Biohybrid microrobots for enhancing adoptive cell transfers

Directed Assembly of Magnetic Colloidal Rods in an External Field

In fabricating new colloid-based materials via bottom-up design, particle-particle interactions are engineered to encourage the formation of the desired assemblies. One way to do this is to apply an external field, which orients magnetically polarized particles in the field direction. External fields have the advantage that they can be programmed to change in time (e.g., field rotation or toggling), tunably shifting the system away from equilibrium. Here, we apply a model for ferromagnetic colloidal rods that simulates their phase behavior in the presence of an external magnetic field with constant strength and direction. An annealing process slowly reduces the temperature during molecular dynamics simulations to estimate the system's equilibrium configuration in the ground state when the magnetic interactions between colloidal rods dominate the thermal forces. Numerous annealing simulations are performed at various particle densities and external field strengths. In the absence of an external field, the magnetic rods assemble into antiparallel configurations. When the strength of the external field is sufficiently strong, the magnetic rods are forced to orient in the direction of the field and therefore form head-to-tail structures. The formation of a head-to-tail state is associated with a net magnetic moment that results from the collective alignment of all magnetic particles in the field direction. Furthermore, when systems of magnetic rods assemble into a head-to-tail state, they occupy more space than they do in a phase in which most rods are assembled into antiparallel configurations. Phase diagrams predict that the magnetic properties of systems of rod-like magnetic particles can switch between magnetic and nonmagnetic states by tuning not only the external field strength but also the particle density.

Magnetic Control of Nonmagnetic Living Organisms

Living organisms inspire the design of microrobots, but their functionality is unmatched. Next-generation microrobots aim to leverage the sensing and communication abilities of organisms through magnetic hybridization, attaching magnetic particles to them for external control. However, the protocols used for magnetic hybridization are morphology specific and are not generalizable. We propose an alternative approach that leverages the principles of negative magnetostatics and magnetophoresis to control nonmagnetic organisms with external magnetic fields. To do this, we disperse model organisms in dispersions of Fe3O4 nanoparticles and expose them to either uniform or gradient magnetic fields. In uniform magnetic fields, living organisms align with the field due to external torque, while gradient magnetic fields generate a negative magnetophoretic force, pushing objects away from external magnets. The magnetic fields enable controlling the position and orientation of Caenorhabditis elegans larvae and flagellated bacteria through directional interactions and magnitude. This control is diminished in live spermatozoa and adult C. elegans due to stronger internal biological activity, i.e., force/torque. Our study presents a method for spatiotemporal organization of living organisms without requiring magnetic hybridization, opening the way for the development of controllable living microbiorobots.

Magnetically locked Janus particle clusters with orientation-dependent motion in AC electric fields

Active particles, or micromotors, locally dissipate energy to drive locomotion at small length scales. The type of trajectory is generally fixed and dictated by the geometry and composition of the particle, which can be challenging to tune using conventional fabrication procedures. Here, we report a simple, bottom-up method to magnetically assemble gold-coated polystyrene Janus particles into "locked" clusters that display diverse trajectories when stimulated by AC electric fields. The orientation of particles within each cluster gives rise to distinct modes of locomotion, including translational, rotational, trochoidal, helical, and orbital. We model this system using a simplified rigid beads model and demonstrate qualitative agreement between the predicted and experimentally observed cluster trajectories. Overall, this system provides a facile means to scalably create micromotors with a range of well-defined motions from discrete building blocks.

Microrobots for Biomedicine: Unsolved Challenges and Opportunities for Translation

Microrobots are being explored for biomedical applications, such as drug delivery, biological cargo transport, and minimally invasive surgery. However, current efforts largely focus on proof-of-concept studies with nontranslatable materials through a "design-and-apply" approach, limiting the potential for clinical adaptation. While these proof-of-concept studies have been key to advancing microrobot technologies, we believe that the distinguishing capabilities of microrobots will be most readily brought to patient bedsides through a "design-by-problem" approach, which involves focusing on unsolved problems to inform the design of microrobots with practical capabilities. As outlined below, we propose that the clinical translation of microrobots will be accelerated by a judicious choice of target applications, improved delivery considerations, and the rational selection of translation-ready biomaterials, ultimately reducing patient burden and enhancing the efficacy of therapeutic drugs for difficult-to-treat diseases.