Conical Hollow Microhelices with Superior Swimming Capabilities for Targeted Cargo Delivery

Asymmetric Laser Enabled High-Throughput Manufacturing of Multiform Magnetically Actuated Graphene-Based Robots for Various Water Depths

Achieving large-scale and facile manufacturing for diverse small-scale robots is critical in the field of small-scale robots. At present, conventional manufacturing methods have limitations in terms of efficiency, environmental friendliness, and operability. In particular, it is difficult to facilely process multiform small-scale robots through a single processing technology only. In this work, with the introduction of an asymmetric laser, multiforms of graphene, including powders, helical, and sheet, were successfully fabricated by simply adjusting laser processing parameters only. This allowed the development of multiform graphene-based robots capable of being actuated in various water depths, including underwater swarm, suspended helical, and floated sheet robots. Importantly, such robots can move smoothly in various trajectories under magnetic fields, including simple geometrical shapes and complicated words, demonstrating good maneuverability. Moreover, this manufacturing method enables the efficient production of multiform robots in different sizes, from 5 to 48 units, within 1 min. The proposed asymmetric laser technology is possible to provide a new means for manufacturing high-performance small-scale robots at high throughput.

Biohybrid microrobots with a Spirulina skeleton and MOF skin for efficient organic pollutant adsorption

Wastewater treatment is a key component in maintaining environmental health and sustainable urban life, and the rapid development of micro/nanotechnology has opened up new avenues for more efficient treatment processes. This work developed a novel biohybrid microrobot for the efficient adsorption of a series of organic pollutants in water-the microrobot with a biodegradable Spirulina skeleton and biocompatible ZIF-8 skin. The microrobot not only has a low-cost and simple preparation method but also shows attractive propulsion in various contaminant solutions (including rhodamine B, methylene blue, and methyl orange) under a low-intensity (3 mT) rotating magnetic field and has excellent directional control. Our research results show that the biohybrid microrobot can significantly improve the adsorption performance of various organic pollutants in the moving state, thereby improving the purification rate. In addition, the microrobot also has good swarming motion control to achieve directional and efficient adsorption of organic pollutants in the microspace. Such Spirulina@ZIF-8 microrobots can be prepared in large quantities as highly controllable, biocompatible, and wireless tools, showing great potential for water treatment.

Two-photon absorption under few-photon irradiation for optical nanoprinting

Two-photon absorption (TPA) has been widely applied for three-dimensional imaging and nanoprinting; however, the efficiency of TPA imaging and nanoprinting using laser scanning techniques is limited by its trade-off to reach high resolution. Here, we unveil a concept, few-photon irradiated TPA, supported by a spatiotemporal model based on the principle of wave-particle duality of light. This model describes the precise time-dependent mechanism of TPA under ultralow photon irradiance with a single tightly focused femtosecond laser pulse. We demonstrate that a feature size of 26 nm (1/20 λ) and a pattern period of 0.41 λ with a laser wavelength of 517 nm can be achieved by performing digital optical projection nanolithography under few-photon irradiation using the in-situ multiple exposure technique, improving printing efficiency by 5 orders of magnitude. We show deeper insights into the TPA mechanism and encourage the exploration of potential applications for TPA in nanoprinting and nanoimaging.

Going for a Spin: Simultaneously Pulling and Spinning Microrods Speeds Transport through Collagen Matrices

Magnetic drug targeting requires particles to move through the complex viscoelastic environments of tissues and biological fluids. However, these environments often inhibit particle motion, making it difficult for magnetically guided particles to reach their intended targets. Magnetic microrods are easy to grow and manipulate, but experience significant hindrance to transport in complex, tortuous, tissue-like environments. Simple magnetic force translation ("pulling" or "pushing") is often insufficient or inefficient for long-range transport of microrods through such environments. Designing microrods capable of rotating while being pulled with a magnetic force may enable rods to overcome hindrances to transport. We present microrods with orthogonally magnetized segments, actuated by simultaneous magnetic force and magnetic torque. By simultaneously pulling and rotating our rods we create smooth-surfaced magnetic drilling microrods (MDMRs) capable of enhanced motion through protein-dense biopolymers. We model magnetic force and torque on MDMRs, characterize MDMR dynamics during transport, and demonstrate enhanced MDMR transport through protein-dense matrices in vitro.

Constructing conical helices inside carbon nanocones

Molecular dynamics simulations demonstrate that regular conical helices of poly(para-phenylene) (PPP) chains can be constructed inside the confined space of single-walled carbon nanocones (CNCs). The translocation displacement of the PPP chain combined with the change of the system total potential energy including each energy component and structural parameters of the formed conical helix is discussed to deeply explore the microstructure evolution, driving forces and dynamic mechanisms. In addition, the influence of chain length, cone angle, temperature, chain number, linked position of benzene rings and the form of Lennard-Jones potential on the helical encapsulation is further studied. The proposed method may provide a new way for constructing regular conical helices from polymer chains, with potential applications in electronic nanodevices.

Helical Micropillar Processed by One-Step 3D Printing for Solar Thermal Conversion

Solar thermal utilization has broad applications in a variety of fields. Currently, maximizing the photo-thermal conversion efficiency remains a research hotspot in this field. The exquisite plant structures in nature have greatly inspired human structural design across many domains. In this work, inspired by the photosynthesis of helical grass, a HM type solar absorber made in graphene-based composite sheets is used for solar thermal conversion. The unique design promoted more effective solar energy into thermal energy through multiple reflections and scattering of solar photons. Notably, the Helical Micropillar (HM) is fabricated using a one-step projection 3D printing process based on a special 3D helical beam. As a result, the solar absorber's absorbance value can reach 0.83 in the 400-2500 nm range, and the surface temperature increased by ≈128.3% relative to the original temperature. The temperature rise rate of the solar absorber reached 22.4 °C min-1, demonstrating the significant potential of the HM in practical applications of solar thermal energy collection and utilization.

Design and batch fabrication of anisotropic microparticles toward small-scale robots using microfluidics: recent advances

Small-scale robots with shape anisotropy have garnered significant scientific interest due to their enhanced mobility and precise control in recent years. Traditionally, these miniature robots are manufactured using established techniques such as molding, 3D printing, and microfabrication. However, the advent of microfluidics in recent years has emerged as a promising manufacturing technology, capitalizing on the precise and dynamic manipulation of fluids at the microscale to fabricate various complex-shaped anisotropic particles. This offers a versatile and controlled platform, enabling the efficient fabrication of small-scale robots with tailored morphologies and advanced functionalities from the microfluidic-derived anisotropic microparticles at high throughput. This review highlights the recent advances in the microfluidic fabrication of anisotropic microparticles and their potential applications in small-scale robots. In this review, the term 'small-scale robots' broadly encompasses micromotors endowed with capabilities for locomotion and manipulation. Firstly, the fundamental strategies for liquid template formation and the methodologies for generating anisotropic microparticles within the microfluidic system are briefly introduced. Subsequently, the functionality of shape-anisotropic particles in forming components for small-scale robots and actuation mechanisms are emphasized. Attention is then directed towards the diverse applications of these microparticle-derived microrobots in a variety of fields, including pollution remediation, cell microcarriers, drug delivery, and biofilm eradication. Finally, we discuss future directions for the fabrication and development of miniature robots from microfluidics, shedding light on the evolving landscape of this field.

