Biohybrid and Bioinspired Magnetic Microswimmers

Physiological magnetic field strengths help magnetotactic bacteria navigate in simulated sediments

Bacterial motility is typically studied in bulk solution, while their natural habitats often are complex environments. Here, we produced microfluidic channels that contained sediment-mimicking obstacles to study swimming of magnetotactic bacteria in a near-realistic environment. Magnetotactic bacteria are microorganisms that form chains of nanomagnets and that orient in Earth's magnetic field. The obstacles were produced based on micro-computer tomography reconstructions of bacteria-rich sediment samples. We characterized the swimming of the cells through these channels and found that swimming throughput was highest for physiological magnetic fields. This observation was confirmed by extensive computer simulations using an active Brownian particle model. The simulations indicate that swimming at strong fields is impeded by the trapping of bacteria in 'corners' that require transient swimming against the magnetic field for escape. At weak fields, the direction of swimming is almost random, making the process inefficient as well. We confirmed the trapping effect in our experiments and showed that lowering the field strength allows the bacteria to escape. We hypothesize that over the course of evolution, magnetotactic bacteria have thus evolved to produce magnetic properties that are adapted to the geomagnetic field in order to balance movement and orientation in such crowded environments.

Janus-Structured Micro/Nanomotors: Self-Propelled Mechanisms and Biomedical Applications

Self-propelled micro/nanomotors (MNMs), which can convert other energy into mechanical motion, have attracted considerable attention due to their potential applications in diverse fields. Due to the asymmetric structures and 2 or more chemically discrepant composites constructed in the Janus nanoparticles, asymmetrical forces can be created in the physical environment. Thus, MNMs with Janus structures have been widely studied for revealing possible driving mechanisms. This tutorial review covers the most representative examples of Janus-structured MNMs developed so far, which are self-propelled by different mechanisms. We focus on Janus MNMs that exhibit self-propelled motion in liquid environments and their potential applications in biomedicine, including drug delivery, cancer therapy, bioimaging, and biosensing. The driving mechanisms and challenges associated with constructing asymmetric fields are deeply discussed, along with future opportunities for these versatile and promising MNMs. This review provides an overview of the rapidly evolving field of MNMs and their potential applications, serving as a valuable resource for researchers and others interested in this field.

Surface motion dynamics and swimming control of planar magnetic microswimmers

Planar magnetic microswimmers offer substantial potential for in vivo biomedical applications, owing to their efficient mass production via photolithography. In this study, we demonstrate the effective control of these microswimmers using an open-loop approach in environments with minimal external disturbances. We investigate their surface motion characteristics through both theoretical modeling and experimental testing under varying magnetic field strengths and rotation frequencies, identifying regions of stable and unstable motion. Additionally, we analyze how field frequency and strength influence surface motion speed and identify the frequencies that promote stability. Open-loop control of surface motion in fluid environments and swimming in channels is also demonstrated, highlighting the operational flexibility of these microswimmers. We further demonstrate swarm motion for both swimming and surface operations, exhibiting larger-scale coordination. Our findings emphasize their potential for future applications in biomedical engineering and microrobotics, marking a step forward in the development of microscale robotic systems.

Collective Reconfiguration and Propulsion Behaviors of Chlorella-Based Biohybrid Magnetic Microrobot Swarm

Magnetic microrobots hold great promise for applications in drug delivery and environmental remediation, but achieving collective reconfiguration and effective propulsion for dense, motile magnetic microrobots remains a significant challenge. In this research, we have fabricated Chlorella-based biohybrid magnetic microrobots in bulk using a facile biotemplating process and studied their superior reconfiguration and propulsion performance. Our results show that the dispersed superparamagnetic individuals can self-organize into a swarm of chain-like multimers, achieving effective propulsion via rolling or tumbling modes. The near-bound locomotion process demonstrates pseudochiral periodic reciprocation properties, and a detailed morphological analysis has been conducted. Furthermore, the microrobots can form vortices and realize swarm propulsion in spinning mode. These findings indicate that the spheroidal microrobots exhibit high maneuverability in programmable self-assembly, collective reconfiguration, and swarm propulsion based on dynamic magnetic interactions. In summary, this research provides a feasible method for constructing reconfigurable magnetic microrobots and explores an applicable paradigm for their flexible swarm control and collective cooperation. These advances have significant implications for practical applications of magnetic microrobots in various fields.

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

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

Enhanced speed of microswimmers adjacent to a rough surface

Increased speed is not only the goal of human sports but also the aim we seek to achieve for artificial microswimmers. Microswimmers driven by various power mechanisms have shown unrivaled advantages in drug delivery and cancer therapy. Attaining high mobility with limited power has been a never-ending motive for researchers. We show the speed of squirmer-type microswimmers can be noticeably enhanced as they are released to move along the surface of a pillar array, which is constructed of multiple pillars of equal sizes and spacing. An additional pressure force arising from the significant low pressure between the swimmers and the surface is likely behind this enhancement. According to their polarity strengths, the speed of the microswimmers can be double or triple (or even more) compared with that in an unbounded environment. In particular, for systems requiring microswimmers moving along a complex path, the transport rate, instead of being slowed down, may be increased owing to the curvatures of the path constructed by the pillar arrays. We reveal two types of motion for microswimmers after increasing the pillar gap: free and forced oscillating. Our study sheds light on the hydrodynamic interactions between squirmer-type microswimmers and a rough wall.

