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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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Abstract
Magnetic control has gained popularity recently due to its ability to enhance soft robots with reconfigurability and untethered maneuverability, among other capabilities. Several advancements in the fabrication and application of reconfigurable magnetic soft robots have been reported. This review summarizes novel fabrication techniques for designing magnetic soft robots, including chemical and physical methods. Mechanisms of reconfigurability and deformation properties are discussed in detail. The maneuverability of magnetic soft robots is then briefly discussed. Finally, the present challenges and possible future work in designing reconfigurable magnetic soft robots for biomedical applications are identified.
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Affiliation(s)
- Linxiaohai Ning
- Centre for Bioengineering, School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
| | - Chayabhan Limpabandhu
- Centre for Bioengineering, School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
| | - Zion Tsz Ho Tse
- Centre for Bioengineering, School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
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Wang B, Liu D, Liao Y, Huang Y, Ni M, Wang M, Ma Z, Wu Z, Lu Y. Spatiotemporally Actuated Hydrogel by Magnetic Swarm Nanorobotics. ACS NANO 2022; 16:20985-21001. [PMID: 36469837 DOI: 10.1021/acsnano.2c08626] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Magnetic nanorobotic swarms can mimic collective functions of organisms in nature and be programmed for flexible spatiotemporal control. In this work, different assemblies of magnetic nanoparticle (MNP) swarms were constructed. Temperature-sensitive hydrogels were used as carriers to fix the distribution and ensure the stability of the swarm structure and the biocompatibility of the microrobot. Under three different outfield assembly strategies (gravitational field, gradient magnetic field, and uniform magnetic field), six different assembly modes of MNP are encapsulated (three unilateral unfolding assemblies with different microsphere profiles, unilateral chain assembly, and two symmetric chain assemblies with different magnetic chain positions). Their differences in the execution of motion, magnetothermal effects, and release of loaded DOX drugs were explored. The results showed that the symmetrical chain assembly with the magnetic chain distributed on the outside showed the best performance due to the advantage of the magnetic moment. It has a speed of up to 600 μm/s and a temperature rise rate of up to 1.5 °C/min. The present work provides an excellent solution to the poor MNP cluster distribution stability problem and enriches the assembly control scheme of microrobots in medical, catalytic, and three-dimensional-printing fields.
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Affiliation(s)
- Bin Wang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Dong Liu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Yuting Liao
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
- College of Light Industry and Food Engineering, Guangxi University, Nanning530004, China
| | - Yanjie Huang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
- Tianjin Industrial Microbiology Key Laboratory, College of Biotechnology, Tianjin University of Science and Technology, Tianjin300457, China
| | - Miao Ni
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Mengchen Wang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Zhanpeng Ma
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Zijian Wu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
| | - Yuan Lu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing100084, China
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Li M, Zhang T, Zhang X, Mu J, Zhang W. Vector-Controlled Wheel-Like Magnetic Swarms With Multimodal Locomotion and Reconfigurable Capabilities. Front Bioeng Biotechnol 2022; 10:877964. [PMID: 35547169 PMCID: PMC9081439 DOI: 10.3389/fbioe.2022.877964] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/17/2022] [Accepted: 03/14/2022] [Indexed: 11/13/2022] Open
Abstract
Inspired by the biological collective behaviors of nature, artificial microrobotic swarms have exhibited environmental adaptability and tasking capabilities for biomedicine and micromanipulation. Complex environments are extremely relevant to the applications of microswarms, which are expected to travel in blood vessels, reproductive and digestive tracts, and microfluidic chips. Here we present a strategy that reconfigures paramagnetic nanoparticles into a vector-controlled microswarm with 3D collective motions by programming sawtooth magnetic fields. Horizontal swarms can be manipulated to stand vertically and swim like a wheel by adjusting the direction of magnetic-field plane. Compared with horizontal swarms, vertical wheel-like swarms were evaluated to be of approximately 15-fold speed increase and enhanced maneuverability, which was exhibited by striding across complex 3D confinements. Based on analysis of collective behavior of magnetic particles in flow field using molecular dynamics methods, a rotary stepping mechanism was proposed to address the formation and locomotion mechanisms of wheel-like swarm. we present a strategy that actuates swarms to stand and hover in situ under a programming swing magnetic fields, which provides suitable solutions to travel across confined space with unexpected changes, such as stepped pipes. By biomimetic design from fin motion of fish, wheel-like swarms were endowed with multi-modal locomotion and load-carrying capabilities. This design of intelligent microswarms that adapt to complicated biological environments can promote the applications ranging from the construction of smart and multifunctional materials to biomedical engineering.
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Affiliation(s)
- Mu Li
- Department of Pharmacy, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Tao Zhang
- School of Mechanical Engineering, Zhengzhou University, Zhengzhou, China
- Institute of Intelligent Sensing, Zhengzhou University, Zhengzhou, China
| | - Xiang Zhang
- School of Mechanics and Safety Engineering, Zhengzhou University, Zhengzhou, China
- National Center for International Joint Research of Micro-nano Molding Technology, Zhengzhou University, Zhengzhou, China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Jinjiang Mu
- Department of Infectious Diseases, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
- *Correspondence: Jinjiang Mu, ; Weiwei Zhang,
| | - Weiwei Zhang
- School of Mechanical Engineering, Zhengzhou University, Zhengzhou, China
- Institute of Intelligent Sensing, Zhengzhou University, Zhengzhou, China
- *Correspondence: Jinjiang Mu, ; Weiwei Zhang,
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