Trends in Micro-/Nanorobotics: Materials Development, Actuation, Localization, and System Integration for Biomedical Applications

Design and Control of Three-Dimensional Topological Magnetic Fields Using Interwoven Helical Nanostructures

Three-dimensional (3D) magnetic nanostructures are an emerging platform capable of creating complex topological magnetic fields. The control of localized nanoscale magnetic fields is seen to be of importance for diverse areas from bioapplications such as drug delivery, to particle trapping and controlling Majorana Fermions for quantum computing. Three-dimensional geometric confinement and proximity can create tailor-made spin textures not possible in two dimensions. The control of magnetization afforded here can allow the formation of unique stray field textures. Here, we report the creation of reconfigurable 3D topological magnetic field textures induced by an interwoven 3D nanostructure and applied field protocol. These field textures emerge due to distinct DWs formed in this structure and lead to the creation of an antivortex field, a hexapole cusp and a 3D skyrmion field tube of mixed chirality. Our results therefore show a key step toward the design and control of topological magnetic fields on the nanoscale.

From Autonomous Chemical Micro-/Nanomotors to Rationally Engineered Bio-Interfaces

Developing micro-/nanomotors that convert a chemical energy input into a local gradient field and motion is an appealing but challenging task that holds particular promise for the intersection of materials and nanoengineering. Over the past two decades, remarkable advancements have refined these out-of-equilibrium chemically powered micro-/nanomotors, enabling them to orchestrate in situ chemical transformations that dynamically change local environments. The ionic products, radicals, gases, and electric fields from these active materials reshape the microenvironment, paving the way for ecofriendly disease interventions. This review discusses the state-of-the-art reactions that propel these energy-consuming micro-/nanomotors and elucidates the emerging implications of their products on biological systems. Particular emphasis has been placed on their potential for neural modulation, reactive oxygen species (ROS) regulation, synergistic tumor therapy, antibacterial strategies, and tissue regeneration. Collectively, these sketches provide a landscape of therapeutic modalities, heralding a new era of biomedicine. By harnessing the in situ product field of this active matter, we envision a paradigm shift toward active therapies that transcend conventional approaches, promising breakthroughs in disease diagnosis, treatment, and prevention.

Quadrupole Magnetic Tweezers for Precise Cell Transportation

This research introduces a quadrupole magnetic tweezers which can be used for precise cell transportation by actuating magnetic spherical microrobots. The focus of the system is on navigating and manipulating cells within environments characterized by high cellular density. Demonstrating efficacy in moving cells through densely packed cell samples, the system underscores its potential to overcome common obstacles such as inaccurate target delivery and inefficiency. The findings from this study highlight the significant promise that microrobotic technologies hold in advancing medical applications, particularly in precise cell delivery mechanisms, setting a foundation for the future exploration and utilization of medical microrobots.

Integration of Photodiagnosis and Therapy Guided by Micro/Nanorobots

Micro/Nanorobots(MNRs)integrated with phototherapy represent an emerging approach to cancer treatment and hold significant potential for addressing bacterial infections, neurological disorders, cardiovascular diseases, and related conditions. By leveraging micro/nanoscale motor systems in conjunction with phototherapy, these robots enable real-time guidance and monitoring of therapeutic processes, improving drug delivery precision and efficiency. This integration not only enhances the effectiveness of phototherapy but also minimizes damage to surrounding healthy tissues. Nevertheless, clinical translation of MNRs-assisted phototherapy still faces numerous challenges. In this review, recent key developments in the field are comprehensively summarized, the critical roles of MNRs-assisted phototherapy in clinical applications are highlighted, and insights into future directions and the pathway toward large-scale clinical implementation are provided.

Metareview: a survey of active matter reviews

In the past years, the amount of research on active matter has grown extremely rapidly, a fact that is reflected in particular by the existence of more than 1000 reviews on this topic. Moreover, the field has become very diverse, ranging from theoretical studies of the statistical mechanics of active particles to applied work on medical applications of microrobots and from biological systems to artificial swimmers. This makes it very difficult to get an overview over the field as a whole. Here, we provide such an overview in the form of a metareview article that surveys the existing review articles and books on active matter. Thereby, this article provides a useful starting point for finding literature about a specific topic.

Magnetic Micro/nanorobots in Cancer Theranostics: From Designed Fabrication to Diverse Applications

Cancer poses a substantial threat and a serious challenge to public human health, driving the promotion of sophisticated technologies for cancer therapy. While conventional chemotherapy has bottlenecks such as low delivery efficiency, strong toxic side effects, and tumor enrichment barriers, magnetic micro/nanorobots (MNRs) emerge as promising therapeutic candidates that provide alternative strategies for cancer therapy. MNR is a kind of human-made machine that is micro- or nanosized, is reasonably designed, and performs command tasks through self-actuated or externally controlled propulsion mechanisms, which can be potentially applied in cancer theranostics. Here, this review first introduces the components that constitute a typical magnetic MNR, including the body part, the driving part, the control part, the function part, and the sensing part. Subsequently, this review elucidates representative fabrication methods to construct magnetic MNRs from top-down approaches to bottom-up approaches, covering injection molding, self-rolling, melt electrospinning writing, deposition, biotemplate method, lithography, assembling, 3D printing, and chemical synthesis. Furthermore, this review focuses on multiple applications of magnetic MNRs facing cancer diagnosis and treatment, encompassing imaging, quantification, drug release, synergy with typical therapies, cell manipulation, and surgical assistance. Then, this review systematically elaborates on the biocompatibility and biosafety of magnetic MNRs. Finally, the challenges faced by magnetic MNRs are discussed alongside future research directions. This review is intended to provide scientific guidance that may improve the comprehension and cognition of cancer theranostics through the platform of magnetic MNRs, promoting and prospering the practical application development of magnetic MNRs.

Time-Sharing Acoustic Tweezers for Parallel Manipulation of Multiple Particles

Holographic acoustic tweezers have various biomedical applications due to their ability to flexibly and rapidly synthesize acoustic fields for manipulating single or multiple particles. Existing multiparticle manipulation techniques are usually realized by precisely designing the incident wave's phase distribution to synthesize a complex and steady-state acoustic field containing multiple acoustic trapping beams. However, interference effects between multiple beams tend to produce artifacts that trap particles in unwanted positions, limiting accuracy, and the number of manipulated particles. In addition, those techniques can only holistically manipulate multiple particles, namely, lacking parallel working ability. In this study, we proposed a time-sharing acoustic tweezer method to achieve the manipulation of multiple particles by rapidly switching individual trapping beams, minimizing interference artifacts. We applied this method to a 256-element phased-array acoustic tweezer system with designed ultrasonic pulse sequences to synthesize a single focused, twin trap, and vortex beam, enabling the pseudo-parallel manipulation of multiple particles in 3-D space at a beam switching frequency of ≥10 kHz. The experiments on polydimethylsiloxane particles ranging from micrometers to millimeters in diameter demonstrated that up to 96 particles can be successfully trapped and assembled into a 2-D lattice. Different numbers of particles were also patterned into dynamic contours, such as sinusoidal vibration (ten particles) and butterfly flapping (24 particles). In addition, the trapped multiple particles can also be rotated around their respective orbits. The proposed technique improved the number of objects dynamically manipulated in a parallel manner, advancing holographic acoustic tweezers and their applications.

