Artificial bacterial flagella for remote-controlled targeted single-cell drug delivery

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.

A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation

Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.

Strategies in design of self-propelling hybrid micro/nanobots for bioengineering applications

Micro/nanobots are integrated devices developed from engineered nanomaterials that have evolved significantly over the past decades. They can potentially be pre-programmed to operate robustly at numerous hard-to-reach organ/tissues/cellular sites for multiple bioengineering applications such as early disease diagnosis, precision surgeries, targeted drug delivery, cancer therapeutics, bio-imaging, biomolecules isolation, detoxification, bio-sensing, and clearing up clogged arteries with high soaring effectiveness and minimal exhaustion of power. Several techniques have been introduced in recent years to develop programmable, biocompatible, and energy-efficient micro/nanobots. Therefore, the primary focus of most of these techniques is to develop hybrid micro/nanobots that are an optimized combination of purely synthetic or biodegradable bots suitable for the execution of user-defined tasks more precisely and efficiently. Recent progress has been illustrated here as an overview of a few of the achievable construction principles to be used to make biomedical micro/nanobots and explores the pivotal ventures of nanotechnology-moderated development of catalytic autonomous bots. Furthermore, it is also foregrounding their advancement offering an insight into the recent trends and subsequent prospects, opportunities, and challenges involved in the accomplishments of the effective multifarious bioengineering applications.

Precisely Navigated Biobot Swarms of Bacteria Magnetospirillum magneticum for Water Decontamination

Hybrid biological robots (biobots) prepared from living cells are at the forefront of micro-/nanomotor research due to their biocompatibility and versatility toward multiple applications. However, their precise maneuverability is essential for practical applications. Magnetotactic bacteria are hybrid biobots that produce magnetosome magnetite crystals, which are more stable than synthesized magnetite and can orient along the direction of earth's magnetic field. Herein, we used Magnetospirillum magneticum strain AMB-1 (M. magneticum AMB-1) for the effective removal of chlorpyrifos (an organophosphate pesticide) in various aqueous solutions by naturally binding with organic matter. Precision control of M. magneticum AMB-1 was achieved by applying a magnetic field. Under a programed clockwise magnetic field, M. magneticum AMB-1 exhibit swarm behavior and move in a circular direction. Consequently, we foresee that M. magneticum AMB-1 can be applied in various environments to remove and retrieve pollutants by directional control magnetic actuation.

A rolled-up-based fabrication method of 3D helical microrobots

While the potential of using helical microrobots for biomedical applications, such as cargo transport, drug delivery, and micromanipulation, had been demonstrated, the viability to use them for practical applications is hindered by the cost, speed, and repeatability of current fabrication techniques. Hence, this paper introduces a simple, low-cost, high-throughput manufacturing process for single nickel layer helical microrobots with consistent dimensions. Photolithography and electron-beam (e-beam) evaporation were used to fabricate 2D parallelogram patterns that were sequentially rolled up into helical microstructures through the swelling effect of a photoresist sacrificial layer. Helical parameters were controlled by adjusting the geometric parameters of parallelogram patterns. To validate the fabrication process and characterize the microrobots' mobility, we characterized the structures and surface morphology of the microrobots using a scanning electron microscope and tested their steerability using feedback control, respectively. Finally, we conducted a benchmark comparison to demonstrate that the fabrication method can produce helical microrobots with swimming properties comparable to previously reported microrobots.

3D-printed microrobots from design to translation

Microrobots have attracted the attention of scientists owing to their unique features to accomplish tasks in hard-to-reach sites in the human body. Microrobots can be precisely actuated and maneuvered individually or in a swarm for cargo delivery, sampling, surgery, and imaging applications. In addition, microrobots have found applications in the environmental sector (e.g., water treatment). Besides, recent advancements of three-dimensional (3D) printers have enabled the high-resolution fabrication of microrobots with a faster design-production turnaround time for users with limited micromanufacturing skills. Here, the latest end applications of 3D printed microrobots are reviewed (ranging from environmental to biomedical applications) along with a brief discussion over the feasible actuation methods (e.g., on- and off-board), and practical 3D printing technologies for microrobot fabrication. In addition, as a future perspective, we discussed the potential advantages of integration of microrobots with smart materials, and conceivable benefits of implementation of artificial intelligence (AI), as well as physical intelligence (PI). Moreover, in order to facilitate bench-to-bedside translation of microrobots, current challenges impeding clinical translation of microrobots are elaborated, including entry obstacles (e.g., immune system attacks) and cumbersome standard test procedures to ensure biocompatibility.

Microbots have attracted attention due to an ability to reach places and perform tasks which are not possible with conventional techniques in a wide range of applications. Here, the authors review the recent work in the field on the fabrication, application and actuation of 3D printed microbots offering a view of the direction of future microbot research.

Scale-reconfigurable miniature ferrofluidic robots for negotiating sharply variable spaces

Magnetic miniature soft robots have shown great potential for facilitating biomedical applications by minimizing invasiveness and possible physical damage. However, researchers have mainly focused on fixed-size robots, with their active locomotion accessible only when the cross-sectional dimension of these confined spaces is comparable to that of the robot. Here, we realize the scale-reconfigurable miniature ferrofluidic robots (SMFRs) based on ferrofluid droplets and propose a series of control strategies for reconfiguring SMFR's scale and deformation to achieve trans-scale motion control by designing a multiscale magnetic miniature robot actuation (M³RA) system. The results showed that SMFRs, varying from centimeters to a few micrometers, leveraged diverse capabilities, such as locomotion in structured environments, deformation to squeeze through gaps, and even reversible scale reconfiguration for navigating sharply variable spaces. A miniature robot system with these capabilities combined is promising to be applied in future wireless medical robots inside confined regions of the human body.