4D Printing Technology Based on Magnetic Intelligent Materials: Materials, Processing Processes, and Application

4D printing technology refers to the manufacturing of products using 3D printing techniques that are capable of changing shape or structure in response to external stimuli. Compared with traditional 3D printing, the additional dimension is manifested in the time dimension. Facilitated by the advancement of magnetic smart materials and 3D printing technology, magnetically controlled 4D printing technology has a wide range of application prospects in many fields such as medical treatment, electronic flexible devices, and industrial manufacturing. Magnetically controlled 4D printing technology is a new scientific research field in the 21st century, which includes but is not limited to the following disciplines: mechanics, materials, dynamics, physics, thermodynamics, and electromagnetism. It involves many fields and needs to be summarized systematically. First, this article introduces various magnetic intelligent materials, which are suitable for magnetically controlled 4D printing, and discusses their programmability. Second, regarding the printing process, the article introduces how to preset the material distribution as well as the research progress about the optimization of magnetically controlled 4D printing platforms and the distribution of magnetic field profiles. Third, the article also makes a brief introduction to the applications of magnetically controlled 4D printing technology in medical, electronic flexible devices, and industrial manufacturing fields.

Recent advances in micro/nanomotors for antibacterial applications

Currently, the rapid spread of multidrug-resistant bacteria derived from the indiscriminate use of traditional antibiotics poses a significant threat to public health worldwide. Moreover, established bacterial biofilms are extremely difficult to eradicate because of their high tolerance to traditional antimicrobial agents and extraordinary resistance to phagocytosis. Hence, it is of universal significance to develop novel robust and efficient antibacterial strategies to combat bacterial infections. Micro/nanomotors exhibit many intriguing properties, including enhanced mass transfer and micro-mixing resulting from their locomotion, intrinsic antimicrobial capabilities, active cargo delivery, and targeted treatment with precise micromanipulation, which facilitate the targeted delivery of antimicrobials to infected sites and their deep permeation into sites of bacterial biofilms for fast inactivation. Thus, the ideal antimicrobial activity of antibacterial micro/nanorobots makes them desirable alternatives to traditional antimicrobial treatments and has aroused extensive interest in recent years. In this review, recent advancements in antibacterial micro/nanomotors are briefly summarized, focusing on their synthetic methods, propulsion mechanism, and versatile antibacterial applications. Finally, some personal insights into the current challenges and possible future directions to translate proof-of-concept research to clinic application are proposed.

Significantly enhanced uranium extraction by intelligent light-driven nanorobot catchers with precise controllable moving trajectory

Uranium, as the most essential resource for nuclear power production, provides 13% of global electricity demand, has attracted considerable attention. However, it is still a great challenge for uranium extraction from natural water like salt lakes as the background of high salinity and low concentration (3.3 ∼ 330 ppb). Meanwhile, current uranium extraction strategies are generally focus on extraction capacity or selectivity but neglect to enhance extraction rate. In this work, we designed a novel kind of NIR-driven intelligent nanorobots catchers (MSSA-AO) with amidoxime as claws for uranium capture, which showed almost 100% extraction rate and an ultrafast extraction rate. Importantly, high extraction capacity (221.5 mg g-1) and selectivity were taken into consideration as well as good regeneration performance. Furthermore, amidoxime NRCs boosted in extraction amount about 16.7% during the first 5 min with self-driving performance. Overall, this work suggests a new strategy for ultrafast extraction of uranium from natural water with low abundance selectively by self-propelled NRCs, showing great possibility in outdoor application and promising for meeting huge energy needs globally.

Symmetrically pulsating bubbles swim in an anisotropic fluid by nematodynamics

Swimming in low-Reynolds-number fluids requires the breaking of time-reversal symmetry and centrosymmetry. Microswimmers, often with asymmetric shapes, exhibit nonreciprocal motions or exploit nonequilibrium processes to propel. The role of the surrounding fluid has also attracted attention because viscoelastic, non-Newtonian, and anisotropic properties of fluids matter in propulsion efficiency and navigation. Here, we experimentally demonstrate that anisotropic fluids, nematic liquid crystals (NLC), can make a pulsating spherical bubble swim despite its centrosymmetric shape and time-symmetric motion. The NLC breaks the centrosymmetry by a deformed nematic director field with a topological defect accompanying the bubble. The nematodynamics renders the nonreciprocity in the pulsation-induced fluid flow. We also report speed enhancement by confinement and the propulsion of another symmetry-broken bubble dressed by a bent disclination. Our experiments and theory propose another possible mechanism of moving bodies in complex fluids by spatiotemporal symmetry breaking.

Metal-Plastic Hybrid Additive Manufacturing to Realize Small-Scale Self-Propelled Catalytic Engines

Microengines driven by catalytic decomposition of a fuel have been an interesting research area recently due to their diverse applications, such as environmental monitoring and drug delivery. Literature reports a number of studies on this topic where researchers have made various attempts to manufacture such microengines. Some such methods are deposition of catalytic metal layers on sacrificial photoresists, electrochemical deposition of metal layers on polymeric structures, or 3D printing of structures followed by multi-step loading of structures with catalysts. These methods, even though proven to be effective, are tedious, time-consuming, and expensive. To address these issues, herein we report a 3D printing technique to realize microengines in a simple, rapid, and inexpensive single-step process. The printing of various shapes of microengines is achieved using digital light processing printing of a catalyst resin, where Pd(II) acts as a catalyst resin. The proposed integrated molding process can achieve cost-effective preparation of high-efficiency microengines. We demonstrate the locomotion of these microengines in 30% (w/w) H2O2 through the decomposition of H2O2 to generate oxygen to facilitate the self-propelled locomotion. The study characterizes the microengine based on several factors, such as the role of H2O2, Pd, shape, and design of the microengine, to get a full picture of the self-locomotion of microengines. The study shows that the developed method is feasible to manufacture microengines in a simple, rapid, and inexpensive manner to be suitable for numerous applications such as environmental monitoring, remediation, drug delivery, diagnosis, etc., through the modification of the catalyst resin and fuel, as desired.