Nanoarchitectonic Engineering of Thermal-Responsive Magnetic Nanorobot Collectives for Intracranial Aneurysm Therapy

Stent-assisted coiling is a main treatment modality for intracranial aneurysms (IAs) in clinics, but critical challenges remain to be overcome, such as exogenous implant-induced stenosis and reliance on antiplatelet agents. Herein, an endovascular approach is reported for IA therapy without stent grafting or microcatheter shaping, enabled by active delivery of thrombin (Th) to target aneurysms using innovative phase-change material (PCM)-coated magnetite-thrombin (Fe3O4-Th@PCM) FTP nanorobots. The nanorobots are controlled by an integrated actuation system of dynamic torque-force hybrid magnetic fields. With robust intravascular navigation guided by real-time ultrasound imaging, nanorobotic collectives can effectively accumulate and retain in model aneurysms constructed in vivo, followed by controlled release of the encapsulated Th for rapid occlusion of the aneurysm upon melting the protective PCM (thermally responsive in a tunable manner) through focused magnetic hyperthermia. Complete and stable aneurysm embolization is confirmed by postoperative examination and 2-week postembolization follow-up using digital subtraction angiography (DSA), contrast-enhanced ultrasound (CEUS), and histological analysis. The safety of the embolization therapy is assessed through biocompatibility evaluation and histopathology assays. This strategy, seamlessly integrating secure drug packaging, agile magnetic actuation, and clinical interventional imaging, avoids possible exogenous implant rejection, circumvents cumbersome microcatheter shaping, and offers a promising option for IA therapy.

Comprehensive modeling of corkscrew motion in micro-/nano-robots with general helical structures

Micro-/nano-robots (MNRs) have impressive potential in minimally invasive targeted therapeutics through blood vessels, which has disruptive impact to improving human health. However, the clinical use of MNRs has yet to happen due to intrinsic limitations, such as overcoming blood flow. These bottlenecks have not been empirically solved. To tackle them, a full understanding of MNR behaviors is necessary as the first step. The common movement principle of MNRs is corkscrew motion with a helical structure. The existing dynamic model is only applicable to standard helical MNRs. In this paper, we propose a dynamic model for general MNRs without structure limitations. Comprehensive simulations and experiments were conducted, which shows the validity and accuracy of our model. Such a model can serve as a reliable basis for the design, optimization, and control of MNRs and as a powerful tool for gaining fluid dynamic insights, thus accelerating the development of the field.

Femtosecond laser writing of ant-inspired reconfigurable microbot collectives

Microbot collectives can cooperate to accomplish complex tasks that are difficult for a single individual. However, various force-induced microbot collectives maintained by weak magnetic, light, and electric fields still face challenges such as unstable connections, the need for a continuous external stimuli source, and imprecise individual control. Here, we construct magnetic and light-driven ant microbot collectives capable of reconfiguring multiple assembled architectures with robustness. This methodology utilizes a flexible two-photon polymerization strategy to fabricate microbots consisting of magnetic photoresist, hydrogel, and metal nanoparticles. Under the cooperation of magnetic and light fields, the microbots can reversibly and selectively assemble (e.g., 90° assembly and 180° assembly) into various morphologies. Moreover, we demonstrate the ability of assembled microbots to cross a one-body-length gap and their adaptive capability to move through a constriction and transport microcargo. Our strategy will broaden the abilities of clustered microbots, including gap traversal, micro-object manipulation, and drug delivery.

3D-printed microrobots for biomedical applications

Microrobots, which can perform tasks in difficult-to-reach parts of the human body under their own or external power supply, are potential tools for biomedical applications, such as drug delivery, microsurgery, imaging and monitoring, tissue engineering, and sensors and actuators. Compared with traditional fabrication methods for microrobots, recent improvements in 3D printers enable them to print high-precision microrobots, breaking through the limitations of traditional micromanufacturing technologies that require high skills for operators and greatly shortening the design-to-production cycle. Here, this review first introduces typical 3D printing technologies used in microrobot manufacturing. Then, the structures of microrobots with different functions and application scenarios are discussed. Next, we summarize the materials (body materials, propulsion materials and intelligent materials) used in 3D microrobot manufacturing to complete body construction and realize biomedical applications (e.g., drug delivery, imaging and monitoring). Finally, the challenges and future prospects of 3D printed microrobots in biomedical applications are discussed in terms of materials, manufacturing and advancement.

Biorobotic Drug Delivery for Biomedical Applications

Despite extensive efforts, current drug-delivery systems face biological barriers and difficulties in bench-to-clinical use. Biomedical robotic systems have emerged as a new strategy for drug delivery because of their innovative diminutive engines. These motors enable the biorobots to move independently rather than relying on body fluids. The main components of biorobots are engines controlled by external stimuli, chemical reactions, and biological responses. Many biorobot designs are inspired by blood cells or microorganisms that possess innate swimming abilities and can incorporate living materials into their structures. This review explores the mechanisms of biorobot locomotion, achievements in robotic drug delivery, obstacles, and the perspectives of translational research.

Study on Structural Design and Motion Characteristics of Magnetic Helical Soft Microrobots with Drug-Carrying Function

Magnetic soft microrobots have a wide range of applications in targeted drug therapy, cell manipulation, and other aspects. Currently, the research on magnetic soft microrobots is still in the exploratory stage, and most of the research focuses on a single helical structure, which has limited space to perform drug-carrying tasks efficiently and cannot satisfy specific medical goals in terms of propulsion speed. Therefore, balancing the motion speed and drug-carrying performance is a current challenge to overcome. In this paper, a magnetically controlled cone-helix soft microrobot structure with a drug-carrying function is proposed, its helical propulsion mechanism is deduced, a dynamical model is constructed, and the microrobot structure is prepared using femtosecond laser two-photon polymerization three-dimensional printing technology for magnetic drive control experiments. The results show that under the premise of ensuring sufficient drug-carrying space, the microrobot structure proposed in this paper can realize helical propulsion quickly and stably, and the speed of motion increases with increases in the frequency of the rotating magnetic field. The microrobot with a larger cavity diameter and a larger helical pitch exhibits faster rotary advancement speed, while the microrobot with a smaller helical height and a smaller helical cone angle outperforms other structures with the same feature sizes. The microrobot with a cone angle of 0.2 rad, a helical pitch of 100 µm, a helical height of 220 µm, and a cavity diameter of 80 µm achieves a maximum longitudinal motion speed of 390 µm/s.