Macrophage-compatible magnetic achiral nanorobots fabricated by electron beam lithography

With the development and progress of nanotechnology, the prospect of using nanorobots to achieve targeted drug delivery is becoming possible. Although nanorobots can potentially improve nano-drug delivery systems, there remains a significant challenge to fabricating magnetically controllable nanorobots with a size suitable for drug delivery in complex in vivo environments. Most of the current research focused on the preparation and functionalization of microscale and milliscale robots due to the relative difficulties in fabricating nanoscale robots. To address this problem and move towards in vivo applications, this study uses electron beam lithography to fabricate achiral planar L-shaped nanorobots that are biocompatible with immune cells. Their minimal planar geometry enabled nanolithography to fabricate nanorobots with a minimum feature size down to 400 nm. Using an integrated imaging and control system, the locomotive behavior of the L-shaped nanorobots in a fluidic environment was studied by examining their velocity profiles and trajectories. Furthermore, the nanorobots exhibit excellent cell compatibility with various types of cells, including macrophage cells. Finally, the long-term cell culture medium immersion test demonstrated that the L-shaped nanorobots have robust stability. This work will demonstrate the potential to use these nanorobots to operate in vivo without triggering immune cell responses.

Cellular Manipulation Using Rolling Microrobots

Many biomedical applications, such as targeted drug delivery or cell manipulation, are well suited for the deployment of microrobots, untethered devices that are capable of carrying out tasks at the microscale. One biocompatible means of driving microrobots relies on magnetic actuation. In particular, microrobots driven using rotating fields rather than magnetic field gradients are especially practical for real-word applications. Many biological applications involve enclosed environments, such as blood vessels, in which surfaces are abundant, therefore, surface rolling is a particularly pertinent method of transportation. In this paper we demonstrate manipulation and transportation of cells using two types of magnetically driven rolling microrobots. We find that the microrobots are able to manipulate the cells by physically pushing or by first adhering to the cells and then carrying them. Microrobots spinning at high rates also can transport cells via the induced fluid flows.

Stop-Flow Lithography for the Continuous Production of Degradable Hydrogel Achiral Crescent Microswimmers

The small size of robotic microswimmers makes them suitable for performing biomedical tasks in tiny, enclosed spaces. Considering the effects of potentially long-term retention of microswimmers in biological tissues and the environment, the degradability of microswimmers has become one of the pressing issues in this field. While degradable hydrogel was successfully used to prepare microswimmers in previous reports, most hydrogel microswimmers could only be fabricated using two-photon polymerization (TPP) due to their 3D structures, resulting in costly robotic microswimmers solution. This limits the potential of hydrogel microswimmers to be used in applications where a large number of microswimmers are needed. Here, we proposed a new type of preparation method for degradable hydrogel achiral crescent microswimmers using a custom-built stop-flow lithography (SFL) setup. The degradability of the hydrogel crescent microswimmers was quantitatively analyzed, and the degradation rate in sodium hydroxide solution (NaOH) of different concentrations was investigated. Cytotoxicity assays showed the hydrogel crescent microswimmers had good biocompatibility. The hydrogel crescent microswimmers were magnetically actuated using a 3D Helmholtz coil system and were able to obtain a swimming efficiency on par with previously reported microswimmers. The results herein demonstrated the potential for the degradable hydrogel achiral microswimmers to become a candidate for microscale applications.

Micro-/Nanorobots in Antimicrobial Applications: Recent Progress, Challenges, and Opportunities

The evolution of drug-resistant pathogenic bacteria remains one of the most urgent threats to public health worldwide. Even worse, the bacterial cells commonly form biofilms through aggregation and adhesion, preventing antibiotic penetration and resisting environmental stress. Moreover, biofilms tend to grow in some hard-to-reach regions, bringing difficulty for antibiotic delivery at the infected site. The drug-resistant pathogenic bacteria and intractable biofilm give rise to chronic and recurrent infections, exacerbating the challenge in combating bacterial infections. Micro/nanorobots (MNRs) are capable of active cargo delivery, targeted treatment with high precision, and motion-assisted mechanical force, which enable transport and enhance penetration of antibacterial agents into the targeted site, thus showing great promise in emerging as an attractive alternative to conventional antibacterial therapies. This review summarizes the recent advances in micro-/nanorobots for antibacterial applications, with emphasis on those novel strategies for drug-resistance bacterium and stubborn biofilm infections. Insights on the future development of MNRs with good functionality and biosafety offer promising approaches to address infections in the clinic setting.

Micro/nanorobots for precise drug delivery via targeted transport and triggered release: a review

Micro/nanorobots that can effectively convert diverse energy sources into movement can revolutionize the field of pharmaceutical, particularly targeted drug delivery. By targeted transport and triggered release, drug can be delivered to targeted tissues or body sites. Targeted transport is discussed with different actuation energy sources including self-propelled (H₂O₂ and enzymes), external field-propelled (light, electrical, acoustics and magnetic field) and motile microorganism-propelled (bacterium, sperm, and contractile and immune cells) types. Triggered release systems including physiological environment, external fields and other mechanisms categories are also discussed here for the first time. With different transport and triggered release systems, micro/nanorobots achieved the goal of precise delivery of therapeutics. This review may provide a different perspective or referable guidance for the future development of more flexible targeted delivery systems.