Nano-/Microrobots for Environmental Remediation in the Eyes of Nanoarchitectonics: Toward Engineering on a Single-Atomic Scale

Nano-/microrobots have been demonstrated as an efficient solution for environmental remediation. Their strength lies in their propulsion abilities that allow active "on-the-fly" operation, such as pollutant detection, capture, transport, degradation, and disruption. Another advantage is their versatility, which allows the engineering of highly functional solutions for a specific application. However, the latter advantage can bring complexity to applications; versatility in dimensionality, morphology, materials, surface decorations, and other modifications has a crucial effect on the resulting propulsion abilities, compatibility with the environment, and overall functionality. Synergy between morphology, materials, and surface decorations and its projection to the overall functionality is the object of nanoarchitectonics. Here, we scrutinize the engineering of nano-/microrobots with the eyes of nanoarchitectonics: we list general concepts that help to assess the synergy and limitations of individual procedures in the fabrication processes and their projection to the operation at the macroscale. The nanoarchitectonics of nano-/microrobots is approached from microscopic level, focusing on the dimensionality and morphology, through the nanoscopic level, evaluating the influence of the decoration with nanoparticles and quantum dots, and moving to the decorations on molecular and single-atomic level to allow very fine tuning of the resulting functionality. The presented review aims to lay general concepts and provide an overview of the engineering of functional advanced nano-/microrobot for environmental remediation procedures and beyond.

Advancements in Micro/Nanorobots in Medicine: Design, Actuation, and Transformative Application

In light of the ongoing technological transformation, embracing advancements that foster shared benefits is essential. Nanorobots, a breakthrough within nanotechnology, have demonstrated significant potential in fields such as medicine, where diagnostic and therapeutic applications are the primary focus areas. This review provides a comprehensive overview of nanotechnology, robots, and their evolving role in medical applications, particularly highlighting the use of nanorobots. Various design strategies and operational principles, including sensors, actuators, and nanocontrollers, are discussed based on prior research. Key nanorobot medical applications include biomedical imaging, biosensing, minimally invasive surgery, and targeted drug delivery, each utilizing advanced actuation technologies to enhance precision. The paper further examines recent progress in micro/nanorobot actuation and addresses important considerations for the future, including biocompatibility, control, navigation, delivery, targeting, safety, and ethical implications. This review offers a holistic perspective on how nanorobots can reshape medical practices, paving the way for precision medicine and improved patient outcomes.

Anisotropic Hollow Structure with Chemotaxis Enabling Intratumoral Autonomic Therapy

Effective intratumoral drug penetration is pivotal for successful cancer treatment. However, due to the disrupted capillary networks and poor perfusion in solid tumors, there exist challenges to realize autonomous directional drug penetration and controlled drug release within the tumor. Considering the specificity of glucose within tumor tissue, we draw inspiration from nature and engineer asymmetrical hollow structures exhibiting chemotaxis towards high glucose levels. By incorporating multiple shells into these structures, we enhance the local chemical concentration gradients, thereby improving cellular uptake and precise targeting. The advantages of anisotropic hollow multishell structure (a-HoMS) can be reflected from the diffusion coefficient and directivity, which increase by 73.4 % and 273 % respectively compared to conventional isotropic hollow spheres, achieving the most linear movement while ensuring the speed of movement. Furthermore, the multi-level porosity and temporal-spatial order of a-HoMS enable sequential drug delivery that inhibits angiogenesis with inducing cell apoptosis. After the eradication of localized tumor cells, the a-HoMS can automatically migrate to the alive tumor cells under the glucose gradient, inducing another cycle of drug delivery and chemotaxis, resulting in excellent antitumor efficacy. These anisotropic HoMS demonstrate intelligence, adaptability, and precision in tumor therapy, providing valuable insights for programmable treatment within tissues.

A Lifetime of Catalytic Micro-/Nanomotors

Microscopic and nanoscopic motors, often referred to as micro-/nanomotors, are autonomous devices capable of converting chemical energy from their surroundings into mechanical motion or forces necessary for propulsion. These devices draw inspiration from natural biomolecular motor proteins, and in recent years, synthetic micro-/nanomotors have attracted significant attention. Among these, catalytic micro-/nanomotors have emerged as a prominent area of research. Despite considerable progress in their design and functionality, several obstacles remain, especially regarding the development of biocompatible materials and fuels, the integration of intelligent control systems, and the translation of these motors into practical applications. Thus, a comprehensive understanding of the current advancements in catalytic micro-/nanomotors is critical. This review aims to provide an in-depth overview of their fabrication techniques, propulsion mechanisms, key influencing factors, control methodologies, and potential applications. Furthermore, we examine their physical and hydrodynamic properties in fluidic environments to optimize propulsion efficiency. Lastly, we evaluate their biosafety and biocompatibility to facilitate their use in biological systems. The review also addresses key challenges and proposes potential solutions to advance their practical deployment.

Nanorobot Swarms Made with Laser-Induced Graphene@Fe3O4 Nanoparticles with Controllable Morphology for Targeted Drug Delivery

Magnetic nanorobot swarms can mimic group behaviors in nature and can be flexibly controlled by programmable magnetic fields, thereby having great potential in various applications. This paper presents a novel approach for the rapid and large-scale processing of laser-induced graphene (LIG) @Fe3O4-based-nanorobot swarms utilizing one-step UV laser processing technology. The swarm is capable of forming a variety of reversible morphologies under the magnetic field, including vortex-like and strip-like, as well as the interconversion of these, demonstrating high levels of controllability and flexibility. Moreover, the maximum forward motion speed of the nanorobot swarm is up to 2165 μm/s, and the drug loading and release ability of such a nanorobot swarm is enhanced about 50 times due to the presence of graphene, enabling the nanorobot swarm to show rapid and precise targeted drug delivery. Importantly, by controllable morphology transformation to conform to the complicated requirements for the magnetic field, the drug-loaded swarm can smoothly pass through a width-varying zigzag channel while maintaining 96% of the initial drug-loading, demonstrating that LIG @Fe3O4 NPs-based nanorobot swarm can provide effective and controllable targeted drug delivery in complex passages.

