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Mayol B, Pradana-López S, García A, de la Torre C, Díez P, Villalonga A, Anillo C, Vilela D, Sánchez A, Martínez-Ruiz P, Martínez-Máñez R, Villalonga R. Self-propelled enzyme-controlled IR-mesoporous silica Janus nanomotor for smart delivery. J Colloid Interface Sci 2024; 671:294-302. [PMID: 38815366 DOI: 10.1016/j.jcis.2024.05.134] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/23/2024] [Revised: 05/08/2024] [Accepted: 05/18/2024] [Indexed: 06/01/2024]
Abstract
Here, we report the preparation of a novel Janus nanoparticle with opposite Ir and mesoporous silica nanoparticles through a partial surface masking with toposelective modification method. This nanomaterial was employed to construct an enzyme-powered nanomachine with self-propulsion properties for on-command delivery. The cargo-loaded nanoparticle was provided with a pH-sensitive gate and unit control at the mesoporous face by first attaching boronic acid residues and further immobilization of glucose oxidase through reversible boronic acid esters with the carbohydrate residues of the glycoenzyme. Addition of glucose leads to the enzymatic production of H2O2 and gluconic acid, being the first compound catalytically decomposed at the Ir nanoparticle face producing O2 and causing the nanomachine propulsion. Gluconic acid leads to a pH reduction at the nanomachine microenvironment causing the disruption of the gating mechanism with the subsequent cargo release. This work demonstrates that enzyme-mediated self-propulsion improved release efficiency being this nanomotor successfully employed for the smart release of Doxorubicin in HeLa cancer cells.
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Affiliation(s)
- Beatriz Mayol
- Nanosensors and Nanomachines Group, Department of Analytical Chemistry, Faculty of Chemistry, Complutense University of Madrid, 28040 Madrid, Spain
| | - Sandra Pradana-López
- Nanosensors and Nanomachines Group, Department of Analytical Chemistry, Faculty of Chemistry, Complutense University of Madrid, 28040 Madrid, Spain
| | - Alba García
- Instituto Interuniversitario de Investigación de Reconocimiento Molecular y Desarrollo Tecnológico (IDM), Universitat Politècnica de València, Universitat de València, Camino de Vera s/n, 46022, Valencia, Spain; Unidad Mixta UPV-CIPF de Investigación en Mecanismos de Enfermedades y Nanomedicina, Universitat Politècnica de València, Centro de Investigación Príncipe Felipe, Valencia, Spain; CIBER de Bioingeniería, Biomateriales y Nanomedicina (CIBER-BBN), Spain
| | - Cristina de la Torre
- Instituto Interuniversitario de Investigación de Reconocimiento Molecular y Desarrollo Tecnológico (IDM), Universitat Politècnica de València, Universitat de València, Camino de Vera s/n, 46022, Valencia, Spain; Unidad Mixta UPV-CIPF de Investigación en Mecanismos de Enfermedades y Nanomedicina, Universitat Politècnica de València, Centro de Investigación Príncipe Felipe, Valencia, Spain; CIBER de Bioingeniería, Biomateriales y Nanomedicina (CIBER-BBN), Spain
| | - Paula Díez
- Instituto Interuniversitario de Investigación de Reconocimiento Molecular y Desarrollo Tecnológico (IDM), Universitat Politècnica de València, Universitat de València, Camino de Vera s/n, 46022, Valencia, Spain; CIBER de Bioingeniería, Biomateriales y Nanomedicina (CIBER-BBN), Spain; Unidad Mixta de Investigación en Nanomedicina y Sensores. Universitat Politècnica de València, Instituto de Investigación Sanitaria La Fe, Av. Fernando Abril Martorell, 106 Torre A 7ª planta. 46026, Valencia, Spain
| | - Anabel Villalonga
- Nanosensors and Nanomachines Group, Department of Analytical Chemistry, Faculty of Chemistry, Complutense University of Madrid, 28040 Madrid, Spain
| | - Carlos Anillo
- Nanosensors and Nanomachines Group, Department of Analytical Chemistry, Faculty of Chemistry, Complutense University of Madrid, 28040 Madrid, Spain
| | - Diana Vilela
- Nanosensors and Nanomachines Group, Department of Analytical Chemistry, Faculty of Chemistry, Complutense University of Madrid, 28040 Madrid, Spain
| | - Alfredo Sánchez
- Nanosensors and Nanomachines Group, Department of Analytical Chemistry, Faculty of Chemistry, Complutense University of Madrid, 28040 Madrid, Spain
| | - Paloma Martínez-Ruiz
- Nanosensors and Nanomachines Group, Department of Analytical Chemistry, Faculty of Chemistry, Complutense University of Madrid, 28040 Madrid, Spain
| | - Ramón Martínez-Máñez
- Instituto Interuniversitario de Investigación de Reconocimiento Molecular y Desarrollo Tecnológico (IDM), Universitat Politècnica de València, Universitat de València, Camino de Vera s/n, 46022, Valencia, Spain; Unidad Mixta UPV-CIPF de Investigación en Mecanismos de Enfermedades y Nanomedicina, Universitat Politècnica de València, Centro de Investigación Príncipe Felipe, Valencia, Spain; CIBER de Bioingeniería, Biomateriales y Nanomedicina (CIBER-BBN), Spain; Unidad Mixta de Investigación en Nanomedicina y Sensores. Universitat Politècnica de València, Instituto de Investigación Sanitaria La Fe, Av. Fernando Abril Martorell, 106 Torre A 7ª planta. 46026, Valencia, Spain.
