cells. Due to their motion abilities, these devices have been proposed as minimally invasive tools for precision healthcare applications. Hence, a natural progression in this field is to produce motile structures that can adopt, or even surpass, similar transient features as biological systems. The fate of small-scale swimmers after accomplishing their therapeutic mission is critical for the successful translation of small-scale swimmers' technologies into clinical applications. In this review, recent research efforts are summarized on the topic of biodegradable micro- and nanoswimmers for biomedical applications, with a focus on targeted therapeutic delivery.
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Affiliation(s)
- Joaquin Llacer-Wintle
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Antón Rivas-Dapena
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Xiang-Zhong Chen
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Eva Pellicer
- Departament de Física, Universitat Autònoma de Barcelona, Bellaterra (Cerdanyola del Vallès), Barcelona, 08193, Spain
| | - Bradley J Nelson
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica I Computacional, Barcelona, 08028, Spain
- ICREA, Pg. Lluís Companys 23, Barcelona, 0 8010, Spain
| | - Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, CH-8092, Switzerland
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10
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Mair LO, Adam G, Chowdhury S, Davis A, Arifin DR, Vassoler FM, Engelhard HH, Li J, Tang X, Weinberg IN, Evans BA, Bulte JWM, Cappelleri DJ. Soft Capsule Magnetic Millirobots for Region-Specific Drug Delivery in the Central Nervous System. Front Robot AI 2021; 8:702566. [PMID: 34368238 PMCID: PMC8340882 DOI: 10.3389/frobt.2021.702566] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2021] [Accepted: 07/06/2021] [Indexed: 01/03/2023] Open
Abstract
Small soft robotic systems are being explored for myriad applications in medicine. Specifically, magnetically actuated microrobots capable of remote manipulation hold significant potential for the targeted delivery of therapeutics and biologicals. Much of previous efforts on microrobotics have been dedicated to locomotion in aqueous environments and hard surfaces. However, our human bodies are made of dense biological tissues, requiring researchers to develop new microrobotics that can locomote atop tissue surfaces. Tumbling microrobots are a sub-category of these devices capable of walking on surfaces guided by rotating magnetic fields. Using microrobots to deliver payloads to specific regions of sensitive tissues is a primary goal of medical microrobots. Central nervous system (CNS) tissues are a prime candidate given their delicate structure and highly region-specific function. Here we demonstrate surface walking of soft alginate capsules capable of moving on top of a rat cortex and mouse spinal cord ex vivo, demonstrating multi-location small molecule delivery to up to six different locations on each type of tissue with high spatial specificity. The softness of alginate gel prevents injuries that may arise from friction with CNS tissues during millirobot locomotion. Development of this technology may be useful in clinical and preclinical applications such as drug delivery, neural stimulation, and diagnostic imaging.