Helical magnetic micromotors decorated with nickel ferrocyanide for the active and rapid adsorption of radiocesium in water

Separating radioactive cesium from nuclear waste and contaminated environments is critical to mitigate radiological hazards. In response to this need, remote-controllable and Cs-selective micromotor adsorbents have been considered as a promising technology for rapid in-situ cleanup while minimizing secondary waste and radiation exposure to workers. In this study, we demonstrate the active and rapid removal of a radioactive contaminant from water by leveraging the magnetic manipulation capabilities of a helical and magnetic Ni micromotor coated with Cs-selective nickel ferrocyanide (NiFC). The use of polyvinyl alcohol fibers as a template enables the straightforward preparation of the helical wire structure, allowing for precise control over the diameter and pitch of the helix through simple twisting with Ni wires. By harnessing Ni2+ ions eluted from the Ni micromotor in an acid solution, we successfully fabricate NiFC-coated Ni (NiFC/Ni) micromotors that exhibit a selective removal efficiency greater than 98% for 137Cs, even in the presence of high concentrations of competing Na+ ions. Under the influence of an external magnetic field, the NiFC/Ni micromotor demonstrates rapid motion, achieving a pulling motion (100 body lengths per second) through a magnetic gradient and a tumbling motion (46 body lengths per second) induced by a rotating magnetic field. The tumbling motion of the NiFC/Ni micromotor substantially improves the Cs adsorption rate, resulting in a rate that surpasses that achieved under nonmoving conditions by a factor of 21. This improved adsorption rate highlights the considerable potential of magnetically manipulated micromotor self-propulsion for efficient water-pollution treatment.

Multimode microdimer robot for crossing tissue morphological barrier

Swimming microrobot energized by magnetic fields exhibits remotely propulsion and modulation in complex biological experiment with high precision. However, achieving high environment adaptability and multiple tasking capability in one configuration is still challenging. Here, we present a strategy that use oriented magnetized Janus spheres to assemble the microdimer robots with two magnetic distribution configurations of head-to-side configuration (HTS-config) and head-to-head configuration (HTH-config), achieving performance of multiple tasks through multimode transformation and locomotion. Modulating the magnetic frequency enables multimode motion transformation between tumbling, rolling, and swing motion with different velocities. The dual-asynchronization mechanisms of HTS-config and HTH-config robot dependent on magnetic dipole-dipole angle are investigated by molecular dynamic simulation. In addition, the microdimer robot can transport cell crossing morphological rugae or complete drug delivery on tissues by switching motion modes. This microdimer robot can provide versatile motion modes to address environmental variations or multitasking requirements.

Biodegradable Microrobots and Their Biomedical Applications: A Review

During recent years, microrobots have drawn extensive attention owing to their good controllability and great potential in biomedicine. Powered by external physical fields or chemical reactions, these untethered microdevices are promising candidates for in vivo complex tasks, such as targeted delivery, imaging and sensing, tissue engineering, hyperthermia, and assisted fertilization, among others. However, in clinical use, the biodegradability of microrobots is significant for avoiding toxic residue in the human body. The selection of biodegradable materials and the corresponding in vivo environment needed for degradation are increasingly receiving attention in this regard. This review aims at analyzing different types of biodegradable microrobots by critically discussing their advantages and limitations. The chemical degradation mechanisms behind biodegradable microrobots and their typical applications are also thoroughly investigated. Furthermore, we examine their feasibility and deal with the in vivo suitability of different biodegradable microrobots in terms of their degradation mechanisms; pathological environments; and corresponding biomedical applications, especially targeted delivery. Ultimately, we highlight the prevailing obstacles and perspective solutions, ranging from their manufacturing methods, control of movement, and degradation rate to insufficient and limited in vivo tests, that could be of benefit to forthcoming clinical applications.

Inertia changes evolution of motility-induced phase separation in active matter across particle activity

The effects of inertia in active matter and motility-induced phase separation (MIPS) have attracted growing interest but still remain poorly studied. We studied MIPS behavior in the Langevin dynamics across a broad range of particle activity and damping rate values with molecular dynamic simulations. Here we show that the MIPS stability region across particle activity values consists of several domains separated by discontinuous or sharp changes in susceptibility of mean kinetic energy. These domain boundaries have fingerprints in the system's kinetic energy fluctuations and characteristics of gas, liquid, and solid subphases, such as the number of particles, densities, or the power of energy release due to activity. The observed domain cascade is most stable at intermediate damping rates but loses its distinctness in the Brownian limit or vanishes along with phase separation at lower damping values.

Advanced medical micro-robotics for early diagnosis and therapeutic interventions

Recent technological advances in micro-robotics have demonstrated their immense potential for biomedical applications. Emerging micro-robots have versatile sensing systems, flexible locomotion and dexterous manipulation capabilities that can significantly contribute to the healthcare system. Despite the appreciated and tangible benefits of medical micro-robotics, many challenges still remain. Here, we review the major challenges, current trends and significant achievements for developing versatile and intelligent micro-robotics with a focus on applications in early diagnosis and therapeutic interventions. We also consider some recent emerging micro-robotic technologies that employ synthetic biology to support a new generation of living micro-robots. We expect to inspire future development of micro-robots toward clinical translation by identifying the roadblocks that need to be overcome.