| | - Reynaldo Villalonga
- Nanosensors and Nanomachines Group, Department of Analytical Chemistry, Faculty of Chemistry, Complutense University of Madrid, 28040 Madrid, Spain.
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Tan R, Yang X, Lu H, Shen Y. One-step formation of polymorphous sperm-like microswimmers by vortex turbulence-assisted microfluidics. Nat Commun 2024; 15:4761. [PMID: 38834563 DOI: 10.1038/s41467-024-49043-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/01/2022] [Accepted: 05/21/2024] [Indexed: 06/06/2024] Open
Abstract
Microswimmers are considered promising candidates for active cargo delivery to benefit a wide spectrum of biomedical applications. Yet, big challenges still remain in designing the microswimmers with effective propelling, desirable loading and adaptive releasing abilities all in one. Inspired by the morphology and biofunction of spermatozoa, we report a one-step formation strategy of polymorphous sperm-like magnetic microswimmers (PSMs) by developing a vortex turbulence-assisted microfluidics (VTAM) platform. The fabricated PSM is biodegradable with a core-shell head and flexible tail, and their morphology can be adjusted by vortex flow rotation speed and calcium chloride solution concentration. Benefiting from the sperm-like design, our PSM exhibits both effective motion ability under remote mag/netic actuation and protective encapsulation ability for material loading. Further, it can also realize the stable sustain release after alginate-chitosan-alginate (ACA) layer coating modification. This research proposes and verifies a new strategy for the sperm-like microswimmer construction, offering an alternative solution for the target delivery of diverse drugs and biologics for future biomedical treatment. Moreover, the proposed VTAM could also be a general method for other sophisticated polymorphous structures fabrication that isn't achievable by conventional laminar flow.
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Affiliation(s)
- Rong Tan
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China
| | - Xiong Yang
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China
| | - Haojian Lu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, 310027, China
- Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yajing Shen
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China.
- Center for Smart Manufacturing, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China.
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3
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Lu L, Zhao H, Lu Y, Zhang Y, Wang X, Fan C, Li Z, Wu Z. Design and Control of the Magnetically Actuated Micro/Nanorobot Swarm toward Biomedical Applications. Adv Healthc Mater 2024; 13:e2400414. [PMID: 38412402 DOI: 10.1002/adhm.202400414] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/02/2024] [Revised: 02/22/2024] [Indexed: 02/29/2024]
Abstract
Recently, magnetically actuated micro/nanorobots hold extensive promises in biomedical applications due to their advantages of noninvasiveness, fuel-free operation, and programmable nature. While effectively promised in various fields such as targeted delivery, most past investigations are mainly displayed in magnetic control of individual micro/nanorobots. Facing practical medical use, the micro/nanorobots are required for the development of swarm control in a closed-loop control manner. This review outlines the recent developments in magnetic micro/nanorobot swarms, including their actuating fundamentals, designs, controls, and biomedical applications. The fundamental principles and interactions involved in the formation of magnetic micro/nanorobot swarms are discussed first. The recent advances in the design of artificial and biohybrid micro/nanorobot swarms, along with the control devices and methods used for swarm manipulation, are presented. Furthermore, biomedical applications that have the potential to achieve clinical application are introduced, such as imaging-guided therapy, targeted delivery, embolization, and biofilm eradication. By addressing the potential challenges discussed toward the end of this review, magnetic micro/nanorobot swarms hold promise for clinical treatments in the future.