Biohybrid Micro/Nanorobots: Pioneering the Next Generation of Medical Technology

Biohybrid micro/nanorobots hold a great potential for advancing biomedical research. These tiny structures, designed to mimic biological organisms, offer a promising method for targeted drug delivery, tissue engineering, biosensing/imaging, and cancer therapy, among other applications. The integration of biology and robotics opens new possibilities for minimally invasive surgeries and personalized healthcare solutions. The key challenges in the development of biohybrid micro/nanorobots include ensuring biocompatibility, addressing manufacturing scalability, enhancing navigation and localization capabilities, maintaining stability in dynamic biological environments, navigating regulatory hurdles, and successfully translating these innovative technologies into clinical applications. Herein, the recent advancements, challenges, and future perspectives related to the biomedical applications of biohybrid micro/nanorobots are described. Indeed, this review sheds light on the cutting-edge developments in this field, providing researchers with an updated overview of the current potential of biohybrid micro/nanorobots in the realm of biomedical applications, and offering insights into their practical applications. Furthermore, it delves into recent advancements in the field of biohybrid micro/nanorobotics, providing a comprehensive analysis of the current state-of-the-art technologies and their future applications in the biomedical field.

Sweeten the pill: Multi-faceted polysaccharide-based carriers for colorectal cancer treatment

Colorectal cancer (CRC) ranks as the second deadliest cancer globally and the third most common malignant tumor. While surgery remains the primary treatment for CRC, alternative therapies such as chemotherapy, molecular targeted therapy, and immunotherapy are also commonly used. The significant side effects and toxicity of conventional drugs drive the search for novel targeted therapies, including the design of advanced drug delivery systems. Polysaccharide-based biopolymers, with their low toxicity, non-immunogenic behavior, synergistic interactions with other biopolymers, and tissue and cell compatibility, emerge as excellent drug carriers for this application. This review aims to provide an in-depth overview of recent advancements in developing polysaccharide-based biopolymeric carriers for anticancer compounds in the treatment of CRC. We highlight the multifunctional nature of polysaccharides, showcasing their potential as standalone drug carriers or as integral components of intelligent robotic devices for biomedical therapeutic applications. In addition to exploring the opportunities for using carbohydrate polymers in CRC treatment, we address the challenges and failures that may limit their applicability in biomedical research, as well as summarize the recent preclinical and clinical trials, resulting in several commercialization attempts. This comprehensive overview critically summarizes the potential of polysaccharide-based biomaterials in CRC treatment.

Intelligent sensing for the autonomous manipulation of microrobots toward minimally invasive cell surgery

The physiology and pathogenesis of biological cells have drawn enormous research interest. Benefiting from the rapid development of microfabrication and microelectronics, miniaturized robots with a tool size below micrometers have widely been studied for manipulating biological cells in vitro and in vivo. Traditionally, the complex physiological environment and biological fragility require human labor interference to fulfill these tasks, resulting in high risks of irreversible structural or functional damage and even clinical risk. Intelligent sensing devices and approaches have been recently integrated within robotic systems for environment visualization and interaction force control. As a consequence, microrobots can be autonomously manipulated with visual and interaction force feedback, greatly improving accuracy, efficiency, and damage regulation for minimally invasive cell surgery. This review first explores advanced tactile sensing in the aspects of sensing principles, design methodologies, and underlying physics. It also comprehensively discusses recent progress on visual sensing, where the imaging instruments and processing methods are summarized and analyzed. It then introduces autonomous micromanipulation practices utilizing visual and tactile sensing feedback and their corresponding applications in minimally invasive surgery. Finally, this work highlights and discusses the remaining challenges of current robotic micromanipulation and their future directions in clinical trials, providing valuable references about this field.

Application of Micro/Nanomotors in Environmental Remediation: A Review

The advent of self-propelled micro/nanomotors represents a paradigm shift in the field of environmental remediation, offering a significant enhancement in the efficiency of conventional operations through the exploitation of the material phenomenon of active motion. Despite the considerable promise of micro/nanomotors for applications in environmental remediation, there has been a paucity of reviews that have focused on this area. This review identifies the current opportunities and challenges in utilizing micro/nanomotors to enhance contaminant degradation and removal, accelerate bacterial death, or enable dynamic environmental monitoring. It illustrates how mobile reactors or receptors can dramatically increase the speed and efficiency of environmental remediation processes. These studies exemplify the wide range of environmental applications of dynamic micro/nanomotors associated with their continuous motion, force, and function. Finally, the review discusses the challenges of transferring these exciting advances from the experimental scale to larger-scale field applications.

Bioinspired designer DNA NanoGripper for virus sensing and potential inhibition

DNA has shown great biocompatibility, programmable mechanical properties, and precise structural addressability at the nanometer scale, rendering it a material for constructing versatile nanorobots for biomedical applications. Here, we present the design principle, synthesis, and characterization of a DNA nanorobotic hand, called DNA NanoGripper, that contains a palm and four bendable fingers as inspired by naturally evolved human hands, bird claws, and bacteriophages. Each NanoGripper finger consists of three phalanges connected by three rotatable joints that are bendable in response to the binding of other entities. NanoGripper functions are enabled and driven by the interactions between moieties attached to the fingers and their binding partners. We demonstrate that the NanoGripper can be engineered to effectively interact with and capture nanometer-scale objects, including gold nanoparticles, gold NanoUrchins, and SARS-CoV-2 virions. With multiple DNA aptamer nanoswitches programmed to generate a fluorescent signal that is enhanced on a photonic crystal platform, the NanoGripper functions as a highly sensitive biosensor that selectively detects intact SARS-CoV-2 virions in human saliva with a limit of detection of ~100 copies per milliliter, providing a sensitivity equal to that of reverse transcription quantitative polymerase chain reaction (RT-qPCR). Quantified by flow cytometry assays, we demonstrated that the NanoGripper-aptamer complex can effectively block viral entry into the host cells, suggesting its potential for inhibiting virus infections. The design, synthesis, and characterization of a sophisticated nanomachine that can be tailored for specific applications highlight a promising pathway toward feasible and efficient solutions to the detection and potential inhibition of virus infections.

Miniature Robots for Battling Bacterial Infection

Micro/nanorobots have shown great promise for minimally invasive bacterial infection therapy. However, bacterial infections usually form biofilms inside the body by aggregation and adhesion, preventing antibiotic penetration and increasing the likelihood of recurrence. Moreover, a substantial portion of the infection happens in those hard-to-access regions, making delivery of antibiotics to infected sites or tissues difficult and exacerbating the challenge of addressing bacterial infections. Micro/nanorobots feature exceptional mobility and controllability, are able to deliver drugs to specific sites (targeted delivery), and enhance drug penetration. In particular, the emergence of bioinspired microrobot surface design strategies have provided effective alternatives for treating infections, thereby preventing the possible development of bacterial resistance. In this paper, we review the recent advances in design, mechanism, and actuation modalities of micro/nanorobots with exceptional antimicrobial features, highlighting active therapy strategies for bacterial infections and derived complications at various organs, from the laboratory bench to in vivo applications. The current challenges and future research directions in this field are summarized. Those breakthroughs in micro/nanorobots offer a huge potential for clinical translation for bacterial infection therapy.