Lightweight and drift-free magnetically actuated millirobots via asymmetric laser-induced graphene

Millirobots must have low cost, efficient locomotion, and the ability to track target trajectories precisely if they are to be widely deployed. With current materials and fabrication methods, achieving all of these features in one millirobot remains difficult. We develop a series of graphene-based helical millirobots by introducing asymmetric light pattern distortion to a laser-induced polymer-to-graphene conversion process; this distortion resulted in the spontaneous twisting and peeling off of graphene sheets from the polymer substrate. The lightweight nature of graphene in combine with the laser-induced porous microstructure provides a millirobot scaffold with a low density and high surface hydrophobicity. Magnetically driven nickel-coated graphene-based helical millirobots with rapid locomotion, excellent trajectory tracking, and precise drug delivery ability were fabricated from the scaffold. Importantly, such high-performance millirobots are fabricated at a speed of 77 scaffolds per second, demonstrating their potential in high-throughput and large-scale production. By using drug delivery for gastric cancer treatment as an example, we demonstrate the advantages of the graphene-based helical millirobots in terms of their long-distance locomotion and drug transport in a physiological environment. This study demonstrates the potential of the graphene-based helical millirobots to meet performance, versatility, scalability, and cost-effectiveness requirements simultaneously.

Magnetic Microrobots for In Vivo Cargo Delivery: A Review

Magnetic microrobots, with their small size and agile maneuverability, are well-suited for navigating the intricate and confined spaces within the human body. In vivo cargo delivery within the context of microrobotics involves the use of microrobots to transport and administer drugs and cells directly to the targeted regions within a living organism. The principal aim is to enhance the precision, efficiency, and safety of therapeutic interventions. Despite their potential, there is a shortage of comprehensive reviews on the use of magnetic microrobots for in vivo cargo delivery from both research and engineering perspectives, particularly those published after 2019. This review addresses this gap by disentangling recent advancements in magnetic microrobots for in vivo cargo delivery. It summarizes their actuation platforms, structural designs, cargo loading and release methods, tracking methods, navigation algorithms, and degradation and retrieval methods. Finally, it highlights potential research directions. This review aims to provide a comprehensive summary of the current landscape of magnetic microrobot technologies for in vivo cargo delivery. It highlights their present implementation methods, capabilities, and prospective research directions. The review also examines significant innovations and inherent challenges in biomedical applications.

Femtosecond Laser Fabrication of Three-Dimensional Bubble-Propelled Microrotors for Multicomponent Mechanical Transmission

Inspired by the reverse thrust generated by fuel injection, micromachines that are self-propelled by bubble ejection are developed, such as microrods, microtubes, and microspheres. However, controlling bubble ejection sites to build micromachines with programmable actuation and further enabling mechanical transmission remain challenging. Here, bubble-propelled mechanical microsystems are constructed by proposing a multimaterial femtosecond laser processing method, consisting of direct laser writing and selective laser metal reduction. The polymer frame of the microsystems is first printed, followed by the deposition of catalytic platinum into the desired local site of the microsystems by laser reduction. With this method, a variety of designable microrotors with selective bubble ejection sites are realized, which enable excellent mechanical transmission systems composed of single and multiple mechanical components, including a coupler, a crank slider, and a crank rocker system. We believe the presented bubble-propelled mechanical microsystems could be extended to applications in microrobotics, microfluidics, and microsensors.

High-performance magnetic metal microrobot prepared by a two-photon polymerization and sintering method

Magnetically-actuated microrobots (MARs) exhibit great potential in biomedicine owing to their precise navigation, wireless actuation and remote operation in confined space. However, most previously explored MARs unfold the drawback of hypodynamic magnetic torque due to low magnetic content, leading to their limited applications in controlled locomotion in fast-flowing fluid and massive cargo carrying to the target position. Here, we report a high-performance pure-nickel magnetically-actuated microrobot (Ni-MAR), prepared by a femtosecond laser polymerization followed by sintering method. Our Ni-MAR possesses a high magnetic content (∼90 wt%), thus resulting in enhanced magnetic torque under low-strength rotating magnetic fields, which enables the microrobot to exhibit high-speed swimming and superior cargo carrying. The maximum velocity of our Ni-MAR, 12.5 body lengths per second, outperforms the velocity of traditional helical MARs. The high-speed Ni-MAR is capable of maintaining controlled locomotion in fast-flowing fluid. Moreover, the Ni-MAR with massive cargo carrying capability can push a 200-times heavier microcube with translation and rotation motion. A single cell and multiple cells can be transported facilely by a single Ni-MAR to the target position. This work provides a scheme for fabricating high-performance magnetic microrobots, which holds great promise for targeted therapy and drug delivery in vivo.

Sub-diffraction optical beam lithography based on a center-non-zero depletion laser

Photoinhibition (PI) mechanisms have been introduced in nanofabrication which allows breaking the diffraction limit by large factors. Donut-shaped laser is usually selected as a depletion beam to reduce linewidth, but the parasitic process has made the results of the experiment less than expected. As a result, the linewidth is difficult to achieve below 50 nm with 780 nm femtosecond and 532 nm continuous-wave lasers. Here, we propose a new, to the best of our knowledge, method based on a center-non-zero (CNZ) depletion laser to further reduce linewidth. By constructing a smaller zone of action under the condition of keeping the maximum depletion intensity constant, a minimum linewidth of 30 nm (λ / 26) was achieved. Two ways to construct CNZ spots were discussed and experimented, and the results show the advantages of our method to reduce the parasitic process to further improve the writing resolution.

Biohybrid magnetic microrobots: An intriguing and promising platform in biomedicine

Biohybrid magnetic microrobots (BMMs) have emerged as an exciting class of microrobots and have been considered as a promising platform in biomedicine. Many microorganisms and body's own cells show intriguing properties, such as morphological characteristics, biosafety, and taxis abilities (e.g., chemotaxis, aerotaxis), which have made them attractive for the fabrication of microrobots. For remote controllability and sustainable actuation, magnetic components are usually incorporated onto these biological entities, and other functionalized non-biological components (e.g., therapeutic agents) are also included for specific applications. This review highlights the latest developments in BMMs with a focus on their biomedical applications. It starts by introducing the fundamental understanding of the propulsion system at the microscale in a magnetically driven manner, followed by a summary of diverse BMMs based on different microorganisms and body's own cells along with their relevant applications. Finally, the review discusses how BMMs contribute to the advancements of microrobots, the current challenges of using BMMs in practical clinical settings, and the future perspectives of this exciting field. STATEMENT OF SIGNIFICANCE: Biohybrid magnetic microrobots (BMMs), composed of biological entities and functional parts, hold great potential and serve as a novel and promising platform for biomedical applications such as targeted drug delivery. This review comprehensively summarizes the recent advancements in BMMs for biomedical applications, mainly focused on the representative propulsion modalities in a magnetically propelled manner and diverse designs of BMMs based on different biological entities, including microorganisms and body's own cells. We hope this review can provide ideas for the future design, development, and innovation of micro/nanorobots in the field of biomedicine.