Improving disease prevention, diagnosis, and treatment using novel bionic technologies

Increased human life expectancy, due in part to improvements in infant and childhood survival, more active lifestyles, in combination with higher patient expectations for better health outcomes, is leading to an extensive change in the number, type and manner in which health conditions are treated. Over the next decades as the global population rapidly progresses toward a super-aging society, meeting the long-term quality of care needs is forecast to present a major healthcare challenge. The goal is to ensure longer periods of good health, a sustained sense of well-being, with extended periods of activity, social engagement, and productivity. To accomplish these goals, multifunctionalized interfaces are an indispensable component of next generation medical technologies. The development of more sophisticated materials and devices as well as an improved understanding of human disease is forecast to revolutionize the diagnosis and treatment of conditions ranging from osteoarthritis to Alzheimer's disease and will impact disease prevention. This review examines emerging cutting-edge bionic materials, devices and technologies developed to advance disease prevention, and medical care and treatment in our elderly population including developments in smart bandages, cochlear implants, and the increasing role of artificial intelligence and nanorobotics in medicine.

Biohybrid materials: Structure design and biomedical applications

Biohybrid materials are proceeded by integrating living cells and non-living materials to endow materials with biomimetic properties and functionalities by supporting cell proliferation and even enhancing cell functions. Due to the outstanding biocompatibility and programmability, biohybrid materials provide some promising strategies to overcome current problems in the biomedical field. Here, we review the concept and unique features of biohybrid materials by comparing them with conventional materials. We emphasize the structure design of biohybrid materials and discuss the structure-function relationships. We also enumerate the application aspects of biohybrid materials in biomedical frontiers. We believe this review will bring various opportunities to promote the communication between cell biology, material sciences, and medical engineering.

Biohybrid robots: recent progress, challenges, and perspectives

The past ten years have seen the rapid expansion of the field of biohybrid robotics. By combining engineered, synthetic components with living biological materials, new robotics solutions have been developed that harness the adaptability of living muscles, the sensitivity of living sensory cells, and even the computational abilities of living neurons. Biohybrid robotics has taken the popular and scientific media by storm with advances in the field, moving biohybrid robotics out of science fiction and into real science and engineering. So how did we get here, and where should the field of biohybrid robotics go next? In this perspective, we first provide the historical context of crucial subareas of biohybrid robotics by reviewing the past 10+ years of advances in microorganism-bots and sperm-bots, cyborgs, and tissue-based robots. We then present critical challenges facing the field and provide our perspectives on the vital future steps toward creating autonomous living machines.

Controlling the rotation modes of hematite nanospindles using dynamic magnetic fields

The magnetic field-induced actuation of colloidal nanoparticles has enabled tremendous recent progress towards microrobots, suitable for a variety of applications including targeted drug delivery, environmental remediation, or minimally invasive surgery. Further size reduction to the nanoscale requires enhanced control of orientation and locomotion to overcome dominating viscous properties. Here, control of the coherent precession of hematite spindles via a dynamic magnetic field is demonstrated using nanoscale particles. Time-resolved small-angle scattering and optical transmission measurements reveal a clear frequency-dependent variation of orientation and rotation of an entire ensemble of non-interacting hematite nanospindles. The different motion mechanisms by nanoscale spindles in bulk dispersion resemble modes that have been observed for much larger, micron-sized elongated particles near surfaces. The dynamic rotation modes promise hematite nanospindles as a suitable model system for field-induced locomotion in nanoscale magnetic robots.

Acoustically Driven Cell-Based Microrobots for Targeted Tumor Therapy

Targeted drug delivery using microrobots manipulated by an external actuator has significant potential to be a practical approach for wireless delivery of therapeutic agents to the targeted tumor. This work aimed to develop a novel acoustic manipulation system and macrophage-based microrobots (Macbots) for a study in targeted tumor therapy. The Macbots containing superparamagnetic iron oxide nanoparticles (SPIONs) can serve as drug carriers. Under an acoustic field, a microrobot cluster of the Macbots is manipulated by following a predefined trajectory and can reach the target with a different contact angle. As a fundamental validation, we investigated an in vitro experiment for targeted tumor therapy. The microrobot cluster could be manipulated to any point in the 4 × 4 × 4 mm region of interest with a position error of less than 300 μm. Furthermore, the microrobot could rotate in the O-XY plane with an angle step of 45 degrees without limitation of total angle. Finally, we verified that the Macbots could penetrate a 3D tumor spheroid that mimics an in vivo solid tumor. The outcome of this study suggests that the Macbots manipulated by acoustic actuators have potential applications for targeted tumor therapy.