A Multifunctional Magnetic Red Blood Cell-Mimetic Micromotor for Drug Delivery and Image-Guided Therapy

Inspired by nature, innovative devices have been made to imitate the morphology and functions of natural red blood cells (RBCs). Here, we report a red blood cell-mimetic micromotor (RBCM), which was fabricated based on a layer-by-layer assembly method and precisely controlled by an external rotating uniform magnetic field. The main framework of the RBCM was constructed by the natural protein zein and finally camouflaged with the RBC membrane. Functional cargos such as Fe₃O₄ nanoparticles and the chemotherapeutic agent doxorubicin were loaded within the wall part of the RBCM for tumor therapy. Due to the massive loading of Fe₃O₄ nanoparticles, the RBCM can be precisely navigated by an external rotating uniform magnetic field and be used as a magnetic resonance imaging contrast agent for tumor imaging. The RBCM has been proven to be biocompatible, biodegradable, magnetically manipulated, and imageable, which are key requisites to take micromotors from the chalkboard to clinics. We expect the RBC-inspired biohybrid device to achieve wide potential applications.

Design, fabrication and application of magnetically actuated micro/nanorobots: a review

Magnetically actuated micro/nanorobots are typical micro- and nanoscale artificial devices with favorable attributes of quick response, remote and contactless control, harmless human-machine interaction and high economic efficiency. Under external magnetic actuation strategies, they are capable of achieving elaborate manipulation and navigation in extreme biomedical environments. This review focuses on state-of-the-art progresses in design strategies, fabrication techniques and applications of magnetically actuated micro/nanorobots. Firstly, recent advances of various robot designs, including helical robots, surface walkers, ciliary robots, scaffold robots and biohybrid robots, are discussed separately. Secondly, the main progresses of common fabrication techniques are respectively introduced, and application achievements on these robots in targeted drug delivery, minimally invasive surgery and cell manipulation are also presented. Finally, a short summary is made, and the current challenges and future work for magnetically actuated micro/nanorobots are discussed.

Nature-inspired micro/nanomotors

Living things in nature have evolved with unique morphologies, structures, materials, behaviors, and functions to survive in complex natural environments. Nature has inspired the design ideas, preparation methods, and applications of versatile micro/nanomotors. This review summarizes diverse nature-inspired micro/nanomotors, which can be divided into five groups: (i) natural morphology-inspired micro/nanomotors, whose shapes are designed to imitate the morphologies of plants, animals, and objects in nature. (ii) Natural structure-inspired micro/nanomotors, which use structures from plants, red blood cells, and platelet cells as components of micro/nanomotors, or directly use sperm cells and microorganisms as the engines of micro/nanomotors. (iii) Natural behavior-inspired micro/nanomotors, which are proposed to mimic natural behaviors such as motion behavior, swarm behavior, and communication behavior between individuals. (iv) Micro/nanomotors inspired by both natural morphology and behavior. Nature makes it possible for synthetic micro/nanomotors to possess interesting morphologies, novel preparation methods, new propulsion modes, innovative functions, and broad applications. The nature-inspired micro/nanomotors could provide a promising platform for various practical fields.

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.

An Overview of Micronanoswarms for Biomedical Applications

Micronanoswarms have attracted extensive attention worldwide due to their great promise in biomedical applications. The collective behaviors among thousands, or even millions, of tiny active agents indicate immense potential for benefiting the progress of clinical therapeutic and diagnostic methods. In recent years, with the development of smart materials, remote actuation modalities, and automatic control strategies, the motion dexterity, environmental adaptability, and functionality versatility of micronanoswarms are improved. Swarms can thus be designed as dexterous platforms inside living bodies to perform a multitude of tasks related to healthcare. Existing surveys summarize the design, functionalization, and biomedical applications of micronanorobots and the actuation and motion control strategies of micronanoswarms. This review presents the recent progress of micronanoswarms, aiming for biomedical applications. The recent advances on structural design of artificial, living, and hybrid micronanoswarms are summarized, and the biomedical applications that could be tackled using micronanoswarms are introduced, such as targeted drug delivery, hyperthermia, imaging and sensing, and thrombolysis. Moreover, potential challenges and promising trends of future developments are discussed. It is envisioned that the future success of these promising tools will have a significant impact on clinical treatment.

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.

Micromotor-based localized electroporation and gene transfection of mammalian cells

Herein, we studied localized electroporation and gene transfection of mammalian cells using a metallodielectric hybrid micromotor that is magnetically and electrically powered. Much like nanochannel-based, local electroporation of single cells, the presented micromotor was expected to increase reversible electroporation yield, relative to standard electroporation, as only a small portion of the cell's membrane (in contact with the micromotor) is affected. In contrast to methods in which the entire membrane of all cells within the sample are electroporated, the presented micromotor can perform, via magnetic steering, localized, spatially precise electroporation of the target cells that it traps and transports. In order to minimize nonselective electrical lysis of all cells within the chamber, resulting from extended exposure to an electrical field, magnetic propulsion was used to approach the immediate vicinity of the targeted cell, after which short-duration, electric-driven propulsion was activated to enable contact with the cell, followed by electroporation. In addition to local injection of fluorescent dye molecules, we demonstrated that the micromotor can enhance the introduction of plasmids into the suspension cells because of the dielectrophoretic accumulation of the plasmids in between the Janus particle and the attached cell prior to the electroporation step. Here, we chose a different strategy involving the simultaneous operation of many micromotors that are self-propelling, without external steering, and pair with cells in an autonomic manner. The locally electroporated suspension cells that are considered to be very difficult to transfect were shown to express the transfected gene, which is of significant importance for molecular biology research.