Modeling straight and circle swimmers: from single swimmer to collective motion

We propose a simple numerical model for the motion of microswimmers based on the immersed boundary method. The swimmer, either pusher or puller, is represented by a distribution of point forces corresponding to the body and the flagellum. We study in particular the minimal model consisting of only three beads (two for the body and one for the flagellum) connected by rigid, inextensible links. When the beads are collinear, standard straight swimming is realized and, in the absence of propulsion, we demonstrate that the model recovers Jeffery's equation for a thin rod. Conversely, by imposing an angle between body and flagellum the swimmer moves on circular orbits. We discuss how two swimmers, in collinear or non-collinear geometry, scatter upon encounter. Finally, we explore the dynamics of a large number of swimmers reacting to one another only via hydrodynamic interactions, and exemplify their complex collective dynamics in both straight and circular swimmers.

Bioinspired microrobots and their biomedical applications

Natural organisms and biological systems provide a rich source of inspiration for the development of bioinspired microrobots. These diminutive automatons, designed to emulate the intricate structures and functions of living entities, extend human capabilities across a spectrum of applications. This review endeavors to amalgamate and elucidate the underpinnings of such bioinspired microrobots design, traversing the interdisciplinary expanse of research. It delineates a spectrum of biomedical applications for bioinspired microrobots, encompassing targeted drug delivery, cellular manipulation, and minimally invasive surgical procedures, among others. Moreover, the current technical challenges and future directions of bioinspired microrobots in the biomedical field are discussed. The objective is to impart a holistic view to the readership, illuminating the significance of bioinspired microrobots in contemporary biomedicine and charting potential trajectories of innovation.

Micro/nanorobots for gastrointestinal tract

The application of micro/nanomotors (MNMs) in the gastrointestinal tract has become a Frontier in the treatment of gastrointestinal diseases. These miniature robots can enter the gastrointestinal tract through oral administration, achieving precise drug delivery and therapy. They can traverse mucosal layers and tissue barriers, directly targeting tumors or other lesion sites, thereby enhancing the bioavailability and therapeutic effects of drugs. Through the application of nanotechnology, these MNMs are able to accomplish targeted medication release, regulating drug release in response to either external stimuli or the local biological milieu. This results in reduced side effects and increased therapeutic efficacy. This review summarizes the primary classifications and power sources of current MNMs, as well as their applications in the gastrointestinal tract, providing inspiration and direction for the treatment of gastrointestinal diseases with MNMs.

Magnetically Actuated Soft Microrobot with Environmental Adaptative Multimodal Locomotion Towards Targeted Delivery

The development of environmentally adaptive solutions for magnetically actuated microrobots to enable targeted delivery in complex and confined fluid environments presents a significant challenge. Inspired by the natural locomotion of crucian carp, a barbell-shaped soft microrobot (MBS2M) is proposed. A mechano-electromagnetic hybrid actuation system is developed to generate oscillating magnetic fields to manipulate the microrobot. The MBS2M can seamlessly transition between three fundamental locomotion modes: fast navigation (FN), high-precision navigation (HPN), and fixed-point rotation (FPR). Moreover, the MBS2M can move in reverse without turning. The multimodal locomotion endows the MBS2M's adaptability in diverse environments. It can smoothly pass through confined channels, climb over obstacles, overcome gravity for vertical motion, track complex pathways, traverse viscous environments, overcome low fluid resistance, and navigate complex spaces mimicking in vivo environments. Additionally, the MBS2M is capable of drug loading and release in response to ultrasound excitation. In an ex vivo porcine liver vein, the microrobot demonstrated targeted navigation under ultrasound guidance, showcasing its potential for specialized in vivo tasks.

Transformative Impact of Nanocarrier‐Mediated Drug Delivery: Overcoming Biological Barriers and Expanding Therapeutic Horizons

Advancing therapeutic progress is centered on developing drug delivery systems (DDS) that control therapeutic molecule release, ensuring precise targeting and optimal concentrations. Targeted DDS enhances treatment efficacy and minimizes off‐target effects, but struggles with drug degradation. Over the last three decades, nanopharmaceuticals have evolved from laboratory concepts into clinical products, highlighting the profound impact of nanotechnology in medicine. Despite advancements, the effective delivery of therapeutics remains challenging because of biological barriers. Nanocarriers offer a solution with a small size, high surface‐to‐volume ratios, and customizable properties. These systems address physiological and biological challenges, such as shear stress, protein adsorption, and quick clearance. They allow targeted delivery to specific tissues, improve treatment outcomes, and reduce adverse effects. Nanocarriers exhibit controlled release, decreased degradation, and enhanced efficacy. Their size facilitates cell membrane penetration and intracellular delivery. Surface modifications increase affinity for specific cell types, allowing precise treatment delivery. This study also elucidates the potential integration of artificial intelligence with nanoscience to innovate future nanocarrier systems.

Towards multifunctional robotic pills

Robotic pills leverage the advantages of oral pharmaceutical formulations-in particular, convenient encapsulation, high loading capacity, ease of manufacturing and high patient compliance-as well as the multifunctionality, increasing miniaturization and sophistication of microrobotic systems. In this Perspective, we provide an overview of major innovations in the development of robotic pills-specifically, oral pills embedded with robotic capabilities based on microneedles, microinjectors, microstirrers or microrockets-summarize current progress and applicational gaps of the technology, and discuss its prospects. We argue that the integration of multiple microrobotic functions within oral delivery systems alongside accurate control of the release characteristics of their payload provides a basis for realizing sophisticated multifunctional robotic pills that operate as closed-loop systems.

Dual Frequency-Regulated Magnetic Vortex Nanorobots Empower Nattokinase for Focalized Microvascular Thrombolysis

Magnetic nanorobots are emerging players in thrombolytic therapy due to their noninvasive remote actuation and drug loading capabilities. Although the nanorobots with a size under 100 nm are ideal to apply in microvascular systems, the propulsion performance of nanorobots is inevitably compromised due to the limited response to magnetic fields. Here, we demonstrate a nattokinase-loaded magnetic vortex nanorobot (NK-MNR) with an average size around 70 nm and high saturation magnetization for mechanical propelling and thermal responsive thrombolysis under a magnetic field with dual frequencies. The nanorobots are stable in suspension and undergo the magneto-steered assembly into chain-like NK-MNRs, which are regulated to generate magnetic forces to mechanically damage and penetrate the thrombus by the low-frequency rotating magnetic field. Synergistically, enhanced magnetic hyperthermia is triggered by an alternating magnetic field of high frequency, enabling heat-induced NK release and fibrinolysis. In this dual frequency-regulated magnetothrombolysis (fRMT) strategy, nanorobots collaborate under the dual magnetic energy conversion model to achieve the vasculature recanalization rate of 81.0% in thrombotic mice. Overall, the nanorobot with the special magnetic vortex property and multimodel controls is a promising nanoplatform for in vivo focalized microvascular thrombolysis.

