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Wang B, Wang Q, Chan KF, Ning Z, Wang Q, Ji F, Yang H, Jiang S, Zhang Z, Ip BYM, Ko H, Chung JPW, Qiu M, Han J, Chiu PWY, Sung JJY, Du S, Leung TWH, Yu SCH, Zhang L. tPA-anchored nanorobots for in vivo arterial recanalization at submillimeter-scale segments. Sci Adv 2024; 10:eadk8970. [PMID: 38295172 PMCID: PMC10830105 DOI: 10.1126/sciadv.adk8970] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/17/2023] [Accepted: 01/02/2024] [Indexed: 02/02/2024]
Abstract
Micro/nanorobots provide a promising approach for intravascular therapy with high precision. However, blood vessel is a highly complex system, and performing interventional therapy in those submillimeter segments remains challenging. While micro/nanorobots can enter submillimeter segments, they may still comprise nonbiodegradable parts, posing a considerable challenge for post-use removal. Here, we developed a retrievable magnetic colloidal microswarm, composed of tPA-anchored Fe3O4@mSiO2 nanorobots (tPA-nbots), to archive tPA-mediated thrombolysis under balloon catheter-assisted magnetic actuation with x-ray fluoroscopy imaging system (CMAFIS). By deploying tPA-nbot transcatheter to the vicinity of the thrombus, the tPA-nbot microswarms were magnetically actuated to the blood clot at the submillimeter vessels with high precision. After thrombolysis, the tPA-nbots can be retrieved via the CMAFIS, as demonstrated in ex vivo organ of human placenta and in vivo carotid artery of rabbit. The proposed colloidal microswarm provides a promising robotic tool with high spatial precision for enhanced thrombolysis with low side effects.
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Affiliation(s)
- Ben Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China
| | - Zhipeng Ning
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Shuai Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Zifeng Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
| | - Bonaventure Yiu Ming Ip
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China
| | - Ho Ko
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China
| | | | - Ming Qiu
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China
| | - Jianguo Han
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China
| | - Philip Wai Yan Chiu
- Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China
- Department of Surgery, CUHK, Sha Tin, N.T., Hong Kong, China
| | - Joseph Jao Yiu Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore, Singapore
| | - Shiwei Du
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China
| | - Thomas Wai Hong Leung
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China
| | - Simon Chun Ho Yu
- Department of Imaging and Interventional Radiology, CUHK, Sha Tin, N.T., Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China
- Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China
- Department of Surgery, CUHK, Sha Tin, N.T., Hong Kong, China
- CUHK T Stone Robotics Institute, CUHK, Sha Tin, N.T., Hong Kong, China
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Sun M, Yang S, Jiang J, Jiang S, Sitti M, Zhang L. Bioinspired self-assembled colloidal collectives drifting in three dimensions underwater. Sci Adv 2023; 9:eadj4201. [PMID: 37948530 PMCID: PMC10637755 DOI: 10.1126/sciadv.adj4201] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/26/2023] [Accepted: 10/10/2023] [Indexed: 11/12/2023]
Abstract
Active matter systems feature a series of unique behaviors, including the emergence of collective self-assembly structures and collective migration. However, realizing collective entities formed by synthetic active matter in spaces without wall-bounded support makes it challenging to perform three-dimensional (3D) locomotion without dispersion. Inspired by the migration mechanism of plankton, we propose a bimodal actuation strategy in the artificial colloidal systems, i.e., combining magnetic and optical fields. The magnetic field triggers the self-assembly of magnetic colloidal particles to form a colloidal collective, maintaining numerous colloids as a dynamically stable entity. The optical field allows the colloidal collectives to generate convective flow through the photothermal effect, enabling them to use fluidic currents for 3D drifting. The collectives can perform 3D locomotion underwater, transit between the water-air interface, and have a controlled motion on the water surface. Our study provides insights into designing smart devices and materials, offering strategies for developing synthetic active matter capable of controllable collective movement in 3D space.
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Affiliation(s)
- Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Physical Intelligence Department, Max Planck Institute for Instelligent Systems, Heisenbergstr. 3, Stuttgart 70569, Germany
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Shuai Jiang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Instelligent Systems, Heisenbergstr. 3, Stuttgart 70569, Germany
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, China
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