Recent progress of biomimetic motions-from microscopic micro/nanomotors to macroscopic actuators and soft robotics

Motion is a basic behavioral attribute of organisms, and it is a behavioral response of organisms to the external environment and internal state changes. Materials with switchable mechanical properties are widespread in living organisms and play crucial roles in the motion of organisms. Therefore, significant efforts have been made toward mimicking such architectures and motion behaviors by making full use of the properties of stimulus-responsive materials to design smart materials/machines with specific functions. In recent years, the biomimetic motions based on micro/nanomotors, actuators and soft robots constructed from smart response materials have been developed gradually. However, a comprehensive discussion on various categories of biomimetic motions in this field is still missing. This review aims to provide such a panoramic overview. From nano-to macroscales, we summarize various biomimetic motions based on micro/nanomotors, actuators and soft robotics. For each biomimetic motion, we discuss the driving modes and the key functions. The challenges and opportunities of biomimetic motions are also discussed. With rapidly increasing innovation, advanced, intelligent and multifunctional biomimetic motions based on micro/nanomotors, actuators and soft robotics will certainly bring profound impacts and changes for human life in the near future.

Biomimetic motions are derived from the many different functional materials and/or intricate and highly organized structure of the biological material from the molecular to the nanoscale, microscale and macroscale.

Magnetic systems for cancer immunotherapy

Immunotherapy is a rapidly developing area of cancer treatment due to its higher specificity and potential for greater efficacy than traditional therapies. Immune cell modulation through the administration of drugs, proteins, and cells can enhance antitumoral responses through pathways that may be otherwise inhibited in the presence of immunosuppressive tumors. Magnetic systems offer several advantages for improving the performance of immunotherapies, including increased spatiotemporal control over transport, release, and dosing of immunomodulatory drugs within the body, resulting in reduced off-target effects and improved efficacy. Compared to alternative methods for stimulating drug release such as light and pH, magnetic systems enable several distinct methods for programming immune responses. First, we discuss how magnetic hyperthermia can stimulate immune cells and trigger thermoresponsive drug release. Second, we summarize how magnetically targeted delivery of drug carriers can increase the accumulation of drugs in target sites. Third, we review how biomaterials can undergo magnetically driven structural changes to enable remote release of encapsulated drugs. Fourth, we describe the use of magnetic particles for targeted interactions with cellular receptors for promoting antitumor activity. Finally, we discuss translational considerations of these systems, such as toxicity, clinical compatibility, and future opportunities for improving cancer treatment.

Micro-Bio-Chemo-Mechanical-Systems: Micromotors, Microfluidics, and Nanozymes for Biomedical Applications

Wireless nano-/micromotors powered by chemical reactions and/or external fields generate motive forces, perform tasks, and significantly extend short-range dynamic responses of passive biomedical microcarriers. However, before micromotors can be translated into clinical use, several major problems, including the biocompatibility of materials, the toxicity of chemical fuels, and deep tissue imaging methods, must be solved. Nanomaterials with enzyme-like characteristics (e.g., catalase, oxidase, peroxidase, superoxide dismutase), that is, nanozymes, can significantly expand the scope of micromotors' chemical fuels. A convergence of nanozymes, micromotors, and microfluidics can lead to a paradigm shift in the fabrication of multifunctional micromotors in reasonable quantities, encapsulation of desired subsystems, and engineering of FDA-approved core-shell structures with tuneable biological, physical, chemical, and mechanical properties. Microfluidic methods are used to prepare stable bubbles/microbubbles and capsules integrating ultrasound, optoacoustic, fluorescent, and magnetic resonance imaging modalities. The aim here is to discuss an interdisciplinary approach of three independent emerging topics: micromotors, nanozymes, and microfluidics to creatively: 1) embrace new ideas, 2) think across boundaries, and 3) solve problems whose solutions are beyond the scope of a single discipline toward the development of micro-bio-chemo-mechanical-systems for diverse bioapplications.

Helical Klinotactic Locomotion of Two-Link Nanoswimmers with Dual-Function Drug-Loaded Soft Polysaccharide Hinges

Inspired by the movement of bacteria and other microorganisms, researchers have developed artificial helical micro- and nanorobots that can perform corkscrew locomotion or helical path swimming under external energy actuation. In this paper, for the first time the locomotion of nonhelical multifunctional nanorobots that can swim in helical klinotactic trajectories, similarly to rod-shaped bacteria, under rotating magnetic fields is investigated. These nanorobots consist of a rigid ferromagnetic nickel head connected to a rhodium tail by a flexible hydrogel-based hollow hinge composed of chemically responsive chitosan and alginate multilayers. This design allows nanoswimmers switching between different dynamic behaviors-from in-plane tumbling to helical klinotactic swimming-by varying the rotating magnetic field frequency and strength. It also adds a rich spectrum of swimming capabilities that can be adjusted by varying the type of applied magnetic fields and/or frequencies. A theoretical model is developed to analyze the propulsion mechanisms and predict the swimming behavior at distinct rotating magnetic frequencies. The model shows good agreement with the experimental results. Additionally, the biomedical capabilities of the nanoswimmers as drug delivery platforms are demonstrated. Unlike previous designs constitute metallic segments, the proposed nanoswimmers can encapsulate drugs into their hollow hinge and successfully release them to cells.