Movable surface acoustic wave tweezers: a versatile toolbox for micromanipulation

Surface acoustic wave (SAW) tweezers are a promising multifunctional micromanipulation method that controls microscale targets via patterned acoustic fields. Owing to their device structure and bonding process, most SAW tweezers have limitations in terms of controlling the position and motion of the acoustic traps, as they generate an acoustic field with a fixed region and adjust the manipulation effects via signal modulation. To address this challenge, we propose movable SAW tweezers with a multilayer structure, achieving dynamic control of their wave field and acoustic trap positions; we demonstrate their precise manipulation functions, such as translation, in-plane rotation, out-of-plane rotation, and cluster formation, on a wide spectrum of samples, including particles, bubbles, droplets, cells, and microorganisms. Our method not only improves the degree of freedom and working range of SAW tweezers but also allows for precise and selective manipulation of microtargets via microtools and localized wavefields. Owing to their flexibility, versatility, and biocompatibility, the movable SAW tweezers can be a practical platform for achieving arbitrary manipulation of microscale targets and have the potential to play significant roles in biomedical microrobotics.

Magnetic-chemotactic hybrid microrobots with precise remote targeting capability

Micro/nanorobots (MNRs) hold great promise for various applications due to their capability to execute complex tasks in hard-to-reach micro/nano cavities. However, the developed magnetic MNRs, as marionettes of external magnetic fields, lack built-in intelligence for self-targeting, while chemotactic MNRs suffer from limited self-targeting range. Here, we demonstrate magnetic-chemotactic ZnO/Fe-Ag Janus microrobots (JMRs) capable of rapid, remote self-targeting for bacterial elimination. The JMRs utilize the magnetic Fe engine for coarse navigation from a distance, allowing for external control to swiftly guide them to the vicinity of a hidden/uncharted target that establishes a local chemical gradient ([CO2] or [H+] gradient). Once in proximity, the inherent chemotaxis of the JMRs takes over, the chemotactic engine enables them to autonomously accumulate at the target site along the chemical gradient in high precision. Upon reaching the target, the ZnO/Fe-Ag JMRs can release Zn2+ and Ag+ to eliminate bacteria residing there. The proposed strategy of integrating on-board chemotaxis with external magnetic field-driven propulsion paves the way for efficient precise therapies using MNRs, especially in targeted drug/energy delivery involving remote hidden or uncharted targets.

Stabilization of CsPbBr3 Nanowires Through SU-8 Encapsulation for the Fabrication of Bilayer Microswimmers with Magnetic and Fluorescence Properties

All-inorganic cesium lead halide (CsPbX3, X = Cl, Br, I) perovskite nanocrystals have drawn great interest because of their excellent photophysical properties and potential applications. However, their poor stability in water greatly limited their use in applications that require stable structures. In this work, a facile approach to stabilize CsPbBr3 nanowires is developed by using SU-8 as a protection medium; thereby creating stable CsPbBr3/SU-8 microstructures. Through photolithography and layer-by-layer deposition, CsPbBr3/SU-8 is used to fabricate bilayer achiral microswimmers (BAMs), which consist of a top CsPbBr3/SU-8 layer and a bottom Fe3O4 magnetic layer. Compared to pure CsPbBr3 nanowires, the CsPbBr3/SU-8 shows long-term structural and fluorescence stability in water against ultrasonication treatment. Due to the magnetic layer, the motion of the microswimmers can be controlled precisely under a rotating magnetic field, allowing them to swim at low Reynolds number and tumble or roll on surfaces. Furthermore, CsPbBr3/SU-8 can be used to fabricate various types of planar microstructures with high throughput, high consistency, and fluorescence properties. This work provides a method for the stabilization of CsPbBr3 and demonstrates the potential to mass fabricate planar microstructures with various shapes, which can be used in different applications such as microrobotics.

Chemical Auxiliary for Photocatalytic Active Colloids

Active colloids with the ability to self-propel and collectively organize are emerging as indispensable elements in microrobotics and soft matter physics. For chemically powered colloids, their activity is often induced by gradients of chemical species in the particle's vicinity. The direct manipulation of these gradients, however, presents a considerable challenge, thereby limiting the extent to which active colloids can be controlled. Here, we introduce a series of rationally designed molecules, denoted as chemical auxiliary (CA), that intervene with specific chemical gradients and thus unveil new capabilities for regulating the behaviors of photocatalytic active colloids. We show that CA can alter the diffusiophoretic and osmotic interactions between active colloids and their subsequent self-organization. Also, CA can tune the self-propulsion of active particles, enabling a record high propulsion speed of over 100 μm/s and endowing high salt tolerance. Furthermore, CA is instrumental in establishing dynamic, competing gradients around active particles, which signifies an in situ, noninvasive, and reversible strategy for reconfiguring between modes of colloidal activity.

A Magnetically Driven Biodegradable Microsphere with Mass Production Capability for Subunit Vaccine Delivery and Enhanced Immunotherapy

Subunit vaccines have emerged as a promising strategy in immunotherapy for combating viral infections and cancer. Nevertheless, the clinical application of subunit vaccines is hindered by limitations in antigen delivery efficiency, characterized by rapid clearance and inadequate cellular uptake. Here, a novel subunit vaccine delivery system utilizing ovalbumin@magnetic nanoparticles (OVA@MNPs) encapsulated within biodegradable gelatin methacryloyl (GelMA) microspheres was proposed to enhance the efficacy of antigen delivery. OVA@MNPs-loaded GelMA microspheres, denoted as OMGMs, can be navigated through magnetic fields to deliver subunit vaccines into the lymphatic system efficiently. Moreover, the biodegradable OMGMs enabled the sustained release of subunit vaccines, concentrating OVA around lymph nodes and enhancing the efficacy of induced immune response. OMGMs were produced through a microfluidic droplet generation technique, enabling mass production. In murine models, OMGMs successfully accumulated antigens in lymph nodes abundant in antigen-presenting cells, leading to enhanced cellular and humoral immunity and pronounced antitumor effects with a single booster immunization. In conclusion, these findings highlight the promise of OMGMs as a practical subunit vaccination approach, thus addressing the limitations associated with antigen delivery efficiency and paving the way for advanced immunotherapeutic strategies.

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.