Interactive and synergistic behaviours of multiple heterogeneous microrobots

Microrobots have been extensively studied for biomedical applications, and significant innovations and advances have been made in diverse aspects of the field. However, most studies have been based on individual microrobots with limited capabilities, constraining their scalability of functions for practical use. Here, we demonstrate the interactive and synergistic behaviours of multiple microrobots that are heterogeneous or incompletely homogeneous. A frequency-response theory is proposed where in a certain frequency range of an external rotating magnetic field (RMF), microrobots with dispersed and linearly aligned magnetic nanoparticles (MNPs) would exhibit similar and different behaviour, respectively. These microrobots rotate following the rotation of the external field, and such complete rotational motion is interrupted when the frequency exceeds a certain value, called the critical frequency (c_f), but such behaviour is more prominent in microrobots with linear MNPs. Upon further investigating the effect of various parameters on the c_f of the microrobots during the fabrication process, we find that heterogeneous microrobots with specific c_f values can be customized. In addition, experiments and simulations are combined to show the hydrodynamic behaviours around the rotating microrobots at different frequencies. Based on these findings, the interactive and synergistic behaviours of multiple microrobots are presented, which suggests great potential for the independent execution of multiple tasks or the synergistic performance of complex tasks and is significant for the future development of interactive synergistic microrobots in the biomedical field.

Smart Film Actuators for Biomedical Applications

Taking inspiration from the extremely flexible motion abilities in natural organisms, soft actuators have emerged in the past few decades. Particularly, smart film actuators (SFAs) demonstrate unique superiority in easy fabrication, tailorable geometric configurations, and programmable 3D deformations. Thus, they are promising in many biomedical applications, such as soft robotics, tissue engineering, delivery system, and organ-on-a-chip. In this review, the latest achievements of SFAs applied in biomedical fields are summarized. The authors start by introducing the fabrication techniques of SFAs, then shift to the topology design of SFAs, followed by their material selections and distinct actuating mechanisms. After that, their biomedical applications are categorized in practical aspects. The challenges and prospects of this field are finally discussed. The authors believe that this review can boost the development of soft robotics, biomimetics, and human healthcare.

Interplay of surface interaction and magnetic torque in single-cell motion of magnetotactic bacteria in microfluidic confinement

Swimming microorganisms often experience complex environments in their natural habitat. The same is true for microswimmers in envisioned biomedical applications. The simple aqueous conditions typically studied in the lab differ strongly from those found in these environments and often exclude the effects of small volume confinement or the influence that external fields have on their motion. In this work, we investigate magnetically steerable microswimmers, specifically magnetotactic bacteria, in strong spatial confinement and under the influence of an external magnetic field. We trap single cells in micrometer-sized microfluidic chambers and track and analyze their motion, which shows a variety of different trajectories, depending on the chamber size and the strength of the magnetic field. Combining these experimental observations with simulations using a variant of an active Brownian particle model, we explain the variety of trajectories by the interplay between the wall interactions and the magnetic torque. We also analyze the pronounced cell-to-cell heterogeneity, which makes single-cell tracking essential for an understanding of the motility patterns. In this way, our work establishes a basis for the analysis and prediction of microswimmer motility in more complex environments.

Magnetic bio-hybrid micro actuators

Over the past two decades, there has been a growing body of work on wireless devices that can operate on the length scales of biological cells and even smaller. A class of these devices receiving increasing attention are referred to as bio-hybrid actuators: tools that integrate biological cells or subcellular parts with synthetic or inorganic components. These devices are commonly controlled through magnetic manipulation as magnetic fields and gradients can be generated with a high level of control. Recent work has demonstrated that magnetic bio-hybrid actuators can address common challenges in small scale fabrication, control, and localization. Additionally, it is becoming apparent that these magnetically driven bio-hybrid devices can display high efficiency and, in many cases, have the potential for self-repair and even self-replication. Combining these properties with magnetically driven forces and torques, which can be transmitted over significant distances, can be highly controlled, and are biologically safe, gives magnetic bio-hybrid actuators significant advantages over other classes of small scale actuators. In this review, we describe the theory and mechanisms required for magnetic actuation, classify bio-hybrid actuators by their diverse organic components, and discuss their current limitations. Insights into the future of coupling cells and cell-derived components with magnetic materials to fabricate multi-functional actuators are also provided.

Engineered Magnetic Nanocomposites to Modulate Cellular Function

Magnetic nanoparticles (MNPs) have various applications in biomedicine, including imaging, drug delivery and release, genetic modification, cell guidance, and patterning. By combining MNPs with polymers, magnetic nanocomposites (MNCs) with diverse morphologies (core-shell particles, matrix-dispersed particles, microspheres, etc.) can be generated. These MNCs retain the ability of MNPs to be controlled remotely using external magnetic fields. While the effects of these biomaterials on the cell biology are still poorly understood, such information can help the biophysical modulation of various cellular functions, including proliferation, adhesion, and differentiation. After recalling the basic properties of MNPs and polymers, and describing their coassembly into nanocomposites, this review focuses on how polymeric MNCs can be used in several ways to affect cell behavior. A special emphasis is given to 3D cell culture models and transplantable grafts, which are used for regenerative medicine, underlining the impact of MNCs in regulating stem cell differentiation and engineering living tissues. Recent advances in the use of MNCs for tissue regeneration are critically discussed, particularly with regard to their prospective involvement in human therapy and in the construction of advanced functional materials such as magnetically operated biomedical robots.