Magnetically Driven Micro and Nanorobots

Manipulation and navigation of micro and nanoswimmers in different fluid environments can be achieved by chemicals, external fields, or even motile cells. Many researchers have selected magnetic fields as the active external actuation source based on the advantageous features of this actuation strategy such as remote and spatiotemporal control, fuel-free, high degree of reconfigurability, programmability, recyclability, and versatility. This review introduces fundamental concepts and advantages of magnetic micro/nanorobots (termed here as “MagRobots”) as well as basic knowledge of magnetic fields and magnetic materials, setups for magnetic manipulation, magnetic field configurations, and symmetry-breaking strategies for effective movement. These concepts are discussed to describe the interactions between micro/nanorobots and magnetic fields. Actuation mechanisms of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted motion), applications of magnetic fields in other propulsion approaches, and magnetic stimulation of micro/nanorobots beyond motion are provided followed by fabrication techniques for (quasi-)spherical, helical, flexible, wire-like, and biohybrid MagRobots. Applications of MagRobots in targeted drug/gene delivery, cell manipulation, minimally invasive surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery, pollution removal for environmental remediation, and (bio)sensing are also reviewed. Finally, current challenges and future perspectives for the development of magnetically powered miniaturized motors are discussed.

3D printing of functional microrobots

3D printing (also called "additive manufacturing" or "rapid prototyping") is able to translate computer-aided and designed virtual 3D models into 3D tangible constructs/objects through a layer-by-layer deposition approach. Since its introduction, 3D printing has aroused enormous interest among researchers and engineers to understand the fabrication process and composition-structure-property correlation of printed 3D objects and unleash its great potential for application in a variety of industrial sectors. Because of its unique technological advantages, 3D printing can definitely benefit the field of microrobotics and advance the design and development of functional microrobots in a customized manner. This review aims to present a generic overview of 3D printing for functional microrobots. The most applicable 3D printing techniques, with a focus on laser-based printing, are introduced for the 3D microfabrication of microrobots. 3D-printable materials for fabricating microrobots are reviewed in detail, including photopolymers, photo-crosslinkable hydrogels, and cell-laden hydrogels. The representative applications of 3D-printed microrobots with rational designs heretofore give evidence of how these printed microrobots are being exploited in the medical, environmental, and other relevant fields. A future outlook on the 3D printing of microrobots is also provided.

The Energy Conversion behind Micro-and Nanomotors

Inspired by the autonomously moving organisms in nature, artificially synthesized micro-nano-scale power devices, also called micro-and nanomotors, are proposed. These micro-and nanomotors that can self-propel have been used for biological sensing, environmental remediation, and targeted drug transportation. In this article, we will systematically overview the conversion of chemical energy or other forms of energy in the external environment (such as electrical energy, light energy, magnetic energy, and ultrasound) into kinetic mechanical energy by micro-and nanomotors. The development and progress of these energy conversion mechanisms in the past ten years are reviewed, and the broad application prospects of micro-and nanomotors in energy conversion are provided.

Base flow decomposition for complex moving objects in linear hydrodynamics: Application to helix-shaped flagellated microswimmers

The motion of microswimmers in complex flows is ruled by the interplay between swimmer propulsion and the dynamics induced by the fluid velocity field. Here we study the motion of a chiral microswimmer whose propulsion is provided by the spinning of a helical tail with respect to its body in a simple shear flow. Thanks to an efficient computational strategy that allowed us to simulate thousands of different trajectories, we show that the tail shape dramatically affects the swimmer's motion. In the shear dominated regime, the swimmers carrying an elliptical helical tail show several different Jeffery-like (tumbling) trajectories depending on their initial configuration. As the propulsion torque increases, a progressive regularization of the motion is observed until, in the propulsion dominated regime, the swimmers converge to the same final trajectory independently on the initial configuration. Overall, our results show that elliptical helix swimmer presents a much richer variety of trajectories with respect to the usually studied circular helix tails.

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.

Fundamentals and applications of enzyme powered micro/nano-motors

Micro/nanomotors (MNMs) are miniaturized machines that can convert many kinds of energy into mechanical motion. Over the past decades, a variety of driving mechanisms have been developed, which have greatly extended the application scenarios of MNMs. Enzymes exist in natural organisms which can convert chemical energy into mechanical force. It is an innovative attempt to utilize enzymes as biocatalyst providing driving force for MNMs. The fuels for enzymatic reactions are biofriendly as compared to traditional counterparts, which makes enzyme-powered micro/nanomotors (EMNMs) of great value in biomedical field for their nature of biocompatibility. Until now, EMNMs with various shapes can be propelled by catalase, urease and many others. Also, they can be endowed with multiple functionalities to accomplish on-demand tasks. Herein, combined with the development process of EMNMs, we are committed to present a comprehensive understanding of EMNMs, including their types, propelling principles, and potential applications. In this review, we will introduce single enzyme that can be used as motor, enzyme powered molecule motors and other micro/nano-architectures. The fundamental mechanism of energy conversion process of EMNMs and crucial factors that affect their movement behavior will be discussed. The current progress of proof-of-concept applications of EMNMs will also be elaborated in detail. At last, we will summarize and prospect the opportunities and challenges that EMNMs will face in their future development.

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Clear classification and description of different enzyme-powered micro/nanomotors (EMNMs).