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Affiliation(s)
- Lamar O Mair
- Weinberg Medical Physics, Inc., North Bethesda, MD, United States
| | - Georges Adam
- Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, United States
| | - Sagar Chowdhury
- Weinberg Medical Physics, Inc., North Bethesda, MD, United States.,Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, United States
| | - Aaron Davis
- Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, United States
| | - Dian R Arifin
- Russel H. Morgan Department of Radiology and Radiological Science, Division of Magnetic Resonance Research, The Johns Hopkins University School of Medicine, Baltimore, MD, United States.,Cellular Imaging Section and Vascular Biology Program, Institute for Cell Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - Fair M Vassoler
- Cummings School of Veterinary Medicine, Tufts University, North Grafton, MA, United States
| | - Herbert H Engelhard
- Affiliated Neurosurgery Corporation, Chicago, IL, United States.,Department of Bioengineering, University of Illinois at Chicago, Chicago, IL, United States
| | - Jinxing Li
- Department of Biomedical Engineering, Institute for Quantitative Health Science and Engineering, Michigan State University, East Lansing, MI, United States
| | - Xinyao Tang
- Weinberg Medical Physics, Inc., North Bethesda, MD, United States
| | | | | | - Jeff W M Bulte
- Russel H. Morgan Department of Radiology and Radiological Science, Division of Magnetic Resonance Research, The Johns Hopkins University School of Medicine, Baltimore, MD, United States.,Cellular Imaging Section and Vascular Biology Program, Institute for Cell Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, United States.,Departments of Oncology, Biomedical Engineering and Chemical and Biomolecular Engineering, The Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - David J Cappelleri
- Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, United States.,Weldon School of Biomedical Engineering, Purdue University, West Lafayette, IN, United States
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11
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Magdanz V, Vivaldi J, Mohanty S, Klingner A, Vendittelli M, Simmchen J, Misra S, Khalil ISM. Impact of Segmented Magnetization on the Flagellar Propulsion of Sperm-Templated Microrobots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:2004037. [PMID: 33898186 PMCID: PMC8061355 DOI: 10.1002/advs.202004037] [Citation(s) in RCA: 21] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/21/2020] [Revised: 12/17/2020] [Indexed: 05/22/2023]
Abstract
Technical design features for improving the way a passive elastic filament produces propulsive thrust can be understood by analyzing the deformation of sperm-templated microrobots with segmented magnetization. Magnetic nanoparticles are electrostatically self-assembled on bovine sperm cells with nonuniform surface charge, producing different categories of sperm-templated microrobots. Depending on the amount and location of the nanoparticles on each cellular segment, magnetoelastic and viscous forces determine the wave pattern of each category during flagellar motion. Passively propagating waves are induced along the length of these microrobots using external rotating magnetic fields and the resultant wave patterns are measured. The response of the microrobots to the external field reveals distinct flow fields, propulsive thrust, and frequency responses during flagellar propulsion. This work allows predictions for optimizing the design and propulsion of flexible magnetic microrobots with segmented magnetization.
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Affiliation(s)
- Veronika Magdanz
- Applied ZoologyTechnical University of DresdenDresden01069Germany
- Smart Nano‐Bio‐Devices GroupInstitute for Bioengineering of CataloniaBarcelona08028Spain
| | - Jacopo Vivaldi
- Department of Computer Control and Management EngineeringSapienza University of RomeRome00185Italy
| | - Sumit Mohanty
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteEnschede7522 NBThe Netherlands
| | - Anke Klingner
- Department of PhysicsThe German University in CairoNew Cairo13411Egypt
| | - Marilena Vendittelli
- Department of Computer Control and Management EngineeringSapienza University of RomeRome00185Italy
| | - Juliane Simmchen
- Physical ChemistryTechnical University of DresdenDresden01069Germany
| | - Sarthak Misra
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteEnschede7522 NBThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and University Medical Center GroningenGroningen9713 GZThe Netherlands
| | - Islam S. M. Khalil
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteEnschede7522 NBThe Netherlands
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13
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Fuller HC, Wei TY, Behrens MR, Ruder WC. The Future Application of Organ-on-a-Chip Technologies as Proving Grounds for MicroBioRobots. MICROMACHINES 2020; 11:E947. [PMID: 33092054 PMCID: PMC7589118 DOI: 10.3390/mi11100947] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/13/2020] [Revised: 10/13/2020] [Accepted: 10/16/2020] [Indexed: 12/31/2022]
Abstract
An evolving understanding of disease pathogenesis has compelled the development of new drug delivery approaches. Recently, bioinspired microrobots have gained traction as drug delivery systems. By leveraging the microscale phenomena found in physiological systems, these microrobots can be designed with greater maneuverability, which enables more precise, controlled drug release. Their function could be further improved by testing their efficacy in physiologically relevant model systems as part of their development. In parallel with the emergence of microscale robots, organ-on-a-chip technologies have become important in drug discovery and physiological modeling. These systems reproduce organ-level functions in microfluidic devices, and can also incorporate specific biological, chemical, and physical aspects of a disease. This review highlights recent developments in both microrobotics and organ-on-a-chip technologies and envisions their combined use for developing future drug delivery systems.