Magnetic Biohybrid Microrobot Multimers Based on Chlorella Cells for Enhanced Targeted Drug Delivery

Magnetic micro-/nanorobots have been regarded as a promising platform for targeted drug delivery, and tremendous strategies have been developed in recent years. However, realizing precise and efficient drug delivery in vivo still remains challenging, in which the versatile integration of good biocompatibility and reconfiguration is the main obstacle for micro-/nanorobots. Herein, we proposed a novel strategy of magnetic biohybrid microrobot multimers (BMMs) based on Chlorella (Ch.) and demonstrated their great potential for targeted drug delivery. The spherical Ch. cells around 3-5 μm were magnetized with Fe₃O₄ to fabricate biohybrid microrobots and then loaded with doxorubicin (DOX). Using magnetic dipolar interactions, the microrobot units could reconfigure into chain-like BMMs as tiny dimers, trimers, and so forth via attraction-induced self-assembly and disassemble reversibly via repulsion. The BMMs exhibited diverse swimming modes including rolling and tumbling with high maneuverability, and the rolling dimer's velocity could reach 107.6 μm/s (∼18 body length/s) under a 70 Gs precessing magnetic field. Furthermore, the BMMs exhibited low cell toxicity, high DOX loading capacity, and pH-triggered drug release, which were verified by chemotherapy experiments toward HeLa cancer cells. Due to the remarkable versatility and facile fabrication, the BMMs demonstrate great potential for targeted anticancer therapy.

Efficient Removal of Pb(II) from Aqueous Systems Using Spirulina-Based Biohybrid Magnetic Helical Microrobots

Wastewater remediation toward heavy metal pollutants has attracted considerable attention, and various adsorption-based materials were employed in recent years. However, it is still challenging to explore low-cost and high-efficient adsorbents with superior removal performance, nontoxicity, flexible operation, and good reusability. Herein, Fe3O4- and MnO2-loaded biohybrid magnetic helical microrobots (BMHMs) based on Spirulina cells were presented for the first time, and their performance on Pb(II) removal was studied in detail. Intracellular synthesis of Fe3O4 and MnO2 nanoparticles into Spirulina cells was successively conducted to obtain the BMHMs with superparamagnetism and high surface activity. The BMHMs could be flexibly propelled under magnetic actuation, and collective cork-screw spinning was performed to enhance fluidic diffusion with intensive adsorption. Rapid and significant removal of Pb(II) in wastewater was achieved using the swarming microrobots, and a high adsorption capacity could be reached at 245.1 mg/g. Moreover, the BMHMs could be cyclically reutilized after simple regeneration, and good specificity toward Pb(II) was verified. The adsorption mechanism was further studied, which revealed that the pseudo-second-order kinetics dominated in the adsorption process, and the Langmuir isothermal model also fitted the experimental results well. The intriguing properties of the BMHMs enable them to be versatile platforms with significant potentials in wastewater remediation.

Artificial flexible sperm-like nanorobot based on self-assembly and its bidirectional propulsion in precessing magnetic fields

Sperm cells can move at a high speed in biofluids based on the flexible flagella, which inspire novel flagellar micro-/nanorobots to be designed. Despite progress in fabricating sperm-type robots at micro scale, mass fabrication of vivid sperm-like nanorobots with flagellar flexibility is still challenging. In this work, a facile and efficient strategy is proposed to produce flexible sperm-like nanorobots with self-assembled head-to-tail structure, and its bidirectional propulsion property was studied in detail. The nanorobots were composed of a superparamagnetic head and a flexible Au/PPy flagellum, which were covalently linked via biotin-streptavidin bonding with a high yield. Under precessing magnetic fields, the head drove the flexible tail to rotate and generated undulatory bending waves propagating along the body. Bidirectional locomotion was investigated, and moving velocity as well as direction varied with the actuating conditions (field strength, frequency, direction) and the nanorobot's structure (tail length). Effective flagellar propulsion was observed near the substrate and high velocities were attained to move back and forth without U-turn. Typical modelling based on elastohydrodynamics and undulatory wave propagation were utilized for propulsion analysis. This research presents novel artificial flexible sperm-like nanorobots with delicate self-assembled head-to-tail structures and remarkable bidirectional locomotion performances, indicating significant potentials for nanorobotic design and future biomedical application.

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.

Magnetic particle imaging for assessment of cerebral perfusion and ischemia

Stroke is one of the leading worldwide causes of death and sustained disability. Rapid and accurate assessment of cerebral perfusion is essential to diagnose and successfully treat stroke patients. Magnetic particle imaging (MPI) is a new technology with the potential to overcome some limitations of established imaging modalities. It is an innovative and radiation-free imaging technique with high sensitivity, specificity, and superior temporal resolution. MPI enables imaging and diagnosis of stroke and other neurological pathologies such as hemorrhage, tumors, and inflammatory processes. MPI scanners also offer the potential for targeted therapies of these diseases. Due to lower field requirements, MPI scanners can be designed as resistive magnets and employed as mobile devices for bedside imaging. With these advantages, MPI could accelerate and improve the diagnosis and treatment of neurological disorders. This review provides a basic introduction to MPI, discusses its current use for stroke imaging, and addresses future applications, including the potential for clinical implementation. This article is categorized under: Diagnostic Tools > In Vivo Nanodiagnostics and Imaging Therapeutic Approaches and Drug Discovery > Nanomedicine for Neurological Disease.

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.

Collective excitations in active fluids: Microflows and breakdown in spectral equipartition of kinetic energy

The effect of particle activity on collective excitations in active fluids of microflyers is studied. With an in silico study, we observed an oscillating breakdown of equipartition (uniform spectral distribution) of kinetic energy in reciprocal space. The phenomenon is related to short-range velocity-velocity correlations that were realized without forming of long-lived mesoscale vortices in the system. This stands in contrast to well-known mesoscale turbulence operating in active nematic systems (bacterial or artificial) and reveals the features of collective dynamics in active fluids, which should be important for structural transitions and glassy dynamics in active matter.