Optical force brush enabled free-space painting of 4D functional structures

Femtosecond laser-based technique called two-photon polymerization (TPP) has emerged as a powerful tool for nanofabrication and integrating nanomaterials. However, challenges persist in existing three-dimensional (3D) nanoprinting methods, such as slow layer-by-layer printing and limited material options due to laser-matter interactions. Here, we present an approach to 3D nanoprinting called free-space nanopainting, using an optical force brush (OFB). OFB enables precise spatial writing paths, instantaneous adjustment of linewidths and concentrations, and unrestricted resolution beyond optical limits. OFB allows rapid aggregation and solidification of radicals, resulting in narrower lines at lower polymerization thresholds and enhanced sensitivity to laser energy. This advancement enables high-accuracy free-space painting, analogous to Chinese brush painting on paper. The printing speed is increased substantially compared to layer-by-layer methods, from 100 to 1000 times faster. We successfully printed various bionic muscle models derived from 4D nanostructures with tunable mechanical properties, responsive to electrical signals, and excellent biocompatibility.

Light-triggered multi-joint microactuator fabricated by two-in-one femtosecond laser writing

Inspired by the flexible joints of humans, actuators containing soft joints have been developed for various applications, including soft grippers, artificial muscles, and wearable devices. However, integrating multiple microjoints into soft robots at the micrometer scale to achieve multi-deformation modalities remains challenging. Here, we propose a two-in-one femtosecond laser writing strategy to fabricate microjoints composed of hydrogel and metal nanoparticles, and develop multi-joint microactuators with multi-deformation modalities (>10), requiring short response time (30 ms) and low actuation power (<10 mW) to achieve deformation. Besides, independent joint deformation control and linkage of multi-joint deformation, including co-planar and spatial linkage, enables the microactuator to reconstruct a variety of complex human-like modalities. Finally, as a proof of concept, the collection of multiple microcargos at different locations is achieved by a double-joint micro robotic arm. Our microactuators with multiple modalities will bring many potential application opportunities in microcargo collection, microfluid operation, and cell manipulation.

The application of nanomedicine in clinical settings

As nanotechnology develops in the fields of mechanical engineering, electrical engineering, information and communication, and medical care, it has shown great promises. In recent years, medical nanorobots have made significant progress in terms of the selection of materials, fabrication methods, driving force sources, and clinical applications, such as nanomedicine. It involves bypassing biological tissues and delivering drugs directly to lesions and target cells using nanorobots, thus increasing concentration. It has also proved useful for monitoring disease progression, complementary diagnosis, and minimally invasive surgery. Also, we examine the development of nanomedicine and its applications in medicine, focusing on the use of nanomedicine in the treatment of various major diseases, including how they are generalized and how they are modified. The purpose of this review is to provide a summary and discussion of current research for the future development in nanomedicine.

Microfluidic Approaches for Microactuators: From Fabrication, Actuation, to Functionalization

Microactuators can autonomously convert external energy into specific mechanical motions. With the feature sizes varying from the micrometer to millimeter scale, microactuators offer many operation and control possibilities for miniaturized devices. In recent years, advanced microfluidic techniques have revolutionized the fabrication, actuation, and functionalization of microactuators. Microfluidics can not only facilitate fabrication with continuously changing materials but also deliver various signals to stimulate the microactuators as desired, and consequently improve microfluidic chips with multiple functions. Herein, this cross-field that systematically correlates microactuator properties and microfluidic functions is comprehensively reviewed. The fabrication strategies are classified into two types according to the flow state of the microfluids: stop-flow and continuous-flow prototyping. The working mechanism of microactuators in microfluidic chips is discussed in detail. Finally, the applications of microactuator-enriched functional chips, which include tunable imaging devices, micromanipulation tools, micromotors, and microsensors, are summarized. The existing challenges and future perspectives are also discussed. It is believed that with the rapid progress of this cutting-edge field, intelligent microsystems may realize high-throughput manipulation, characterization, and analysis of tiny objects and find broad applications in various fields, such as tissue engineering, micro/nanorobotics, and analytical devices.

Multi-Focal Laser Direct Writing through Spatial Light Modulation Guided by Scalable Vector Graphics

Multi-focal laser direct writing (LDW) based on phase-only spatial light modulation (SLM) can realize flexible and parallel nanofabrication with high-throughput potential. In this investigation, a novel approach of combining two-photon absorption, SLM, and vector path-guided by scalable vector graphics (SVGs), termed SVG-guided SLM LDW, was developed and preliminarily tested for fast, flexible, and parallel nanofabrication. Three laser focuses were independently controlled with different paths, which were optimized according to the SVG to improve fabrication and promote time efficiency. The minimum structure width could be as low as 81 nm. Accompanied by a translation stage, a carp structure of 18.10 μm × 24.56 μm was fabricated. This method shows the possibility of developing LDW techniques toward fully electrical systems, and provides a potential way to efficiently engrave complex structures on nanoscales.

First-order statistics of intensity and phase in Laguerre-Gauss speckles

Laguerre-Gaussian (LG) beams are characterized by an azimuthal index or topological charge (m), associated with the orbital angular momentum, and by a radial index (p), which represents the number of the rings in the intensity distribution. We present a detailed, systematic study of the first-order phase statistics of the speckle fields created when LG beams of different order interact with random phase screens with different optical roughness. The phase properties of the LG speckle fields are studied in both the Fresnel and the Fraunhofer regimes using the equiprobability density ellipse formalism such that analytical expressions can be derived for the phase statistics.

2D Magnetic Microswimmers for Targeted Cell Transport and 3D Cell Culture Structure Construction

Cell delivery using magnetic microswimmers is a promising tool for targeted therapy. However, it remains challenging to rapidly and uniformly manufacture cell-loaded microswimmers that can be assembled into cell-supporting structures at diseased sites. Here, rapid and uniform manufacturable 2D magnetic achiral microswimmers with pores were fabricated to deliver bone marrow mesenchymal stem cells (BMSCs) to regenerate articular-damaged cartilage. Under actuation with magnetic fields, the BMSC-loaded microswimmers take advantage of the achiral structure to exhibit rolling or swimming motions to travel on smooth and rough surfaces, up inclined planes, or in the bulk fluid. Cell viability, proliferation, and differentiation tests performed days after cell seeding verified the microswimmers' biocompatibility. Long-distance targeting and in situ assemblies into 3D cell-supporting structures with BMSC-loaded microswimmers were demonstrated using a knee model and U-shaped wells. Overall, combining the advantages of preparing an achiral 2D structured microswimmer with magnetically driven motility results in a platform for cell transport and constructing 3D cell cultures that can improve cell delivery at lesion sites for biomedical applications.