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Affiliation(s)
- Haley C. Fuller
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA 15219, USA; (H.C.F.); (T.-Y.W.); (M.R.B.)
| | - Ting-Yen Wei
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA 15219, USA; (H.C.F.); (T.-Y.W.); (M.R.B.)
| | - Michael R. Behrens
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA 15219, USA; (H.C.F.); (T.-Y.W.); (M.R.B.)
| | - Warren C. Ruder
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA 15219, USA; (H.C.F.); (T.-Y.W.); (M.R.B.)
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
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Willis AJ, Pernal SP, Gaertner ZA, Lakka SS, Sabo ME, Creighton FM, Engelhard HH. Rotating Magnetic Nanoparticle Clusters as Microdevices for Drug Delivery. Int J Nanomedicine 2020; 15:4105-4123. [PMID: 32606667 PMCID: PMC7295537 DOI: 10.2147/ijn.s247985] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/01/2020] [Accepted: 05/06/2020] [Indexed: 12/12/2022] Open
Abstract
BACKGROUND Magnetic nanoparticles (MNPs) hold promise for enhancing delivery of therapeutic agents, either through direct binding or by functioning as miniature propellers. Fluid-filled conduits and reservoirs within the body offer avenues for MNP-enhanced drug delivery. MNP clusters can be rotated and moved across surfaces at clinically relevant distances in response to a rotating magnet. Limited data are available regarding issues affecting MNP delivery by this mechanism, such as adhesion to a cellular wall. Research reported here was initiated to better understand the fundamental principles important for successful implementation of rotational magnetic drug targeting (rMDT). METHODS Translational movements of four different iron oxide MNPs were tested, in response to rotation (3 Hz) of a neodymium-boron-iron permanent magnet. MNP clusters moved along biomimetic channels of a custom-made acrylic tray, by surface walking. The effects of different distances and cellular coatings on MNP velocity were analyzed using videography. Dyes (as drug surrogates) and the drug etoposide were transported by rotating MNPs along channels over a 10 cm distance. RESULTS MNP translational velocities could be predicted from magnetic separation times. Changes in distance or orientation from the magnet produced alterations in MNP velocities. Mean velocities of the fastest MNPs over HeLa, U251, U87, and E297 cells were 0.24 ± 0.02, 0.26 ± 0.02, 0.28 ± 0.01, and 0.18 ± 0.03 cm/sec, respectively. U138 cells showed marked MNP adherence and an 87.1% velocity reduction at 5.5 cm along the channel. Dye delivery helped visualize the effects of MNPs as microdevices for drug delivery. Dye delivery by MNP clusters was 21.7 times faster than by diffusion. MNPs successfully accelerated etoposide delivery, with retention of chemotherapeutic effect. CONCLUSION The in vitro system described here facilitates side-by-side comparisons of drug delivery by rotating MNP clusters, on a human scale. Such microdevices have the potential for augmenting drug delivery in a variety of clinical settings, as proposed.