MOF-Modified Microrollers for Bioimaging and Sustained Antibiotic Delivery

Central nervous system (CNS) infections caused by neurosurgery or intrathecal injection of contaminated cerebrospinal fluid are a common and difficult complication. Drug-delivery microrobots are among the latest solutions proposed for antibacterial applications. However, there is a lack of research into developing microrobots with the ability to sustain antibody delivery while can move efficiently in the CNS. Here, biocompatible antibacterial metal-organic framework (MOF)-modified microrollers (MMRs) to combat CNS infections are proposed. The MMRs are iron-based metal-organic framework (NH2-MIL-101(Fe)) modified for enhanced adsorption and Fe/Al coated for magnetic actuation and biocompatibility. The MMRs have demonstrated a faster and unhindered magnetically actuated motion on the uneven biological tissue surface in an organ-on-a-chip that mimicked the CNS compared to it on smooth surface. CFD results consistently align with the experimental findings. The MMRs can be loaded with rhodamine 6G for bioimaging, allowing them to be imaged through sections of the main human tissues by fluorescence microscopy, or tetracycline hydrochloride for antibiotic delivery, allowing them to inhibit the growth of Staphylococcus aureus biofilms by sustained release of antibiotics for 9 days. This study provides a strategy to integrate high-capacity adsorption material with magnetically actuated locomotion for long-term targeted antibacterial applications in biological environments.

Metal-Organic Framework-Based Micro-/Nanomotors for Wastewater Remediation

Micro-/nanomotors (MNMs) in water remediation have garnered significant attention over the past two decades. More recently, metal-organic framework-based micro-/nanomotors (MOF-MNMs) have been applied for environmental remediation; however, a comprehensive summary of research in this research area is yet to be reported. Herein, a review is presented to cover the recent advances in MOF-MNMs and their various applications in wastewater remediation. The review presents a comprehensive introduction to MNMs, including different propulsion approaches, fabrication, and functionalization strategies, in addition to the unique features of MOF-MNMs. The conception and various synthetic routes of MOF-MNMs are extensively covered and the implementation of MOF-MNMs in water-related applications, including adsorption, degradation, sensing, and disinfection of different pollutants, is in depth discussed. Meanwhile, the propulsion and mechanism of action behind each MOF-MNM are systematically studied. Finally, the review provides insights into the challenges and perspectives to build more effective MOF-MNMs to cover versatile applications for wastewater treatment.

Sub-Nanogram Resolution Measurement of Inertial Mass and Density Using Magnetic-Field-Guided Bubble Microthruster

Artificial micro/nanomotors using active particles hold vast potential in applications such as drug delivery and microfabrication. However, upgrading them to micro/nanorobots capable of performing precise tasks with sophisticated functions remains challenging. Bubble microthruster (BMT) is introduced, a variation of the bubble-driven microrobot, which focuses the energy from a collapsing microbubble to create an inertial impact on nearby target microparticles. Utilizing ultra-high-speed imaging, the microparticle mass and density is determined with sub-nanogram resolution based on the relaxation time characterizing the microparticle's transient response. Master curves of the BMT method are shown to be dependent on the viscosity of the solution. The BMT, controlled by a gamepad with magnetic-field guidance, precisely manipulates target microparticles, including bioparticles. Validation involves measuring the polystyrene microparticle mass and hollow glass microsphere density, and assessing the mouse embryo mass densities. The BMT technique presents a promising chip-free, real-time, highly maneuverable strategy that integrates bubble microrobot-based manipulation with precise bioparticle mass and density detection, which can facilitate microscale bioparticle characterizations such as embryo growth monitoring.

Biohybrid Nanorobots Carrying Glycoengineered Extracellular Vesicles Promote Diabetic Wound Repair through Dual-Enhanced Cell and Tissue Penetration

Considerable progress has been made in the development of drug delivery systems for diabetic wounds. However, underlying drawbacks, such as low delivery efficiency and poor tissue permeability, have rarely been addressed. In this study, a multifunctional biohybrid nanorobot platform comprising an artificial unit and several biological components is constructed. The artificial unit is a magnetically driven nanorobot surface modified with antibacterial 2-hydroxypropyltrimethyl ammonium chloride chitosan, which enables the entire platform to move and has excellent tissue penetration capacity. The biological components are two-step engineered extracellular vesicles that are first loaded with mangiferin, a natural polyphenolic compound with antioxidant properties, and then glycoengineered on the surface to enhance cellular uptake efficiency. As expected, the platform is more easily absorbed by endothelial cells and fibroblasts and exhibits outstanding dermal penetration performance and antioxidant properties. Encouraging results are also observed in infected diabetic wound models, showing improved wound re-epithelialization, collagen deposition, angiogenesis, and accelerated wound healing. Collectively, a biohybrid nanorobot platform that possesses the functionalities of both artificial units and biological components serves as an efficient delivery system to promote diabetic wound repair through dual-enhanced cell and tissue penetration and multistep interventions.

Swarming Magnetic Fe3O4@Polydopamine-Tannic Acid Nanorobots: Integrating Antibiotic-Free Superficial Photothermal and Deep Chemical Strategies for Targeted Bacterial Elimination

Micro/nanorobots (MNRs) are envisioned to provide revolutionary changes to therapies for infectious diseases as they can deliver various antibacterial agents or energies to many hard-to-reach infection sites. However, existing MNRs face substantial challenges in addressing complex infections that progress from superficial to deep tissues. Here, we develop swarming magnetic Fe3O4@polydopamine-tannic acid nanorobots (Fe3O4@PDA-TA NRs) capable of performing targeted bacteria elimination in complicated bacterial infections by integrating superficial photothermal and deep chemical strategies. The Fe3O4@PDA-TA nanoparticles (NPs), serving as building blocks of the nanorobots, are fabricated by in situ polymerization of dopamine followed by TA adhesion. When driven by alternating magnetic fields, Fe3O4@PDA-TA NPs can assemble into large energetic microswarms continuously flowing forward with tunable velocity. Thus, the swarming Fe3O4@PDA-TA NRs can be navigated to achieve rapid broad coverage of a targeted superficial area from a distance and rapidly eradicate bacteria residing there upon exposure to near-infrared (NIR) light due to their efficient photothermal conversion. Additionally, they can concentrate at deep infection sites by traversing through confined, narrow, and tortuous passages, exerting sustained antibacterial action through their surface TA-induced easy cell adhesion and subsequent membrane destruction. Therefore, the swarming Fe3O4@PDA-TA NRs show great potential for addressing complex superficial-to-deep infections. This study may inspire the development of future therapeutic microsystems for various diseases with multifunction synergies, task flexibility, and high efficiency.

Bacterial outer membrane vesicle nanorobot

Autonomous nanorobots represent an advanced tool for precision therapy to improve therapeutic efficacy. However, current nanorobotic designs primarily rely on inorganic materials with compromised biocompatibility and limited biological functions. Here, we introduce enzyme-powered bacterial outer membrane vesicle (OMV) nanorobots. The immobilized urease on the OMV membrane catalyzes the decomposition of bioavailable urea, generating effective propulsion for nanorobots. This OMV nanorobot preserves the unique features of OMVs, including intrinsic biocompatibility, immunogenicity, versatile surface bioengineering for desired biofunctionalities, capability of cargo loading and protection. We present OMV-based nanorobots designed for effective tumor therapy by leveraging the membrane properties of OMVs. These involve surface bioengineering of robotic body with cell-penetrating peptide for tumor targeting and penetration, which is further enhanced by active propulsion of nanorobots. Additionally, OMV nanorobots can effectively safeguard the loaded gene silencing tool, small interfering RNA (siRNA), from enzymatic degradation. Through systematic in vitro and in vivo studies using a rodent model, we demonstrate that these OMV nanorobots substantially enhanced siRNA delivery and immune stimulation, resulting in the utmost effectiveness in tumor suppression when juxtaposed with static groups, particularly evident in the orthotopic bladder tumor model. This OMV nanorobot opens an inspiring avenue to design advanced medical robots with expanded versatility and adaptability, broadening their operation scope in practical biomedical domains.