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Discussion of the fundamental mechanism of energy conversion process of EMNMs and their movement influence factors.

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Introduction of the current progress of proof-of-concept applications of EMNMs.

Mechanically interlocked 3D multi-material micromachines

Metals and polymers are dissimilar materials in terms of their physicochemical properties, but complementary in terms of functionality. As a result, metal-organic structures can introduce a wealth of novel applications in small-scale robotics. However, current fabrication techniques are unable to process three-dimensional metallic and polymeric components. Here, we show that hybrid microstructures can be interlocked by combining 3D lithography, mold casting, and electrodeposition. Our method can be used to achieve complex multi-material microdevices with unprecedented resolution and topological complexity. We show that metallic components can be combined with structures made of different classes of polymers. Properties of both metals and polymers can be exploited in parallel, resulting in structures with high magnetic responsiveness, elevated drug loading capacity, on-demand shape transformation, and elastic behavior. We showcase the advantages of our approach by demonstrating new microrobotic locomotion modes and controlled agglomeration of swarms.

Mechanically interlocking dissimilar materials, such as metals and polymers, is a challenging yet promising pathway for designing and fabricating complex systems on the small scale. Here, the authors report a novel interlocking fabrication scheme and showcase the fabrication of microrobots via 3D-lithography.

Medical Micro/Nanorobots in Precision Medicine

Advances in medical robots promise to improve modern medicine and the quality of life. Miniaturization of these robotic platforms has led to numerous applications that leverages precision medicine. In this review, the current trends of medical micro and nanorobotics for therapy, surgery, diagnosis, and medical imaging are discussed. The use of micro and nanorobots in precision medicine still faces technical, regulatory, and market challenges for their widespread use in clinical settings. Nevertheless, recent translations from proof of concept to in vivo studies demonstrate their potential toward precision medicine.

A Tumbling Magnetic Microrobot System for Biomedical Applications

A microrobot system comprising an untethered tumbling magnetic microrobot, a two-degree-of-freedom rotating permanent magnet, and an ultrasound imaging system has been developed for in vitro and in vivo biomedical applications. The microrobot tumbles end-over-end in a net forward motion due to applied magnetic torque from the rotating magnet. By turning the rotational axis of the magnet, two-dimensional directional control is possible and the microrobot was steered along various trajectories, including a circular path and P-shaped path. The microrobot is capable of moving over the unstructured terrain within a murine colon in in vitro, in situ, and in vivo conditions, as well as a porcine colon in ex vivo conditions. High-frequency ultrasound imaging allows for real-time determination of the microrobot's position while it is optically occluded by animal tissue. When coated with a fluorescein payload, the microrobot was shown to release the majority of the payload over a 1-h time period in phosphate-buffered saline. Cytotoxicity tests demonstrated that the microrobot's constituent materials, SU-8 and polydimethylsiloxane (PDMS), did not show a statistically significant difference in toxicity to murine fibroblasts from the negative control, even when the materials were doped with magnetic neodymium microparticles. The microrobot system's capabilities make it promising for targeted drug delivery and other in vivo biomedical applications.

Fantastic Voyage of Nanomotors into the Cell

Richard Feynman's 1959 vision of controlling devices at small scales and swallowing the surgeon has inspired the science-fiction Fantastic Voyage film and has played a crucial role in the rapid development of the microrobotics field. Sixty years later, we are currently witnessing a dramatic progress in this field, with artificial micro- and nanoscale robots moving within confined spaces, down to the cellular level, and performing a wide range of biomedical applications within the cellular interior while addressing the limitations of common passive nanosystems. In this review article, we discuss key recent advances in the field of micro/nanomotors toward important cellular applications. Specifically, we outline the distinct capabilities of nanoscale motors for such cellular applications and illustrate how the active movement of nanomotors leads to distinct advantages of rapid cell penetration, accelerated intracellular sensing, and effective intracellular delivery toward enhanced therapeutic efficiencies. We finalize by discussing the future prospects and key challenges that such micromotor technology face toward implementing practical intracellular applications. By increasing our knowledge of nanomotors' cell entry and of their behavior within the intracellular space, and by successfully addressing key challenges, we expect that next-generation nanomotors will lead to exciting advances toward cell-based diagnostics and therapy.

Micro-/Nanomotors toward Biomedical Applications: The Recent Progress in Biocompatibility

Inspired by the highly versatile natural motors, artificial micro-/nanomotors that can convert surrounding energies into mechanical motion and accomplish multiple tasks are devised. In the past few years, micro-/nanomotors have demonstrated significant potential in biomedicine. However, the practical biomedical applications of these small-scale devices are still at an infant stage. For successful bench-to-bed translation, biocompatibility of micro-/nanomotor systems is the central issue to be considered. Herein, the recent progress in micro-/nanomotors in biocompatibility is reviewed, with a special focus on their biomedical applications. Through close collaboration between researches in the nanoengineering, material chemistry, and biomedical fields, it is expected that a promising real-world application platform based on micro-/nanomotors will emerge in the near future.

