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Xu F, Liu Y, Chen M, Luo J, Bai L. Continuous motion of particles attached to cavitation bubbles. ULTRASONICS SONOCHEMISTRY 2024; 107:106888. [PMID: 38697875 PMCID: PMC11179259 DOI: 10.1016/j.ultsonch.2024.106888] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/24/2024] [Revised: 04/17/2024] [Accepted: 04/26/2024] [Indexed: 05/05/2024]
Abstract
Microbubble-mediated therapeutic gene or drug delivery is a promising strategy for various cardiovascular diseases (CVDs), but the efficiency and precision need to be improved. Here, we propose a cavitation bubble-driven drug delivery strategy that can be applied to CVDs. A bubble-pulse-driving theory was proposed, and the formula of time-averaged thrust driven by bubble pulses was derived. The continuous motion of particles propelled by cavitation bubbles in the ultrasonic field is investigated experimentally by high-speed photography. The cavitation bubbles grow and collapse continuously, and generate periodic pulse thrust to drive the particles to move in the liquid. Particles attached to bubbles will move in various ways, such as ejection, collision, translation, rotation, attitude variation, and circular motion. The cavity attached to the particle is a relatively large cavitation bubble, which does not collapse to the particle surface, but to the axis of the bubble perpendicular to the particle surface. The cavitation bubble expands spherically and collapses asymmetrically, which makes the push on the particle generated by the bubble expansion greater than the pull on the particle generated by the bubble collapse. The time-averaged force of the cavitation bubble during its growth and collapse is the cavitation-bubble-driven force that propels the particle. Both the cavitation-bubble-driven force and the primary Bjerknes force act in the same position on the particle surface, but in different directions. In addition to the above two forces, particles are also affected by the mass force acting on the center of mass and the motion resistance acting on the surface, so the complex motion of particles can be explained.
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Affiliation(s)
- Fei Xu
- Department of Cardiology, Laboratory of Cardiac Structure and Function, Institute of Cardiovascular Diseases, West China Hospital, Sichuan University, Chengdu, China
| | - Yanyang Liu
- Center for Obesity and Hernia Surgery, Department of General Surgery, Huashan Hospital, Fudan University, Shanghai, China
| | - Mao Chen
- Department of Cardiology, Laboratory of Cardiac Structure and Function, Institute of Cardiovascular Diseases, West China Hospital, Sichuan University, Chengdu, China
| | - Jing Luo
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu, China
| | - Lixin Bai
- State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu, China.
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Dai L, Liu L, Zhou Y, Yan A, Zhao M, Jin S, Ye G, Wang C. Three-Dimensional Manipulation of Micromodules Using Twin Optothermally Actuated Bubble Robots. MICROMACHINES 2024; 15:230. [PMID: 38398959 PMCID: PMC10892707 DOI: 10.3390/mi15020230] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/03/2023] [Revised: 12/24/2023] [Accepted: 12/28/2023] [Indexed: 02/25/2024]
Abstract
A 3D manipulation technique based on two optothermally generated and actuated surface-bubble robots is proposed. A single laser beam can be divided into two parallel beams and used for the generation and motion control of twin bubbles. The movement and spacing control of the lasers and bubbles can be varied directly and rapidly. Both 2D and 3D operations of micromodules were carried out successfully using twin bubble robots. The cooperative manipulation of twin bubble robots is superior to that of a single robot in terms of stability, speed, and efficiency. The operational technique proposed in this study is expected to play an important role in tissue engineering, drug screening, and other fields.
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Affiliation(s)
- Liguo Dai
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Lichao Liu
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Aofei Yan
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Mengran Zhao
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Shaobo Jin
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Guoyong Ye
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
| | - Caidong Wang
- Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, China; (L.D.); (L.L.); (A.Y.); (M.Z.); (S.J.)
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Zhou Y, Dai L, Jiao N. Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly. MICROMACHINES 2022; 13:1068. [PMID: 35888885 PMCID: PMC9324494 DOI: 10.3390/mi13071068] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/07/2022] [Revised: 06/30/2022] [Accepted: 07/01/2022] [Indexed: 02/01/2023]
Abstract
In recent years, microbubbles have been widely used in the field of microrobots due to their unique properties. Microbubbles can be easily produced and used as power sources or tools of microrobots, and the bubbles can even serve as microrobots themselves. As a power source, bubbles can propel microrobots to swim in liquid under low-Reynolds-number conditions. As a manipulation tool, microbubbles can act as the micromanipulators of microrobots, allowing them to operate upon particles, cells, and organisms. As a microrobot, microbubbles can operate and assemble complex microparts in two- or three-dimensional spaces. This review provides a comprehensive overview of bubble applications in microrobotics including propulsion, micromanipulation, and microassembly. First, we introduce the diverse bubble generation and control methods. Then, we review and discuss how bubbles can play a role in microrobotics via three functions: propulsion, manipulation, and assembly. Finally, by highlighting the advantages and current challenges of this progress, we discuss the prospects of microbubbles in microrobotics.