A review of bioinspired dry adhesives: from achieving strong adhesion to realizing switchable adhesion

In the early twenty-first century, extensive research has been conducted on geckos' ability to climb vertical walls with the advancement of microscopy technology. Unprecedented studies and developments have focused on the adhesion mechanism, structural design, preparation methods, and applications of bioinspired dry adhesives. Notably, strong adhesion that adheres to both the principles of contact splitting and stress uniform distribution has been discovered and proposed. The increasing popularity of flexible electronic skins, soft crawling robots, and smart assembly systems has made switchable adhesion properties essential for smart adhesives. These adhesives are designed to be programmable and switchable in response to external stimuli such as magnetic fields, thermal changes, electrical signals, light exposure as well as mechanical processes. This paper provides a comprehensive review of the development history of bioinspired dry adhesives from achieving strong adhesion to realizing switchable adhesion.

Delivering Microrobots in the Musculoskeletal System

Disorders of the musculoskeletal system are the major contributors to the global burden of disease and current treatments show limited efficacy. Patients often suffer chronic pain and might eventually have to undergo end-stage surgery. Therefore, future treatments should focus on early detection and intervention of regional lesions. Microrobots have been gradually used in organisms due to their advantages of intelligent, precise and minimally invasive targeted delivery. Through the combination of control and imaging systems, microrobots with good biosafety can be delivered to the desired area for treatment. In the musculoskeletal system, microrobots are mainly utilized to transport stem cells/drugs or to remove hazardous substances from the body. Compared to traditional biomaterial and tissue engineering strategies, active motion improves the efficiency and penetration of local targeting of cells/drugs. This review discusses the frontier applications of microrobotic systems in different tissues of the musculoskeletal system. We summarize the challenges and barriers that hinder clinical translation by evaluating the characteristics of different microrobots and finally point out the future direction of microrobots in the musculoskeletal system.

Multifunctional Hydrogel with 3D Printability, Fluorescence, Biodegradability, and Biocompatibility for Biomedical Microrobots

As micron-sized objects, mobile microrobots have shown significant potential for future biomedical applications, such as targeted drug delivery and minimally invasive surgery. However, to make these microrobots viable for clinical applications, several crucial aspects should be implemented, including customizability, motion-controllability, imageability, biodegradability, and biocompatibility. Developing materials to meet these requirements is of utmost importance. Here, a gelatin methacryloyl (GelMA) and (2-(4-vinylphenyl)ethene-1,1,2-triyl)tribenzene (TPEMA)-based multifunctional hydrogel with 3D printability, fluorescence imageability, biodegradability, and biocompatibility is demonstrated. By using 3D direct laser writing method, the hydrogel exhibits its versatility in the customization and fabrication of 3D microstructures. Spherical hydrogel microrobots were fabricated and decorated with magnetic nanoparticles on their surface to render them magnetically responsive, and have demonstrated excellent movement performance and motion controllability. The hydrogel microstructures also represented excellent drug loading/release capacity and degradability by using collagenase, along with stable fluorescence properties. Moreover, cytotoxicity assays showed that the hydrogel was non-toxic, as well as able to support cell attachment and growth, indicating excellent biocompatibility of the hydrogel. The developed multifunctional hydrogel exhibits great potential for biomedical microrobots that are integrated with customizability, 3D printability, motion controllability, drug delivery capacity, fluorescence imageability, degradability, and biocompatibility, thus being able to realize the real in vivo biomedical applications of microrobots.

Dual-Responsive Reconfigurable Miniature Fiberbots: A Study for Vascular Embolization

Navigating the intricate and narrow vascular pathways of the body remains a formidable challenge in vascular embolization, often limiting the maneuverability and steerability of traditional catheters. This study, by T.T. Xu and co-workers, introduces dual-responsive reconfigurable miniature fiberbots, which are capable of catheter-assisted deployment, navigation, and embolization in vascular systems. Through meticulous design and magnetic control, this work successfully validates a multistage vascular embolization approach in the renal artery of rabbits in vivo. The experiments not only overcome the existing limitations of conventional catheterization techniques but also open new avenues for minimally invasive treatments.

Low-Friction Soft Robots for Targeted Bacterial Infection Treatment in Gastrointestinal Tract

Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion, which aid the traversal toward various lumens, and bring revolutionary changes for targeted delivery in gastrointestinal (GI) tract. However, the viscous non-Newtonian liquid environment and plicae gastricae obstacles severely hamper high-precision actuation and payload delivery. Here, we developed a low-friction soft robot by assembly of densely arranged cone structures and grafting of hydrophobic monolayers. The magnetic orientation encoded robot can move in multiple modes, with a substantially reduced drag, terrain adaptability, and improved motion velocity across the non-Newtonian liquids. Notably, the robot stiffness can be reversibly controlled with magnetically induced hardening, enabling on-site scratching and destruction of antibiotic-ineradicable polymeric matrix in biofilms with a low-frequency magnetic field. Furthermore, the magnetocaloric effect can be utilized to eradicate the bacteria by magnetocaloric effect under high-frequency alternating field. To verify the potential applications inside the body, the clinical imaging-guided actuation platforms were developed for vision-based control and delivery of the robots. The developed low-friction robots and clinical imaging-guided actuation platforms show their high potential to perform bacterial infection therapy in various lumens inside the body.

A Convoy of Magnetic Millirobots Transports Endoscopic Instruments for Minimally-Invasive Surgery

Small-scale robots offer significant potential in minimally invasive medical procedures. Due to the nature of soft biological tissues, however, robots are exposed to complex environments with various challenges in locomotion, which is essential to overcome for useful medical tasks. A single mini-robot often provides insufficient force on slippery biological surfaces to carry medical instruments, such as a fluid catheter or an electrical wire. Here, for the first time, a team of millirobots (TrainBot) is reported to generate around two times higher actuating force than a TrainBot unit by forming a convoy to collaboratively carry long and heavy cargos. The feet of each unit are optimized to increase the propulsive force around three times so that it can effectively crawl on slippery biological surfaces. A human-scale permanent magnetic set-up is developed to wirelessly actuate and control the TrainBot to transport heavy and lengthy loads through narrow biological lumens, such as the intestine and the bile duct. The first electrocauterization performed by the TrainBot is demonstrated to relieve a biliary obstruction and open a tunnel for fluid drainage and drug delivery. The developed technology sheds light on the collaborative strategy of small-scale robots for future minimally invasive surgical procedures.