Magnetically driven micro-optical choppers fabricated by two-photon polymerization

In this Letter, a series of magnetically driven micro-optical choppers based on customized photoresist were fabricated by two-photon polymerization (TPP) technology. Synthetic Fe₃O₄ nanoparticles (NPs) were modified and dispersed in the original photoresist to achieve magnetic field response. After accurately formulating a magnetic photoresist containing Rhodamine B to reduce the light transmittance, four micro-optical choppers with different slot widths were printed using optimized processing parameters. The micro-optical choppers were remotely manipulated to rotate by the external magnetic field. More importantly, the function demonstration of the micro-optical choppers with an excellent chopping effect was achieved at a given light wavelength of 515 nm. The magnetically driven micro-optical choppers provide a new approach, to the best of our knowledge, for the fabrication of external field-responsive optical components.

Emerging applications of femtosecond laser fabrication in neurobiological research

As a typical micro/nano processing technique, femtosecond laser fabrication provides the opportunity to achieve delicate microstructures. The outstanding advantages, including nanoscale feature size and 3D architecting, can bridge the gap between the complexity of the central nervous system in virto and in vivo. Up to now, various types of microstructures made by femtosecond laser are widely used in the field of neurobiological research. In this mini review, we present the recent advancement of femtosecond laser fabrication and its emerging applications in neurobiology. Typical structures are sorted out from nano, submicron to micron scale, including nanoparticles, micro/nano-actuators, and 3D scaffolds. Then, several functional units applied in neurobiological fields are summarized, such as central nervous system drug carriers, micro/nano robots and cell/tissue scaffolds. Finally, the current challenges and future perspective of integrated neurobiology research platform are discussed.

Fabrication of Chiral 3D Microstructure Using Tightly Focused Multiramp Helico-Conical Optical Beams

Beams with optical vortices are widely used in various fields, including optical communication, optical manipulation and trapping, and, especially in recent years, in the processing of nanoscale structures. However, circular vortex beams are difficult to use for the processing of chiral micro and nanostructures. This paper introduces a multiramp helical-conical beam that can produce a three-dimensional spiral light field in a tightly focused system. Using this spiral light beam and the two-photon direct writing technique, micro-nano structures with chiral characteristics in space can be directly written under a single exposure. The fabrication efficiency is more than 20 times higher than the conventional point-by-point writing strategy. The tightly focused properties of the light field were utilized to analyze the field-dependent properties of the micro-nano structure, such as the number of multiramp mixed screw-edge dislocations. Our results enrich the means of two-photon polymerization technology and provide a simple and stable way for the micromachining of chiral microstructures, which may have a wide range of applications in optical tweezers, optical communications, and metasurfaces.

Aligned Magnetic Nanocomposites for Modularized and Recyclable Soft Microrobots

Creating reconfigurable and recyclable soft microrobots that can execute multimodal locomotion has been a challenge due to the difficulties in material processing and structure engineering at a small scale. Here, we propose a facile technique to manufacture diverse soft microrobots (∼100 μm in all dimensions) by mechanically assembling modular magnetic microactuators into different three-dimensional (3D) configurations. The module is composed of a cubic micropillar supported on a square substrate, both made of elastomer matrix embedded with prealigned magnetic nanoparticle chains. By directionally bonding the sides or backs of identical modules together, we demonstrate that assemblies from only two and four modules can execute a wide range of locomotion, including gripping microscale objects, crawling and crossing solid obstacles, swimming within narrow and tortuous microchannels, and rolling along flat and inclined surfaces, upon applying proper magnetic fields. The assembled microrobots can additionally perform pick-transfer-place and cargo-release tasks at the microscale. More importantly, like the game of block-building, the microrobots can be disassembled back to separate modules and then reassembled to other configurations as demanded. The present study not only provides a versatile and economic manufacturing technique for reconfigurable and recyclable soft microrobots, enabling unlimited design space for diverse robotic locomotion from limited materials and module structures, but also extends the functionality and dexterity of existing soft robots to microscale that should facilitate practical applications at such small scale.

Rapid and Multimaterial 4D Printing of Shape-Morphing Micromachines for Narrow Micronetworks Traversing

Micromachines with high environmental adaptability have the potential to deliver targeted drugs in complex biological networks, such as digestive, neural, and vascular networks. However, the low processing efficiency and single processing material of current 4D printing methods often limit the development and application of shape-morphing micromachines (SMMs). Here, two 4D printing strategies are proposed to fabricate SMMs with pH-responsive hydrogels for complex micro-networks traversing. On the one hand, the 3D vortex light single exposure technique can rapidly fabricate a tubular SMM with controllable size and geometry within 0.1 s. On the other hand, the asymmetric multimaterial direct laser writing (DLW) method is used to fabricate SMMs with designable 3D structures composed of hydrogel and platinum nanoparticles (Pt NPs). Based on the presence of ferroferric oxide (Fe₃ O₄ ) and Pt NPs in the SMMs, efficient magnetic, bubble, and hybrid propulsion modes are achieved. Finally, it is demonstrated that the spatial shape conversion capabilities of these SMMs can be used for narrow micronetworks traversing, which will find potential applications in targeted cargo delivery in microcapillaries.

Encoding Manipulation of DNA-Nanoparticle Assembled Nanorobot Using Independently Charged Array Nanopores

During the past decades, scientists have developed different kinds of nanorobots based on various driving principles to realize controlled manipulation of them for potential applications like medical diagnosis and directed cargo delivery. In order to design a nanorobot with advantages of simple operation and precise control that can enrich the family of intelligent nanorobots, an encoding manipulation method is proposed to control the movement of a DNA-nanoparticle assembled nanorobot by combing electrophoresis and electroosmosis effect in independently charged array nanopores. The nanorobot is composed of one nanoparticle and one or two ssDNAs. ssDNAs act as the legs of the nanorobot. The selective ion transport through charged nanopores can induce cooperation and competition between the electroosmosis and electrophoresis, which is the main power to activate the nanorobot. Thus by simply switching the applied electric field and surface charge density of each nanopore which is defined as the encoded nanopore according to a predetermined strategy, the well-controlled encoding manipulation including capturing, releasing, jumping, and crawling of the nanorobot is realized in this work. The study is expected to realize its value in many interesting applications like drug delivery, nanosurgery, and so on in the near future.