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Affiliation(s)
- Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Liguo Dai
- College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China;
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
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Ge Z, Dai L, Zhao J, Yu H, Yang W, Liao X, Tan W, Jiao N, Wang Z, Liu L. Bubble-based microrobots enable digital assembly of heterogeneous microtissue modules. Biofabrication 2022; 14. [PMID: 35263719 DOI: 10.1088/1758-5090/ac5be1] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/26/2021] [Accepted: 03/09/2022] [Indexed: 11/12/2022]
Abstract
The specific spatial distribution of tissue generates a heterogeneous micromechanical environment that provides ideal conditions for diverse functions such as regeneration and angiogenesis. However, to manufacture microscale multicellular heterogeneous tissue modules in vitro and then assemble them into specific functional units is still a challenging task. In this study, a novel method for the digital assembly of heterogeneous microtissue modules is proposed. This technique utilizes the flexibility of digital micromirror device-based optical projection lithography and the manipulability of bubble-based microrobots in a liquid environment. The results indicate that multicellular microstructures can be fabricated by increasing the inlets of the microfluidic chip. Upon altering the exposure time, the Young's modulus of the entire module and different regions of each module can be fine-tuned to mimic normal tissue. The surface morphology, mechanical properties, and internal structure of the constructed bionic peritoneum were similar to those of the real peritoneum. Overall, this work demonstrates the potential of this system to produce and control the posture of modules and simulate peritoneal metastasis using reconfigurable manipulation.
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Affiliation(s)
- Zhixing Ge
- Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Institute of Automation, No. 114, Nanta Street, Shenhe District, Shenyang City, Liaoning Province, shenyang, Nunavut, 111749, CANADA
| | - Liguo Dai
- a. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang Institute of Automation, No. 114, Nanta Street, Shenhe District, Shenyang City, Liaoning Province, shenyang, 111749, CHINA
| | - Junhua Zhao
- The First Hospital of China Medical University, No.155, Nanjing Street, Heping District, Shenyang, Shenyang, Liaoning, 110001, CHINA
| | - Haibo Yu
- Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Institute of Automation, No. 114, Nanta Street, Shenhe District, Shenyang City, Liaoning Province, shenyang, Liaoning, 111749, CHINA
| | - Wenguang Yang
- Yantai University, No.30, Qingquan Road, Laishan District, Yantai City, Shandong Province, Yantai, Shandong, 264005, CHINA
| | - Xin Liao
- Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Institute of Automation, No. 114, Nanta Street, Shenhe District, Shenyang City, Liaoning Province, shenyang, Liaoning, 111749, CHINA
| | - Wenjun Tan
- Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang Institute of Automation, No. 114, Nanta Street, Shenhe District, Shenyang City, Liaoning Province, shenyang, Liaoning, 111749, CHINA
| | - Niandong Jiao
- a. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang Institute of Automation, No. 114, Nanta Street, Shenhe District, Shenyang City, Liaoning Province, shenyang, 111749, CHINA
| | - Zhenning Wang
- The First Hospital of China Medical University, No.155, Nanjing Street, Heping District, Shenyang, Shenyang, Liaoning, 110001, CHINA
| | - Lianqing Liu
- State Key Laboratory of Robotics, Chinese Academy of Sciences - Shenyang Institute of Automation, Shenyang Institute of Automation, No. 114, Nanta Street, Shenhe District, Shenyang City, Liaoning Province, 110016, shenyang, 111749, CHINA
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Dai L, Lin D, Wang X, Jiao N, Liu L. Integrated Assembly and Flexible Movement of Microparts Using Multifunctional Bubble Microrobots. ACS APPLIED MATERIALS & INTERFACES 2020; 12:57587-57597. [PMID: 33301292 DOI: 10.1021/acsami.0c17518] [Citation(s) in RCA: 16] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Industrial robots have been widely used for manufacturing and assembly in factories. However, at the microscale, most assembly technologies can only pattern the micromodules together loosely and can hardly combine the micromodules to directly form an entity that cannot be easily dispersed. In this study, surface bubbles are made to function as microrobots on a chip. These microrobots can move, fix, lift, and drop microparts and integratively assemble them into a tightly connected entity. As an example, the assembly of a pair of microparts with dovetails is considered. A jacklike bubble robot is used to lift and drop a micropart with a tail, whereas a mobile microrobot is used to push the other micropart with the corresponding socket to the proper position so that the tail can be inserted into the socket. The assembled microparts with the tail-socket joint can move as an entity without separation. Similarly, different types of parts are integratively assembled to form various structures such as gears, snake-shaped chains, and vehicles, which are then driven by bubble microrobots to perform different forms of movement. This assembly technology is simple and efficient and is expected to play an important role in micro-operation, modular assembly, and tissue engineering.
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Affiliation(s)
- Liguo Dai
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of the Chinese Academy of Sciences, Beijing 100049, China
| | - Daojing Lin
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of the Chinese Academy of Sciences, Beijing 100049, China
| | - Xiaodong Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
- University of the Chinese Academy of Sciences, Beijing 100049, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
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Gao Y, Wu M, Lin Y, Xu J. Trapping and control of bubbles in various microfluidic applications. LAB ON A CHIP 2020; 20:4512-4527. [PMID: 33232419 DOI: 10.1039/d0lc00906g] [Citation(s) in RCA: 21] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/25/2023]
Abstract
As a simple, clean and effective tool, micro bubbles have enabled advances in various lab on a chip (LOC) applications recently. In bubble-based microfluidic applications, techniques for capturing and controlling the bubbles play an important role. Here we review active and passive techniques for bubble trapping and control in microfluidic applications. The active techniques are categorized based on various types of external forces from optical, electric, acoustic, mechanical and thermal fields. The passive approaches depend on surface tension, focusing on optimization of microgeometry and modification of surface properties. We discuss control techniques of size, location and stability of microbubbles and show how these bubbles are employed in various applications. To finalize, by highlighting the advantages of these approaches along with the current challenges, we discuss the future prospects of bubble trapping and control in microfluidic applications.
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Affiliation(s)
- Yuan Gao
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, USA.
| | - Mengren Wu
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, USA.
| | - Yang Lin
- Department of Mechanical, Industrial and Systems Engineering, University of Rhode Island, Kingston, USA
| | - Jie Xu
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, USA.
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