Magnetically Selective Versatile Transport of Microrobotic Carriers

Field-driven transport systems offer great promise for use as biofunctionalized carriers in microrobotics, biomedicine, and cell delivery applications. Despite the construction of artificial microtubules using several micromagnets, which provide a promising transport pathway for the synchronous delivery of microrobotic carriers to the targeted location inside microvascular networks, the selective transport of different microrobotic carriers remains an unexplored challenge. This study demonstrated the selective manipulation and transport of microrobotics along a patterned micromagnet using applied magnetic fields. Owing to varied field strengths, the magnetic beads used as the microrobotic carriers with different sizes revealed varied locomotion, including all of them moving along the same direction, selective rotation, bidirectional locomotion, and all of them moving in a reversed direction. Furthermore, cells immobilized with magnetic beads and nanoparticles also revealed varied locomotion. It is expected that such steering strategies of microrobotic carriers can be used in microvascular channels for the targeted delivery of drugs or cells in an organized manner.

Insect-Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque

Multimodal and controllable locomotion in complex terrain is of great importance for practical applications of insect-scale robots. Robust locomotion plays a particularly critical role. In this study, a locomotion mechanism for magnetic robots based on asymmetrical friction effect induced by magnetic torque is revealed and defined. The defined mechanism overcomes the design constraints imposed by both robot and substrate structures, enabling the realization of multimodal locomotion on complex terrains. Drawing inspiration from human walking and running locomotion, a biped robot based on the mechanism is proposed, which not only exhibits rapid locomotion across substrates with varying friction coefficients but also achieves precise locomotion along patterned trajectories through programmed controlling. Furthermore, apart from its exceptional locomotive capabilities, the biped robot demonstrates remarkable robustness in terms of load-carrying and weight-bearing performance. The presented locomotion and mechanism herein introduce a novel concept for designing magnetic robots while offering extensive possibilities for practical applications in insect-scale robotics.

Multiple Magneto-Optical Microrobotic Collectives with Selective Control in Three Dimensions Under Water

Inspired by natural swarms, various methods are developed to create artificial magnetic microrobotic collectives. However, these magnetic collectives typically receive identical control inputs from a common external magnetic field, limiting their ability to operate independently. And they often rely on interfaces or boundaries for controlled movement, posing challenges for independent, three-dimensional(3D) navigation of multiple magnetic collectives. To address this challenge, self-assembled microrobotic collectives are proposed that can be selectively actuated in a combination of external magnetic and optical fields. By harnessing both actuation methods, the constraints of single actuation approaches are overcome. The magnetic field excites the self-assembly of colloids and maintains the self-assembled microrobotic collectives without disassembly, while the optical field drives selected microrobotic collectives to perform different tasks. The proposed magnetic-photo microrobotic collectives can achieve independent position and path control in the two-dimensional (2D) plane and 3D space. With this selective control strategy, the microrobotic collectives can cooperate in convection and mixing the dye in a confined space. The results present a systematic approach for realizing selective control of multiple microrobotic collectives, which can address multitasking requirements in complex environments.

Self-propelled object that generates a boundary with amphiphiles at an air/aqueous interface

A benzoic acid (BA) disk was investigated as a novel self-propelled object whose driving force was the difference in surface tension. 4-Stearoyl amidobenzoic acid (SABA) was synthesized as an amphiphile to control the nature of motion based on intermolecular interactions between BA and SABA. The BA disk exhibited characteristic motion depending on the surface density of the SABA on the aqueous phase, that is, reciprocating motion as a one-dimensional motion and restricted and unrestricted motion as a two-dimensional motion. The trajectory of the reciprocating motion was determined by the initial direction of motion, and the boundary between an aqueous surface and the BA-SABA condensed molecular layer was used as the field's boundary. The presented results indicate that the characteristic nature of motion can be designed at the molecular level based on the intermolecular interactions between an energy-source molecule and an amphiphile.

Design and Control of the Magnetically Actuated Micro/Nanorobot Swarm toward Biomedical Applications

Recently, magnetically actuated micro/nanorobots hold extensive promises in biomedical applications due to their advantages of noninvasiveness, fuel-free operation, and programmable nature. While effectively promised in various fields such as targeted delivery, most past investigations are mainly displayed in magnetic control of individual micro/nanorobots. Facing practical medical use, the micro/nanorobots are required for the development of swarm control in a closed-loop control manner. This review outlines the recent developments in magnetic micro/nanorobot swarms, including their actuating fundamentals, designs, controls, and biomedical applications. The fundamental principles and interactions involved in the formation of magnetic micro/nanorobot swarms are discussed first. The recent advances in the design of artificial and biohybrid micro/nanorobot swarms, along with the control devices and methods used for swarm manipulation, are presented. Furthermore, biomedical applications that have the potential to achieve clinical application are introduced, such as imaging-guided therapy, targeted delivery, embolization, and biofilm eradication. By addressing the potential challenges discussed toward the end of this review, magnetic micro/nanorobot swarms hold promise for clinical treatments in the future.

Roadmap for Clinical Translation of Mobile Microrobotics

Medical microrobotics is an emerging field to revolutionize clinical applications in diagnostics and therapeutics of various diseases. On the other hand, the mobile microrobotics field has important obstacles to pass before clinical translation. This article focuses on these challenges and provides a roadmap of medical microrobots to enable their clinical use. From the concept of a "magic bullet" to the physicochemical interactions of microrobots in complex biological environments in medical applications, there are several translational steps to consider. Clinical translation of mobile microrobots is only possible with a close collaboration between clinical experts and microrobotics researchers to address the technical challenges in microfabrication, safety, and imaging. The clinical application potential can be materialized by designing microrobots that can solve the current main challenges, such as actuation limitations, material stability, and imaging constraints. The strengths and weaknesses of the current progress in the microrobotics field are discussed and a roadmap for their clinical applications in the near future is outlined.

Hydrogel microrobots for biomedical applications

Recent years have witnessed a surge in the application of microrobots within the medical sector, with hydrogel microrobots standing out due to their distinctive advantages. These microrobots, characterized by their exceptional biocompatibility, adjustable physico-mechanical attributes, and acute sensitivity to biological environments, have emerged as pivotal tools in advancing medical applications such as targeted drug delivery, wound healing enhancement, bio-imaging, and precise surgical interventions. The capability of hydrogel microrobots to navigate and perform tasks within complex biological systems significantly enhances the precision, efficiency, and safety of therapeutic procedures. Firstly, this paper delves into the material classification and properties of hydrogel microrobots and compares the advantages of different hydrogel materials. Furthermore, it offers a comprehensive review of the principal categories and recent innovations in the synthesis, actuation mechanisms, and biomedical application of hydrogel-based microrobots. Finally, the manuscript identifies prevailing obstacles and future directions in hydrogel microrobot research, aiming to furnish insights that could propel advancements in this field.