From Light to Structure: Photo Initiators for Radical Two-Photon Polymerization

Two-photon polymerization (2PP) represents a powerful technique for the fabrication of precise three-dimensional structures on a micro- and nanometer scale for various applications. While many review articles are focusing on the used polymeric materials and their application in 2PP, in this review the class of two-photon photo initiators (2PI) used for radical polymerization is discussed in detail. Because the demand for highly efficient 2PI has increased in the last decades, different approaches in designing new efficient 2PIs occurred. This review summarizes the 2PIs known in literature and discusses their absorption behavior under one- and two-photon absorption (2PA) conditions, their two-photon cross sections (σTPA ) as well as their efficiency under 2PP conditions. Here, the photo initiators are grouped depending on their chromophore system (D-π-A-π-D, D-π-D, etc.). Their polymerization efficiencies are evaluated by fabrication windows (FW) depending on different laser intensities and writing speeds.

High-Throughput and Controllable Fabrication of Helical Microfibers by Hydrodynamically Focusing Flow

Due to the unique spiral geometry, different functional helical fibers are fabricated to perform vital tasks, including cargo transportation, medical treatment, cell manipulation, and so on. Although microfluidic techniques are widely used to fabricate helical fibers, the problems of channel blockage and spinning instability have not been well solved, which limits the mass preparation and practical application of spiral microfibers. In addition, the spinning mechanism is simply limited to liquid rope coiling, which has little impact on the design of microfluidic devices. Here, new types of microfluidic devices, which were easy to make and exhibited excellent spiral spinning performance, were designed. It was found that adding a sleeve layer outside the inner core needle in a coaxial microfluidic device could effectively promote the stable formation of helical microfibers. This novel microchannel could fabricate helical microfibers of more than 100 m in length continuously at one time with almost no blockage or deformation, and the key parameters of the fibers could be precisely adjusted. Combined with micro-particle image velocimetry (micro-PIV) measurements, it was confirmed that the improvement in the spinning performances was mainly attributed to the emergence of a focusing flow in the presence of the sleeve layer. After loading magnetic nanoparticles, the helical microfibers exhibited excellent motion manipulation capabilities, which showed great potential for drug delivery, cargo transportation, clogging removal, etc. This new design not only realized the high-throughput fabrication of helical microfibers but also provided deeper insights into the underlying mechanisms of spiral generation and new ideas for the design of microfluidic devices.

Electro-responsive actuators based on graphene

Electro-responsive actuators (ERAs) hold great promise for cutting-edge applications in e-skins, soft robots, unmanned flight, and in vivo surgery devices due to the advantages of fast response, precise control, programmable deformation, and the ease of integration with control circuits. Recently, considering the excellent physical/chemical/mechanical properties (e.g., high carrier mobility, strong mechanical strength, outstanding thermal conductivity, high specific surface area, flexibility, and transparency), graphene and its derivatives have emerged as an appealing material in developing ERAs. In this review, we have summarized the recent advances in graphene-based ERAs. Typical the working mechanisms of graphene ERAs have been introduced. Design principles and working performance of three typical types of graphene ERAs (e.g., electrostatic actuators, electrothermal actuators, and ionic actuators) have been comprehensively summarized. Besides, emerging applications of graphene ERAs, including artificial muscles, bionic robots, human-soft actuators interaction, and other smart devices, have been reviewed. At last, the current challenges and future perspectives of graphene ERAs are discussed.

Environmentally Adaptive Shape-Morphing Microrobots for Localized Cancer Cell Treatment

Microrobots have attracted considerable attention due to their extensive applications in microobject manipulation and targeted drug delivery. To realize more complex micro-/nanocargo manipulation (e.g., encapsulation and release) in biological applications, it is highly desirable to endow microrobots with a shape-morphing adaptation to dynamic environments. Here, environmentally adaptive shape-morphing microrobots (SMMRs) have been developed by programmatically encoding different expansion rates in a pH-responsive hydrogel. Due to a combination with magnetic propulsion, a shape-morphing microcrab (SMMC) is able to perform targeted microparticle delivery, including gripping, transporting, and releasing by "opening-closing" of a claw. As a proof-of-concept demonstration, a shape-morphing microfish (SMMF) is designed to encapsulate a drug (doxorubicin (DOX)) by closing its mouth in phosphate-buffered saline (PBS, pH ∼ 7.4) and release the drug by opening its mouth in a slightly acidic solution (pH < 7). Furthermore, localized HeLa cell treatment in an artificial vascular network is realized by "opening-closing" of the SMMF mouth. With the continuous optimization of size, motion control, and imaging technology, these magnetic SMMRs will provide ideal platforms for complex microcargo operations and on-demand drug release.

Bioinspired soft microrobots actuated by magnetic field

In contrast to traditional large-scale robots, which require complicated mechanical joints and material rigidity, microrobots made of soft materials have exhibited amazing features and great potential for extensive applications, such as minimally invasive surgery. However, microrobots are faced with energy supply and control issues due to the miniaturization. Magnetic field actuation emerges as an appropriate approach to tackle with these issues. This review summarizes the latest progress of biomimetic soft microrobots actuated by magnetic field. Starting with an overview of the soft material and magnetic material adopted in the magnetic field actuated soft microrobots, the various fabrication methods and design structures of soft microrobots are summarized. Subsequently, practical and potential applications, such as targeted therapy, surgical operation, and the transportation of microscopic objects, in the fields of biomedicine and environmental remediation are presented. In the end, some current challenges, and the future development trends of magnetic soft microrobots are briefly discussed. This review is expected to offer a helpful guidance for the new researchers of biomimetic soft microrobots actuated by magnetic field.

Streamlined Mesoporous Silica Nanoparticles with Tunable Curvature from Interfacial Dynamic-Migration Strategy for Nanomotors

Streamlined architectures with a low fluid-resistance coefficient have been receiving great attention in various fields. However, it is still a great challenge to synthesize streamlined architecture with tunable surface curvature at the nanoscale. Herein, we report a facile interfacial dynamic migration strategy for the synthesis of streamlined mesoporous nanotadpoles with varied architectures. These tadpole-like nanoparticles possess a big streamlined head and a slender tail, which exhibit large inner cavities (75-170 nm), high surface areas (424-488 m² g^-1), and uniform mesopore sizes (2.4-3.2 nm). The head curvature of the streamlined mesoporous nanoparticles can be well-tuned from ∼2.96 × 10^-2 to ∼5.56 × 10^-2 nm^-1, and the tail length can also be regulated from ∼30 to ∼650 nm. By selectively loading the Fe₃O₄ catalyst in the cavity of the streamlined silica nanotadpoles, the H₂O₂-driven mesoporous nanomotors were designed. The mesoporous nanomotors with optimized structural parameters exhibit outstanding directionality and a diffusion coefficient of 8.15 μm² s^-1.

Biodegradability of Micro/Nanomotors: Challenges and Opportunities

Micro/nanomotors (MNMs) are miniature machines that can convert chemical or external energy into their own mechanical motions. In previous decades, significant efforts have been made to improve the performance of MNMs. For practical applications, the biodegradability of MNMs is an important aspect that must be considered, particularly in the biomedical field. In this review, recent progress in the biodegradability of MNMs and their potential applications are summarized. Different biodegradable materials, including metals and polymers, or other strategies for the fabrication of MNMs, are presented. Current challenges and future perspectives are also discussed.