Self-Propelled Micro/Nanomotors for On-Demand Biomedical Cargo Transportation

Micro/nanomotors (MNMs) are miniaturized machines that can perform assigned tasks at the micro/nanoscale. Over the past decade, significant progress has been made in the design, preparation, and applications of MNMs that are powered by converting different sources of energy into mechanical force, to realize active movement and fulfill on-demand tasks. MNMs can be navigated to desired locations with precise controllability based on different guidance mechanisms. A considerable research effort has gone into demonstrating that MNMs possess the potential of biomedical cargo loading, transportation, and targeted release to achieve therapeutic functions. Herein, the recent advances of self-propelled MNMs for on-demand biomedical cargo transportation, including their self-propulsion mechanisms, guidance strategies, as well as proof-of-concept studies for biological applications are presented. In addition, some of the major challenges and possible opportunities of MNMs are identified for future biomedical applications in the hope that it may inspire future research.

Medical micro/nanorobots in complex media

Medical micro/nanorobots have received tremendous attention over the past decades owing to their potential to be navigated into hard-to-reach tissues for a number of biomedical applications ranging from targeted drug/gene delivery, bio-isolation, detoxification, to nanosurgery. Despite the great promise, the majority of the past demonstrations are primarily under benchtop or in vitro conditions. Many developed micro/nanoscale propulsion mechanisms are based on the assumption of a homogeneous, Newtonian environment, while realistic biological environments are substantially more complex. Moving toward practical medical use, the field of micro/nanorobotics must overcome several major challenges including propulsion through complex media (such as blood, mucus, and vitreous) as well as deep tissue imaging and control in vivo. In this review article, we summarize the recent research efforts on investigating how various complexities in biological environments impact the propulsion of micro/nanoswimmers. We also highlight the emerging technological approaches to enhance the locomotion of micro/nanorobots in complex environments. The recent demonstrations of in vivo imaging, control and therapeutic medical applications of such micro/nanorobots are introduced. We envision that continuing materials and technological innovations through interdisciplinary collaborative efforts can bring us steps closer to the fantasy of "swallowing a surgeon".

Biocompatible Magnetic Micro- and Nanodevices: Fabrication of FePt Nanopropellers and Cell Transfection

The application of nanoparticles for drug or gene delivery promises benefits in the form of single-cell-specific therapeutic and diagnostic capabilities. Many methods of cell transfection rely on unspecific means to increase the transport of genetic material into cells. Targeted transport is in principle possible with magnetically propelled micromotors, which allow responsive nanoscale actuation and delivery. However, many commonly used magnetic materials (e.g., Ni and Co) are not biocompatible, possess weak magnetic remanence (Fe₃ O₄ ), or cannot be implemented in nanofabrication schemes (NdFeB). Here, it is demonstrated that co-depositing iron (Fe) and platinum (Pt) followed by one single annealing step, without the need for solution processing, yields ferromagnetic FePt nanomotors that are noncytotoxic, biocompatible, and possess a remanence and magnetization that rival those of permanent NdFeB micromagnets. Active cell targeting and magnetic transfection of lung carcinoma cells are demonstrated using gradient-free rotating millitesla fields to drive the FePt nanopropellers. The carcinoma cells express enhanced green fluorescent protein after internalization and cell viability is unaffected by the presence of the FePt nanopropellers. The results establish FePt, prepared in the L1₀ phase, as a promising magnetic material for biomedical applications with superior magnetic performance, especially for micro- and nanodevices.

A Needle-Type Microrobot for Targeted Drug Delivery by Affixing to a Microtissue

A needle-type microrobot (MR) for targeted drug delivery is developed to stably deliver drugs to a target microtissue (MT) for a given period time without the need for an external force after affixing. The MRs are fabricatedby 3D laser lithography and nickel (Ni)/titanium oxide (TiO₂ ) layers are coated by physical vapor deposition. The translational velocity of the MR is 714 µm s^-1 at 20 mT and affixed to the target MT under the control of a rotating magnetic field. The manipulability of the MR is shown by using both manual and automatic controls. Finally, drug release from the paclitaxel-loaded MR is characterized to determine the efficiency of targeted drug delivery. This study demonstrates the utility of the proposed needle-type MR for targeted drug delivery to MT with various flow rates in vitro physiological fluidic environments.

Sperm Micromotors for Cargo Delivery through Flowing Blood

Micromotors are recognized as promising candidates for untethered micromanipulation and targeted cargo delivery in complex biological environments. However, their feasibility in the circulatory system has been limited due to the low thrust force exhibited by many of the reported synthetic micromotors, which is not sufficient to overcome the high flow and complex composition of blood. Here we present a hybrid sperm micromotor that can actively swim against flowing blood (continuous and pulsatile) and perform the function of heparin cargo delivery. In this biohybrid system, the sperm flagellum provides a high propulsion force while the synthetic microstructure serves for magnetic guidance and cargo transport. Moreover, single sperm micromotors can assemble into a train-like carrier after magnetization, allowing the transport of multiple sperm or medical cargoes to the area of interest, serving as potential anticoagulant agents to treat blood clots or other diseases in the circulatory system.

Local flow sensing on helical microrobots for semi-automatic motion adaptation

Helical microrobots with dimensions below 100 µm could serve many applications for manipulation and sensing in small, closed environments such as blood vessels or inside microfluidic chips. However, environmental conditions such as surface stiction from the channel wall or local flow can quickly result in the loss of control of the microrobot, especially for untrained users. Therefore, to automatically adapt to changing conditions, we propose an algorithm that switches between a surface-based motion of the microrobot and a 3D swimming motion depending on the local flow value. Indeed swimming is better for avoiding obstacles and difficult surface stiction areas but it is more sensitive to the flow than surface motion such as rolling or spintop motion. First, we prove the flow sensing ability of helical microrobots based on the difference between the tracked and theoretical speed. For this, a 50 µm long and 5 µm diameter helical microrobot measures the flow profile shape in two different microchannels. These measurements are then compared with simulation results. Then, we demonstrate both swimming and surface-based motion using closed-loop control. Finally, we test our algorithm by following a 2D path using closed-loop control, and adapting the type of motion depending on the flow speed measured by the microrobot. Such results could enable simple high-level control that could expand the development of microrobots toward applications in complex microfluidic environments.