Design and operation of magnetophoretic systems at microscale: Device and particle approaches

Combining both device and particle designs are the essential concepts to be considered in magnetophoretic system development. Researcher efforts are often dedicated to only one of these design aspects and neglecting the interplay between them. Herein, to bring out importance of the idea of integration between device and particle, we reviewed the working principle of magnetophoretic system (includes both device and particle design concepts). Since, the magnetophoretic force is influenced by both field gradient and magnetization volume, hence, accurate prediction of the magnetophoretic force is relying on the availability of information on both parameters. In device design, we focus on the different strategies used to create localized high-field gradient. For particle design, we emphasize on the scaling between hydrodynamic size and magnetization volume. Moreover, we also briefly discussed the importance of magnetoshape anisotropy related to particle design aspect of magnetophoretic systems. Next, we illustrated the need for integration between device and particle design using microscale applications of magnetophoretic systems, include magnetic tweezers and microfluidic systems, as our working example. On the basis of our discussion, we highlighted several promising examples of microscale magnetophoretic systems which greatly utilized the interplay between device and particle design. Further, we concluded the review with several factors that possibly resulted in the lack of research efforts related to device and particle design integration.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on novel research each year. This review aims to survey fundamental advances in bioinspired soft actuators and sensors with a focus on the progress between 2017 and 2020, providing a primer for the materials used in their design.

Programmable Design and Performance of Modular Magnetic Microswimmers

Synthetic biomimetic microswimmers are promising agents for in vivo healthcare and important frameworks to advance the understanding of locomotion strategies and collective motion at the microscopic scale. Nevertheless, constructing these devices with design flexibility and in large numbers remains a challenge. Here, a step toward meeting this challenge is taken by assembling such swimmers via the programmed shape and arrangement of superparamagnetic micromodules. The method's capacity for design flexibility is demonstrated through the assembly of a variety of swimmer architectures. On their actuation, strokes characterized by a balance of viscous and magnetic forces are found in all cases, but swimmers formed from a series of size-graded triangular modules swim quicker than more traditional designs comprising a circular "head" and a slender tail. Linking performance to design, rules are extracted informing the construction of a second-generation swimmer with a short tail and an elongated head optimized for speed. Its fast locomotion is attributed to a stroke that better breaks beating symmetry and an ability to beat fully with flex at high frequencies. Finally, production at scale is demonstrated through the assembly and swimming of a flock of the triangle-based architectures to reveal four types of swimmer couplings.

Programmable Phototaxis of Metal-Phenolic Particle Microswimmers

Light-driven directional motion is common in nature but remains a challenge for synthetic microparticles, particularly regarding collective motion on a macroscopic scale. Successfully engineering microparticles with light-driven collective motion could lead to breakthroughs in drug delivery, contaminant sensing, environmental remediation, and artificial life. Herein, metal-phenolic particle microswimmers capable of autonomously sensing and swimming toward an external light source are reported, with the speed regulated by the wavelength and intensity of illumination. These microswimmers can travel macroscopic distances (centimeters) and can remain illuminated for hours without degradation of motility. Experimental and theoretical analyses demonstrate that motion is generated through chemical transformations of the organic component of the metal-phenolic complex. Furthermore, cargos with specific spectral absorption profiles can be loaded into the particles and endow the particle microswimmers with activated motion corresponding to these spectral characteristics. The programmable nature of the light navigation, tunable size of the particles, and versatility of cargo loading demonstrate the versatility of these metal-phenolic particle microswimmers.

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.

Magnetic Microswimmers Exhibit Bose-Einstein-like Condensation

We study an active matter system comprised of magnetic microswimmers confined in a microfluidic channel and show that it exhibits a new type of self-organized behavior. Combining analytical techniques and Brownian dynamics simulations, we demonstrate how the interplay of nonequilibrium activity, external driving, and magnetic interactions leads to the condensation of swimmers at the center of the channel via a nonequilibrium phase transition that is formally akin to Bose-Einstein condensation. We find that the effective dynamics of the microswimmers can be mapped onto a diffusivity-edge problem, and use the mapping to build a generalized thermodynamic framework, which is verified by a parameter-free comparison with our simulations. Our work reveals how driven active matter has the potential to generate exotic classical nonequilibrium phases of matter with traits that are analogous to those observed in quantum systems.

Synchronized oscillations, traveling waves, and jammed clusters induced by steric interactions in active filament arrays

Autonomous active, elastic filaments that interact with each other to achieve cooperation and synchrony underlie many critical functions in biology. The mechanisms underlying this collective response and the essential ingredients for stable synchronization remain a mystery. Inspired by how these biological entities integrate elasticity with molecular motor activity to generate sustained oscillations, a number of synthetic active filament systems have been developed that mimic oscillations of these biological active filaments. Here, we describe the collective dynamics and stable spatiotemporal patterns that emerge in such biomimetic multi-filament arrays, under conditions where steric interactions may impact or dominate the collective dynamics. To focus on the role of steric interactions, we study the system using Brownian dynamics, without considering long-ranged hydrodynamic interactions. The simulations treat each filament as a connected chain of self-propelling colloids. We demonstrate that short-range steric inter-filament interactions and filament roughness are sufficient - even in the absence of inter-filament hydrodynamic interactions - to generate a rich variety of collective spatiotemporal oscillatory, traveling and static patterns. We first analyze the collective dynamics of two- and three-filament clusters and identify parameter ranges in which steric interactions lead to synchronized oscillations and strongly occluded states. Generalizing these results to large one-dimensional arrays, we find rich emergent behaviors, including traveling metachronal waves, and modulated wavetrains that are controlled by the interplay between the array geometry, filament activity, and filament elasticity. Interestingly, the existence of metachronal waves is non-monotonic with respect to the inter-filament spacing. We also find that the degree of filament roughness significantly affects the dynamics - specifically, filament roughness generates a locking-mechanism that transforms traveling wave patterns into statically stuck and jammed configurations. Taken together, simulations suggest that short-ranged steric inter-filament interactions could combine with complementary hydrodynamic interactions to control the development and regulation of oscillatory collective patterns. Furthermore, roughness and steric interactions may be critical to the development of jammed spatially periodic states; a spatiotemporal feature not observed in purely hydrodynamically interacting systems.