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Affiliation(s)
- Lu Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Hongqiao Zhao
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yucong Lu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Yuxuan Zhang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Xinran Wang
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
| | - Chengjuan Fan
- The Second Affiliated Hospital of Harbin Medical University, Harbin, 150001, China
| | - Zesheng Li
- Laboratory for Space Environment and Physical Sciences, Harbin Institute of Technology, Harbin, 150001, China
| | - Zhiguang Wu
- School of Medicine and Health, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), Harbin Institute of Technology, Harbin, 150001, China
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4
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Bozuyuk U, Wrede P, Yildiz E, Sitti M. Roadmap for Clinical Translation of Mobile Microrobotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2311462. [PMID: 38380776 DOI: 10.1002/adma.202311462] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/31/2023] [Revised: 01/24/2024] [Indexed: 02/22/2024]
Abstract
Medical microrobotics is an emerging field to revolutionize clinical applications in diagnostics and therapeutics of various diseases. On the other hand, the mobile microrobotics field has important obstacles to pass before clinical translation. This article focuses on these challenges and provides a roadmap of medical microrobots to enable their clinical use. From the concept of a "magic bullet" to the physicochemical interactions of microrobots in complex biological environments in medical applications, there are several translational steps to consider. Clinical translation of mobile microrobots is only possible with a close collaboration between clinical experts and microrobotics researchers to address the technical challenges in microfabrication, safety, and imaging. The clinical application potential can be materialized by designing microrobots that can solve the current main challenges, such as actuation limitations, material stability, and imaging constraints. The strengths and weaknesses of the current progress in the microrobotics field are discussed and a roadmap for their clinical applications in the near future is outlined.
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Affiliation(s)
- Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Paul Wrede
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, 8093, Switzerland
| | - Erdost Yildiz
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- School of Medicine and College of Engineering, Koc University, Istanbul, 34450, Turkey
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5
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Striggow F, Ribeiro C, Aziz A, Nauber R, Hebenstreit F, Schmidt OG, Medina-Sánchez M. Magnetotactic Sperm Cells for Assisted Reproduction. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2310288. [PMID: 38150615 DOI: 10.1002/smll.202310288] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/10/2023] [Revised: 12/09/2023] [Indexed: 12/29/2023]
Abstract
Biohybrid micromotors are active microscopic agents consisting of biological and synthetic components that are being developed as novel tools for biomedical applications. By capturing motile sperm cells within engineered microstructures, they can be controlled remotely while being propelled forward by the flagellar beat. This makes them an interesting tool for reproductive medicine that can enable minimally invasive sperm cell delivery to the oocyte in vivo, as a treatment for infertility. The generation of sperm-based micromotors in sufficiently large numbers, as they are required in biomedical applications has been challenging, either due to the employed fabrication techniques or the stability of the microstructure-sperm coupling. Here, biohybrid micromotors, which can be assembled in a fast and simple process using magnetic microparticles, are presented. These magnetotactic sperm cells show a high motility and swimming speed and can be transferred between different environments without large detrimental effects on sperm motility and membrane integrity. Furthermore, clusters of micromotors are assembled magnetically and visualized using dual ultrasound (US)/photoacoustic (PA) imaging. Finally, a protocol for the scaled-up assembly of micromotors and their purification for use in in vitro fertilization (IVF) is presented, bringing them closer to their biomedical implementation.
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Affiliation(s)
- Friedrich Striggow
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Emerging Electronic Technologies, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Carla Ribeiro
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Emerging Electronic Technologies, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Azaam Aziz
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Emerging Electronic Technologies, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Richard Nauber
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Emerging Electronic Technologies, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Franziska Hebenstreit
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Emerging Electronic Technologies, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Oliver G Schmidt
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, 09126, Chemnitz, Germany
- Faculty of Physics, TU Dresden, 01062, Dresden, Germany
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Emerging Electronic Technologies, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
- Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Technische Universität Dresden, 01307, Dresden, Germany
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Zhang Y, Wang M, Zhang T, Wang H, Chen Y, Zhou T, Yang R. Spermbots and Their Applications in Assisted Reproduction: Current Progress and Future Perspectives. Int J Nanomedicine 2024; 19:5095-5108. [PMID: 38836008 PMCID: PMC11149708 DOI: 10.2147/ijn.s465548] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2024] [Accepted: 05/25/2024] [Indexed: 06/06/2024] Open
Abstract
Sperm quality is declining dramatically during the past decades. Male infertility has been a serious health and social problem. The sperm cell driven biohybrid nanorobot opens a new era for automated and precise assisted reproduction. Therefore, it is urgent and necessary to conduct an updated review and perspective from the viewpoints of the researchers and clinicians in the field of reproductive medicine. In the present review, we first update the current classification, design, control and applications of various spermbots. Then, by a comprehensive summary of the functional features of sperm cells, the journey of sperms to the oocyte, and sperm-related dysfunctions, we provide a systematic guidance to further improve the design of spermbots. Focusing on the translation of spermbots into clinical practice, we point out that the main challenges are biocompatibility, effectiveness, and ethical issues. Considering the special requirements of assisted reproduction, we also propose the three laws for the clinical usage of spermbots: good genetics, gentle operation and no contamination. Finally, a three-step roadmap is proposed to achieve the goal of clinical translation. We believe that spermbot-based treatments can be validated and approved for in vitro clinical usage in the near future. However, multi-center and multi-disciplinary collaborations are needed to further promote the translation of spermbots into in vivo clinical applications.