Tethered and Untethered 3D Microactuators Fabricated by Two-Photon Polymerization: A Review

Microactuators, which can transform external stimuli into mechanical motion at microscale, have attracted extensive attention because they can be used to construct microelectromechanical systems (MEMS) and/or microrobots, resulting in extensive applications in a large number of fields such as noninvasive surgery, targeted delivery, and biomedical machines. In contrast to classical 2D MEMS devices, 3D microactuators provide a new platform for the research of stimuli-responsive functional devices. However, traditional planar processing techniques based on photolithography are inadequate in the construction of 3D microstructures. To solve this issue, researchers have proposed many strategies, among which 3D laser printing is becoming a prospective technique to create smart devices at the microscale because of its versatility, adjustability, and flexibility. Here, we review the recent progress in stimulus-responsive 3D microactuators fabricated with 3D laser printing depending on different stimuli. Then, an outlook of the design, fabrication, control, and applications of 3D laser-printed microactuators is propounded with the goal of providing a reference for related research.

3D-Printed Multi-Stimuli-Responsive Mobile Micromachines

Magnetically actuated and controlled mobile micromachines have the potential to be a key enabler for various wireless lab-on-a-chip manipulations and minimally invasive targeted therapies. However, their embodied, or physical, task execution capabilities that rely on magnetic programming and control alone can curtail their projected performance and functional diversity. Integration of stimuli-responsive materials with mobile magnetic micromachines can enhance their design toolbox, enabling independently controlled new functional capabilities to be defined. To this end, here, we show three-dimensional (3D) printed size-controllable hydrogel magnetic microscrews and microrollers that respond to changes in magnetic fields, temperature, pH, and divalent cations. We show two-way size-controllable microscrews that can reversibly swell and shrink with temperature, pH, and divalent cations for multiple cycles. We present the spatial adaptation of these microrollers for penetration through narrow channels and their potential for controlled occlusion of small capillaries (30 μm diameter). We further demonstrate one-way size-controllable microscrews that can swell with temperature up to 65% of their initial length. These hydrogel microscrews, once swollen, however, can only be degraded enzymatically for removal. Our results can inspire future applications of 3D- and 4D-printed multifunctional mobile microrobots for precisely targeted obstructive interventions (e.g., embolization) and lab- and organ-on-a-chip manipulations.

Core-Shell Magnetic Micropillars for Reprogrammable Actuation

Stimuli-responsive micro/nanostructures that exhibit not only programmable but also reprogrammable actuation behaviors are highly desirable for various advanced engineering applications (e.g., anticounterfeiting, information encoding, dynamic imaging and display, microrobotics, etc.) but yet to be realized with state-of-the-art technologies. Here we report a concept and a corresponding experimental technique for core-shell magnetic micropillars enabling simultaneously programmable and reprogrammable actuations using a simple magnetic field. The micropillars are composed of elastomeric hollow shells for shaping encapsulated with liquid magnetic nanocomposite resin cores for actuating. The spatial distribution of the magnetic nanoparticles inside the resin channels can be dynamically modulated within individual micropillars, which consequently regulates the magnetomechanical responses of the pillars upon actuation (bending deformation varied near 1 order of magnitude under the same actuation field). We demonstrate that the micropillars with contrasting bending responses can be configured in an arbitrary spatial pattern by direct magnetic writing, and the written pattern can then be easily magnetically erased to facilitate next-round rewriting and reconfiguration. This reprogrammable actuation capability of the micropillars is further demonstrated by their potential applications for rewritable paper and recyclable displays, where various microscale characteristics can be controlled to dynamically appear and disappear at the same or different locations of one single micropillar array. The core-shell magnetic micropillars reported here provide a universal prototype for reprogrammable responsive micro/nanostructures through rational design and facile fabrication from conventional materials.

Light-Driven Magnetic Encoding for Hybrid Magnetic Micromachines

Remote manipulation of a micromachine under an external magnetic field is significant in a variety of applications. However, magnetic manipulation requires that either the target objects or the fluids should be ferromagnetic or superparamagnetic. To extend the applicability, we propose a versatile optical printing technique termed femtosecond laser-directed bubble microprinting (FsLDBM) for on-demand magnetic encoding. Harnessing Marangoni convection, evaporation flow, and capillary force for long-distance delivery, near-field attraction, and printing, respectively, FsLDBM is capable of printing nanomaterials on the solid-state substrate made of arbitrary materials. As a proof-of-concept, we actuate a 3D polymer microturbine under a rotating magnetic field by implementing γ-Fe₂O₃ nanomagnets on its blade. Moreover, we demonstrate the magnetic encoding on a living daphnia and versatile manipulation of the hybrid daphnia. With its general applicability, the FsLDBM approach provides opportunities for magnetic control of general microstructures in a variety of applications, such as smart microbots and biological microsurgery.

Biomedical Micro-/Nanomotors: From Overcoming Biological Barriers to In Vivo Imaging

Self-propelled micro- and nanomotors (MNMs) have shown great potential for applications in the biomedical field, such as active targeted delivery, detoxification, minimally invasive diagnostics, and nanosurgery, owing to their tiny size, autonomous motion, and navigation capacities. To enter the clinic, biomedical MNMs request the biodegradability of their manufacturing materials, the biocompatibility of chemical fuels or externally physical fields, the capability of overcoming various biological barriers (e.g., biofouling, blood flow, blood-brain barrier, cell membrane), and the in vivo visual positioning for autonomous navigation. Herein, the recent advances of synthetic MNMs in overcoming biological barriers and in vivo motion-tracking imaging techniques are highlighted. The challenges and future research priorities are also addressed. With continued attention and innovation, it is believed that, in the future, biomedical MNMs will pave the way to improve the targeted drug delivery efficiency.

Multi-functionalized micro-helical capsule robots with superior loading and releasing capabilities

The functionalization of microrobots is essential for realizing their biomedical application in targeted cargo delivery, but the multifunctional integration of microrobots and controllable cargo delivery remains an enormous challenge at present. This work reports a kind of multi-functionalized micro-helical robot with superior loading capabilities for the controlled release of encapsulants. The magnetic microrobot, with a multilayer capsule helical structure, was developed via multifunctional strategies, including microfluidic synthesis, polyelectrolyte complexation, and surface coating with magnetic nanoparticles. The microrobot is constructed of a helical structure from a calcium alginate microfiber via a co-axial capillary microfluidic system. Then, it is coated with a polyelectrolyte complexation membrane and decorated with magnetic nanoparticles. After multi-step layer-by-layer (LbL) assembly with functionalized units, the structure is converted to a helical capsule possessing a soft and biocompatible polysaccharide alginate/chitosan/alginate shell with Fe₃O₄ nanoparticles decorated on the surface. The functionalized microrobot not only enables wireless steering with rotational locomotion under the control of a six degrees of freedoms (6-DOFs) electromagnetic system at different frequencies, but it also possesses stimuli-responsive abilities owing to the semi-permeable membrane, which can trigger the controllable release of encapsulants in response to ions in the environment. This work provides an efficient strategy for the superior multi-functionalization of microrobots to achieve enhanced locomotion and encapsulation performance for the loading, transport, and targeted delivery of cargo.