Controllable Fabrication of Functional Microhelices with Droplet Microfluidics

Microhelices with unique three-dimensional (3D) helical structures have attracted great attention due to applications in various fields, especially magnetic microhelices can be applied as microrobots for removal of clogging substance in microchannels, cargo transport, cell manipulation, and so on. Here, a facile and flexible strategy is developed to controllably fabricate microhelices with droplet microfluidics. On-flow fabrication of microhelices is simply achieved by generating monodisperse droplets first, transforming the spherical droplets into helical templates subsequently due to the liquid rope coiling effect, followed by polymerizing monomers in the templates via on-line UV irradiation and then degrading the shells of helical fibers. Benefitting from the flexible controllability of microfluidics, the morphologies of microhelices can be precisely controlled by adjusting the flow rates of fluids and the structures of microfluidic devices. Functional microhelices can be easily prepared by introducing functional components or elements into inner fluids. By introducing magnetic nanoparticles into inner fluids, magnetic microhelices are easily fabricated as microrobots that featured with magnetic-field-driven corkscrew-like motion for efficient cargo transport and removal of clogging substance in microchannels. This novel microfabrication method allows a precise morphological control and easy functionalization of microhelices, providing a flexible and versatile strategy for fabricating designer functional microhelices for diverse applications.

Application of Micro-Scale 3D Printing in Pharmaceutics

3D printing, as one of the most rapidly-evolving fabrication technologies, has released a cascade of innovation in the last two decades. In the pharmaceutical field, the integration of 3D printing technology has offered unique advantages, especially at the micro-scale. When printed at a micro-scale, materials and devices can provide nuanced solutions to controlled release, minimally invasive delivery, high-precision targeting, biomimetic models for drug discovery and development, and future opportunities for personalized medicine. This review aims to cover the recent advances in this area. First, the 3D printing techniques are introduced with respect to the technical parameters and features that are uniquely related to each stage of pharmaceutical development. Then specific micro-sized pharmaceutical applications of 3D printing are summarized and grouped according to the provided benefits. Both advantages and challenges are discussed for each application. We believe that these technologies provide compelling future solutions for modern medicine, while challenges remain for scale-up and regulatory approval.

Magnetically Actuated Degradable Microrobots for Actively Controlled Drug Release and Hyperthermia Therapy

Microrobots facilitate targeted therapy due to their small size, minimal invasiveness, and precise wireless control. A degradable hyperthermia microrobot (DHM) with a 3D helical structure is developed, enabling actively controlled drug delivery, release, and hyperthermia therapy. The microrobot is made of poly(ethylene glycol) diacrylate (PEGDA) and pentaerythritol triacrylate (PETA) and contains magnetic Fe₃ O₄ nanoparticles (MNPs) and 5-fluorouracil (5-FU). Its locomotion is remotely and precisely controlled by a rotating magnetic field (RMF) generated by an electromagnetic actuation system. Drug-free DHMs reduce the viability of cancer cells by elevating the temperature under an alternating magnetic field (AMF), a hyperthermic effect. 5-FU is released from the proposed DHMs in normal-, high-burst-, and constant-release modes, controlled by the AMF. Finally, actively controlled drug release from the DHMs in normal- and high-burst-release mode results in a reduction in cell viability. The reduction in cell viability is of greater magnitude in high-burst- than in normal-release mode. In summary, biodegradable DHMs have potential for actively controlled drug release and hyperthermia therapy.

MOFBOTS: Metal-Organic-Framework-Based Biomedical Microrobots

Motile metal-organic frameworks (MOFs) are potential candidates to serve as small-scale robotic platforms for applications in environmental remediation, targeted drug delivery, or nanosurgery. Here, magnetic helical microstructures coated with a kind of zinc-based MOF, zeolitic imidazole framework-8 (ZIF-8), with biocompatibility characteristics and pH-responsive features, are successfully fabricated. Moreover, it is shown that this highly integrated multifunctional device can swim along predesigned tracks under the control of weak rotational magnetic fields. The proposed systems can achieve single-cell targeting in a cell culture media and a controlled delivery of cargo payloads inside a complex microfluidic channel network. This new approach toward the fabrication of integrated multifunctional systems will open new avenues in soft microrobotics beyond current applications.

Fuel-Free Micro-/Nanomotors as Intelligent Therapeutic Agents

There are many efficient biological motors in Nature that perform complex functions by converting chemical energy into mechanical motion. Inspired by this, the development of their synthetic counterparts has aroused tremendous research interest in the past decade. Among these man-made motor systems, the fuel-free (or light, magnet, ultrasound, or electric field driven) motors are advantageous in terms of controllability, lifespan, and biocompatibility concerning bioapplications, when compared with their chemically powered counterparts. Therefore, this review will highlight the latest biomedical applications in the versatile field of externally propelled micro-/nanomotors, as well as elucidating their driving mechanisms. A perspective into the future of the micro-/nanomotors field and a discussion of the challenges we need to face along the road towards practical clinical translation of external-field-propelled micro-/nanomotors will be provided.