External Power-Driven Microrobotic Swarm: From Fundamental Understanding to Imaging-Guided Delivery

Untethered micro/nanorobots have been widely investigated owing to their potential in performing various tasks in different environments. The significant progress in this emerging interdisciplinary field has benefited from the distinctive features of those tiny active agents, such as wireless actuation, navigation under feedback control, and targeted delivery of small-scale objects. In recent studies, collective behaviors of these tiny machines have received tremendous attention because swarming agents can enhance the delivery capability and adaptability in complex environments and the contrast of medical imaging, thus benefiting the imaging-guided navigation and delivery. In this review, we summarize the recent research efforts on investigating collective behaviors of external power-driven micro/nanorobots, including the fundamental understanding of swarm formation, navigation, and pattern transformation. The fundamental understanding of swarming tiny machines provides the foundation for targeted delivery. We also summarize the swarm localization using different imaging techniques, including the imaging-guided delivery in biological environments. By highlighting the critical steps from understanding the fundamental interactions during swarm control to swarm localization and imaging-guided delivery applications, we envision that the microrobotic swarm provides a promising tool for delivering agents in an active, controlled manner.

Biomolecule-Directed Carbon Nanotube Self-Assembly

The strategy of combining biomolecules and synthetic components to develop biohybrids is becoming increasingly popular for preparing highly customized and biocompatible functional materials. Carbon nanotubes (CNTs) benefit from bioconjugation, allowing their excellent properties to be applied to biomedical applications. This study reviews the state-of-the-art research in biomolecule-CNT conjugates and discusses strategies for their self-assembly into hierarchical structures. The review focuses on various highly ordered structures and the interesting properties resulting from the structural order. Hence, CNTs conjugated with the most relevant biomolecules, such as nucleic acids, peptides, proteins, saccharides, and lipids are discussed. The resulting well-defined composites allow the nanoscale properties of the CNTs to be exploited at the micro- and macroscale, with potential applications in tissue engineering, sensors, and wearable electronics. This review presents the underlying chemistry behind the CNT-based biohybrid materials and discusses the future directions of the field.

Simulations of structure formation by confined dipolar active particles

Dipolar active particles describe a class of self-propelled, biological or artificial particles equipped with an internal (typically magnetic) dipole moment. Because of the interplay between self-propulsion and dipole-dipole interactions, complex collective behavior is expected to emerge in systems of such particles. Here, we use Brownian dynamics simulations to explore this collective behavior. We focus on the structures that form in small systems in spatial confinement. We quantify the type of structures that emerge and how they depend on the self-propulsion speed and the dipolar (magnetic) strength of the particles. We observe that the dipolar active particles self-assemble into chains and rings. The dominant configuration is quantified with an order parameter for chain and ring formation and shown to depend on the self-propulsion speed and the dipolar magnetic strength of the particles. In addition, we show that the structural configurations are also affected by the confining walls. To that end, we compare different confining geometries and study the impact of a reorienting 'wall torque' upon collisions of a particle with a wall. Our results indicate that dipolar interactions can further enhance the already rich variety of collective behaviors of active particles.

Recent Advances in Microswimmers for Biomedical Applications

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

Bacteria-Derived Nanoparticles: Multifunctional Containers for Diagnostic and Therapeutic Applications

In recent decades, investigations on bacteria-derived materials have progressed from being a proof of concept to a means for improving traditional biomaterials. Owing to their unique characteristics, such as gene manipulation, rapid proliferation, and specific targeting, bacteria-derived materials have provided remarkable flexibility in applied biomedical functionalization. In this review, bacteria-derived nanoparticles are focused on as a promising biomaterial, introducing several bacterial species with great potential and useful strategies for fabrication. Through well-designed choices, bacteria-derived nanoparticles can be exploited to obtain functional bacteria-mimicking materials for a variety of applications, including cargo delivery, imaging, therapy, and immune modulation. Finally, the prospects and challenges of bacteria-derived nanoparticles are discussed. Particularly, safety concerns regarding the use of bacteria and their immunogenicity remain major obstacles to the clinical application of bacteria-derived nanoparticles and these concerns are immediate priorities for the research community.

Single-Cell Elasticity Measurement with an Optically Actuated Microrobot

A cell elasticity measurement method is introduced that uses polymer microtools actuated by holographic optical tweezers. The microtools were prepared with two-photon polymerization. Their shape enables the approach of the cells in any lateral direction. In the presented case, endothelial cells grown on vertical polymer walls were probed by the tools in a lateral direction. The use of specially shaped microtools prevents the target cells from photodamage that may arise during optical trapping. The position of the tools was recorded simply with video microscopy and analyzed with image processing methods. We critically compare the resulting Young’s modulus values to those in the literature obtained by other methods. The application of optical tweezers extends the force range available for cell indentations measurements down to the fN regime. Our approach demonstrates a feasible alternative to the usual vertical indentation experiments.