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Affiliation(s)
- Alexander J Willis
- Division of Hematology-Oncology, Department of Medicine, The University of Illinois at Chicago, Chicago, IL, USA
| | | | | | - Sajani S Lakka
- Division of Hematology-Oncology, Department of Medicine, The University of Illinois at Chicago, Chicago, IL, USA
| | | | | | - Herbert H Engelhard
- Departments of Neurosurgery and Bioengineering, The University of Illinois at Chicago, Chicago, IL, USA
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15
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Mair LO, Liu X, Dandamudi B, Jain K, Chowdhury S, Weed J, Diaz-Mercado Y, Weinberg IN, Krieger A. MagnetoSuture: Tetherless Manipulation of Suture Needles. IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS 2020; 2:206-215. [PMID: 34746679 DOI: 10.1109/tmrb.2020.2988462] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
This paper demonstrates the feasibility of ligation and tissue penetration for surgical suturing tasks using magnetically actuated suture needles. Manipulation of suture needles in minimally invasive surgery involves using articulated manual/robotic tools for needle steering and controlling needle-tissue or thread-tissue interactions. The large footprints of conventional articulated surgical tools significantly increase surgical invasiveness, potentially leading to longer recovery times, tissue damage, scarring, or associated infections. Aiming to address these issues, we investigate the feasibility of using magnetic fields to tetherlessly steer suture needles. The primary challenge of such a concept is to provide sufficient force for tissue penetration and ligation. In this work, we demonstrate proof-of-concept capabilities using the MagnetoSuture™ system, performing tissue penetration and ligation tasks using ex vivo tissues, customized NdFeB suture needles with attached threads, and remote-controlled magnetic fields. To evaluate the system performance, we conducted experiments demonstrating tetherless recreation of a purse string suture pattern, ligation of an excised segment of a rat intestine, and penetration of rat intestines.
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Affiliation(s)
- Lamar O Mair
- Weinberg Medical Physics, Inc., North Bethesda, Maryland 20852 USA
| | - Xiaolong Liu
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Bhargav Dandamudi
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Kamakshi Jain
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Sagar Chowdhury
- Weinberg Medical Physics, Inc., North Bethesda, Maryland 20852 USA
| | - Jeremy Weed
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Yancy Diaz-Mercado
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | | | - Axel Krieger
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
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Wang X, Chen XZ, Alcântara CCJ, Sevim S, Hoop M, Terzopoulou A, de Marco C, Hu C, de Mello AJ, Falcaro P, Furukawa S, Nelson BJ, Puigmartí-Luis J, Pané S. MOFBOTS: Metal-Organic-Framework-Based Biomedical Microrobots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2019; 31:e1901592. [PMID: 31058366 DOI: 10.1002/adma.201901592] [Citation(s) in RCA: 89] [Impact Index Per Article: 17.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2019] [Revised: 04/15/2019] [Indexed: 06/09/2023]
Abstract
Motile metal-organic frameworks (MOFs) are potential candidates to serve as small-scale robotic platforms for applications in environmental remediation, targeted drug delivery, or nanosurgery. Here, magnetic helical microstructures coated with a kind of zinc-based MOF, zeolitic imidazole framework-8 (ZIF-8), with biocompatibility characteristics and pH-responsive features, are successfully fabricated. Moreover, it is shown that this highly integrated multifunctional device can swim along predesigned tracks under the control of weak rotational magnetic fields. The proposed systems can achieve single-cell targeting in a cell culture media and a controlled delivery of cargo payloads inside a complex microfluidic channel network. This new approach toward the fabrication of integrated multifunctional systems will open new avenues in soft microrobotics beyond current applications.
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Affiliation(s)
- Xiaopu Wang
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Xiang-Zhong Chen
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Carlos C J Alcântara
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Semih Sevim
- Institute for Chemical and Bioengineering, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Marcus Hoop
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Anastasia Terzopoulou
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Carmela de Marco
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Chengzhi Hu
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Andrew J de Mello
- Institute for Chemical and Bioengineering, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Paolo Falcaro
- Institute of Physical and Theoretical Chemistry, Graz University of Technology, Stremayrgasse 9, 8010, Graz, Austria
- Department of Chemistry, The University of Adelaide, Adelaide, South Australia, 5005, Australia
| | - Shuhei Furukawa
- Institute for Integrated Cell-Material Sciences (WPI-iCeMS), Kyoto University, Yoshida, Sakyo-ku, Kyoto, 606-8501, Japan
| | - Bradley J Nelson
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Josep Puigmartí-Luis
- Institute for Chemical and Bioengineering, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
| | - Salvador Pané
- Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, CH-8092, Zurich, Switzerland
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