Magnetically actuated intelligent hydrogel-based child-parent microrobots for targeted drug delivery

Small intestine-targeted drug delivery by oral administration has aroused the growing interest of researchers. In this work, the child-parent microrobot (CPM) as a vehicle protects the child microrobots (CMs) under a gastric acid environment and releases them in the small intestinal environment. The intelligent hydrogel-based CPMs with sphere, mushroom, red blood cell, and teardrop shapes are fabricated by an extrusion-dripping method. The CPMs package uniform CMs, which are fabricated by designed microfluidic (MF) devices. The fabrication mechanism and tunability of CMs and CPMs with different sizes and shapes are analyzed, modeled, and simulated. The shape of CPM can affect its drug release efficiency and kinetic characteristics. A vision-feedback magnetic driving system (VMDS) actuates and navigates CPM along the predefined path to the destination and continuously releases drug in the simulated intestinal fluid (SIF, a low Reynolds number (Re) regime) using a new motion control method with the tracking-learning-detection (TLD) algorithm. The newly designed CPM combines the advantages of powerful propulsion, good biocompatibility, and remarkable drug loading and release capacity at the intestinal level, which is expected to be competent for oral administration of small intestine-targeted therapy in the future.

Graphene-Based Helical Micromotors Constructed by "Microscale Liquid Rope-Coil Effect" with Microfluidics

Nature provides diverse inspirations for constructing mobile and functionalized micromachines. For example, artificial helical micro-/nanomotors inspired by bacteria flagella that can be precisely steered for various applications have been constructed by utilizing materials with excellent functions. Graphene-based materials show outstanding properties, and, to date, have not been considered to construct helical micromotors and investigate their potential applications. Here, we propose an interesting "microscale liquid rope-coil effect" strategy to stably and simply fabricate graphene oxide-based helical micromotors (GOFHMs) with high throughput by the capillary microfluidics technique. A range of desirable GOFHMs with different pitch, length, and linear diameter are tailored by smart parameter setting in microfluidic system (flow velocity, concentration, and so on). Afterward, graphene-based helical micromotors (GFHMs) are easily acquired by the reduction of GOFHMs and further drying. Actuated by rotating magnetic field, GFHMs show capability to conduct programmed locomotion in a microchannel. As a proof-of-concept demonstration, GFHMs and Ag modified GFHMs have been successfully applied to water remediation, which exhibits excellent removal efficiency of chemical and biological pollutants. Meanwhile, doxorubicin is modified onto GFHMs for the application of drug delivery. Accordingly, we believe that GFHMs have great potential in a variety of fields by modifying graphene with other nanoparticles or functional molecules.

Recent Advances in Microswimmers for Biomedical Applications

Microswimmers are a rapidly developing research area attracting enormous attention because of their many potential applications with high societal value. A particularly promising target for cleverly engineered microswimmers is the field of biomedical applications, where many interesting examples have already been reported for e.g., cargo transport and drug delivery, artificial insemination, sensing, indirect manipulation of cells and other microscopic objects, imaging, and microsurgery. Pioneered only two decades ago, research studies on the use of microswimmers in biomedical applications are currently progressing at an incredibly fast pace. Given the recent nature of the research, there are currently no clinically approved microswimmer uses, and it is likely that several years will yet pass before any clinical uses can become a reality. Nevertheless, current research is laying the foundation for clinical translation, as more and more studies explore various strategies for developing biocompatible and biodegradable microswimmers fueled by in vivo-friendly means. The aim of this review is to provide a summary of the reported biomedical applications of microswimmers, with focus on the most recent advances. Finally, the main considerations and challenges for clinical translation and commercialization are discussed.

Discretized Motion of Surface Walker under a Nonuniform AC Magnetic Field

The motion of peanut-shaped magnetic microrods (PSMRs) with different magnetic moment (M_s) orientations φ_M under a nonuniform AC magnetic field has been investigated systematically. When gradually changing φ_M from 90° (perpendicular to the long axis of the PSMR) to 0°, the motion of the PSMR evolves from rolling to precession, then to tumbling. Systematic investigations on the translational velocity v_p versus the magnitude of the applied magnetic field B and the angular velocity ω_B show that the overall motion of the PSMRs can be divided into four different zones: Brownian motion zone, synchronized zone, asynchronized zone, and oscillation zone. The v_p-ω_B relationship can be rescaled by a critical frequency ω_c, which is determined by M_s, B, and a hydrodynamic term. An intrinsic quality factor q_m for the translational motion of a magnetically driven micro-/nanomotor is defined and is found to range from 0.73 to 13.65 T^-1 in the literature, while the Fe PSMRs in the current work give the highest q_m (= 25.48 T^-1). High speed movies reveal that both the tumbling and precession motions of the PSMRs have a discretized nature. At the instances when the magnetic field changes direction, the PSMR performs an instantaneous rotation and the strong hydrodynamic wall effect would impose a driving force to move the PSMR translationally, and about more than 60% of the time, the PSMR neither rotates nor moves translationally. Based on this discretized motion nature, an analytic expression for q_m is found to be determined by the shape of the surface walker, the hydrodynamics near a wall, and the magnetic properties of the surface walker. This work can help us to better understand the motion of magnetic surface walkers and gain insight into designing better micro-/nanomotors.

Femtosecond laser programmed artificial musculoskeletal systems

Natural musculoskeletal systems have been widely recognized as an advanced robotic model for designing robust yet flexible microbots. However, the development of artificial musculoskeletal systems at micro-nanoscale currently remains a big challenge, since it requires precise assembly of two or more materials of distinct properties into complex 3D micro/nanostructures. In this study, we report femtosecond laser programmed artificial musculoskeletal systems for prototyping 3D microbots, using relatively stiff SU-8 as the skeleton and pH-responsive protein (bovine serum albumin, BSA) as the smart muscle. To realize the programmable integration of the two materials into a 3D configuration, a successive on-chip two-photon polymerization (TPP) strategy that enables structuring two photosensitive materials sequentially within a predesigned configuration was proposed. As a proof-of-concept, we demonstrate a pH-responsive spider microbot and a 3D smart micro-gripper that enables controllable grabbing and releasing. Our strategy provides a universal protocol for directly printing 3D microbots composed of multiple materials.