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Lu L, Zhao H, Lu Y, Zhang Y, Wang X, Fan C, Li Z, Wu Z. Design and Control of the Magnetically Actuated Micro/Nanorobot Swarm toward Biomedical Applications. Adv Healthc Mater 2024; 13:e2400414. [PMID: 38412402 DOI: 10.1002/adhm.202400414] [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: 02/02/2024] [Revised: 02/22/2024] [Indexed: 02/29/2024]
Abstract
Recently, magnetically actuated micro/nanorobots hold extensive promises in biomedical applications due to their advantages of noninvasiveness, fuel-free operation, and programmable nature. While effectively promised in various fields such as targeted delivery, most past investigations are mainly displayed in magnetic control of individual micro/nanorobots. Facing practical medical use, the micro/nanorobots are required for the development of swarm control in a closed-loop control manner. This review outlines the recent developments in magnetic micro/nanorobot swarms, including their actuating fundamentals, designs, controls, and biomedical applications. The fundamental principles and interactions involved in the formation of magnetic micro/nanorobot swarms are discussed first. The recent advances in the design of artificial and biohybrid micro/nanorobot swarms, along with the control devices and methods used for swarm manipulation, are presented. Furthermore, biomedical applications that have the potential to achieve clinical application are introduced, such as imaging-guided therapy, targeted delivery, embolization, and biofilm eradication. By addressing the potential challenges discussed toward the end of this review, magnetic micro/nanorobot swarms hold promise for clinical treatments in the future.
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Affiliation(s)
- Lu Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Hongqiao Zhao
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yucong Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yuxuan Zhang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Xinran Wang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Chengjuan Fan
- The Second Affiliated Hospital of Harbin Medical University, Harbin, 150001, China
| | - Zesheng Li
- Laboratory for Space Environment and Physical Sciences, Harbin Institute of Technology, Harbin, 150001, China
| | - Zhiguang Wu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), Harbin Institute of Technology, Harbin, 150001, China
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Zhang T, Li G, Yang X, Ren H, Guo D, Wang H, Chan K, Ye Z, Zhao T, Zhang C, Shang W, Shen Y. A Fast Soft Continuum Catheter Robot Manufacturing Strategy Based on Heterogeneous Modular Magnetic Units. MICROMACHINES 2023; 14:mi14050911. [PMID: 37241535 DOI: 10.3390/mi14050911] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/07/2023] [Revised: 04/18/2023] [Accepted: 04/21/2023] [Indexed: 05/28/2023]
Abstract
Developing small-scale continuum catheter robots with inherent soft bodies and high adaptability to different environments holds great promise for biomedical engineering applications. However, current reports indicate that these robots meet challenges when it comes to quick and flexible fabrication with simpler processing components. Herein, we report a millimeter-scale magnetic-polymer-based modular continuum catheter robot (MMCCR) that is capable of performing multifarious bending through a fast and general modular fabrication strategy. By preprogramming the magnetization directions of two types of simple magnetic units, the assembled MMCCR with three discrete magnetic sections could be transformed from a single curvature pose with a large tender angle to a multicurvature S shape in the applied magnetic field. Through static and dynamic deformation analyses for MMCCRs, high adaptability to varied confined spaces can be predicted. By employing a bronchial tree phantom, the proposed MMCCRs demonstrated their capability to adaptively access different channels, even those with challenging geometries that require large bending angles and unique S-shaped contours. The proposed MMCCRs and the fabrication strategy shine new light on the design and development of magnetic continuum robots with versatile deformation styles, which would further enrich broad potential applications in biomedical engineering.
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Affiliation(s)
- Tieshan Zhang
- The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong 999077, China
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen 518057, China
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
| | - Gen Li
- The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong 999077, China
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen 518057, China
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
| | - Xiong Yang
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
- Research Center on Smart Manufacturing, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
| | - Hao Ren
- The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong 999077, China
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen 518057, China
| | - Dong Guo
- The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong 999077, China
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen 518057, China
| | - Hong Wang
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
- Research Center on Smart Manufacturing, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
| | - Ki Chan
- Prince Philip Dental Hospital, Faculty of Dentistry, University of Hong Kong, Hong Kong 999077, China
| | - Zhou Ye
- Applied Oral Sciences and Community Dental Care, Faculty of Dentistry, University of Hong Kong, Hong Kong 999077, China
| | - Tianshuo Zhao
- The Department of Electrical and Electronic Engineering, University of Hong Kong, Hong Kong 999077, China
| | - Chengfei Zhang
- Prince Philip Dental Hospital, Faculty of Dentistry, University of Hong Kong, Hong Kong 999077, China
| | - Wanfeng Shang
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Yajing Shen
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
- Research Center on Smart Manufacturing, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
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Wang Q. Imaging-Guided Micromachines: Towards Intelligent Systems. MICROMACHINES 2022; 13:2016. [PMID: 36422444 PMCID: PMC9697467 DOI: 10.3390/mi13112016] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/09/2022] [Accepted: 11/15/2022] [Indexed: 06/16/2023]
Abstract
Micromachines with controllable motion, deformation, and collective behaviors provide advanced methods for performing tasks that traditional machines have difficulty completing thanks to the development of small-scale robotics, nanotechnology, biocompatible materials, and imaging techniques [...].
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Affiliation(s)
- Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing 211000, China
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Design and Fabrication of a Magnetic Actuator for Torque and Force Control Estimated by the ANN/SA Algorithm. MICROMACHINES 2022; 13:mi13020327. [PMID: 35208451 PMCID: PMC8880473 DOI: 10.3390/mi13020327] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/27/2022] [Revised: 02/15/2022] [Accepted: 02/17/2022] [Indexed: 02/04/2023]
Abstract
Magnetic manipulation has the potential to recast the medical field both from an operational and drug delivery point of view as it can provide wireless controlled navigation over surgical devices and drug containers inside a human body. The presented system in this research implements a unique eight-coil configuration, where each coil is designed based on the characterization of the working space, generated force on a milliscale robot, and Fabry factor. A cylindrical iron-core coil with inner and outer diameters and length of 20.5, 66, and 124 mm is the optimized coil. Traditionally, FEM results are adopted from simulation and implemented into the motion logic; however, simulated values are associated with errors; 17% in this study. Instead of regularizing FEM results, for the first time, artificial intelligence has been used to approximate the actual values for manipulation purposes. Regression models for Artificial Neural Network (ANN) and a hybrid method called Artificial Neural Network with Simulated Annealing (ANN/SA) have been created. ANN/SA has shown outstanding performance with an average R2, and a root mean square error of 0.9871 and 0.0153, respectively. Implementation of the regression model into the manipulation logic has provided a motion with 13 μm of accuracy.
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