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Affiliation(s)
- Yixuan Zhang
- Research Institute for Reproductive Medicine and Genetic Diseases, Wuxi Maternity and Child Health Care Hospital, Wuxi, 214002, People’s Republic of China
| | - Min Wang
- Center for Reproductive Medicine, The Affiliated Wuxi Maternity and Child Health Care Hospital of Nanjing Medical University, Wuxi, 214002, People’s Republic of China
| | - Ting Zhang
- Department of Laboratory Medicine, Wuxi Maternity and Child Health Care Hospital, Jiangnan University, Wuxi, 214002, People’s Republic of China
| | - Honghua Wang
- Center for Reproductive Medicine, The Affiliated Wuxi Maternity and Child Health Care Hospital of Nanjing Medical University, Wuxi, 214002, People’s Republic of China
| | - Ying Chen
- Research Institute for Reproductive Medicine and Genetic Diseases, Wuxi Maternity and Child Health Care Hospital, Wuxi, 214002, People’s Republic of China
| | - Tao Zhou
- Research Institute for Reproductive Medicine and Genetic Diseases, Wuxi Maternity and Child Health Care Hospital, Wuxi, 214002, People’s Republic of China
| | - Rui Yang
- Research Institute for Reproductive Medicine and Genetic Diseases, Wuxi Maternity and Child Health Care Hospital, Wuxi, 214002, People’s Republic of China
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Fazeli A, Thakore V, Ala-Nissila T, Karttunen M. Non-Stokesian dynamics of magnetic helical nanoswimmers under confinement. PNAS NEXUS 2024; 3:pgae182. [PMID: 38765716 PMCID: PMC11102084 DOI: 10.1093/pnasnexus/pgae182] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/22/2024] [Accepted: 04/19/2024] [Indexed: 05/22/2024]
Abstract
Electromagnetically propelled helical nanoswimmers offer great potential for nanorobotic applications. Here, the effect of confinement on their propulsion is characterized using lattice-Boltzmann simulations. Two principal mechanisms give rise to their forward motion under confinement: (i) pure swimming and (ii) the thrust created by the differential pressure due to confinement. Under strong confinement, they face greater rotational drag but display a faster propulsion for fixed driving frequency in agreement with experimental findings. This is due to the increased differential pressure created by the boundary walls when they are sufficiently close to each other and the particle. We have proposed two analytical relations (i) for predicting the swimming speed of an unconfined particle as a function of its angular speed and geometrical properties, and (ii) an empirical expression to accurately predict the propulsion speed of a confined swimmer as a function of the degree of confinement and its unconfined swimming speed. At low driving frequencies and degrees of confinement, the systems retain the expected linear behavior consistent with the predictions of the Stokes equation. However, as the driving frequency and/or the degree of confinement increase, their impact on propulsion leads to increasing deviations from the Stokesian regime and emergence of nonlinear behavior.
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Affiliation(s)
- Alireza Fazeli
- Department of Mathematics, Western University, London, ON N6A 5B7, Canada
- Center for Advanced Materials and Biomaterials Research, Western University, London, ON N6A 5B7, Canada
| | - Vaibhav Thakore
- Department of Mathematics, Western University, London, ON N6A 5B7, Canada
- Center for Advanced Materials and Biomaterials Research, Western University, London, ON N6A 5B7, Canada
| | - Tapio Ala-Nissila
- Multiscale Statistical and Quantum Physics Group, Quantum Technology Finland Centre of Excellence, Department of Applied Physics, Aalto University, FI-00076 Aalto, Espoo, Finland
- Interdisciplinary Centre for Mathematical Modelling, Department of Mathematical Sciences, Loughborough University, Loughborough, Leicestershire LE11 3TU, UK
| | - Mikko Karttunen
- Department of Physics and Astronomy, Western University, London, ON N6A 5B7, Canada
- Department of Chemistry, Western University, London, ON N6A 3K7, Canada
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Chen X, Liu S, Shen M, Shi J, Wu C, Song Z, Zhao Y. Dielectrophoretic characterization and selection of non-spherical flagellate algae in parallel channels with right-angle bipolar electrodes. LAB ON A CHIP 2024; 24:2506-2517. [PMID: 38619815 DOI: 10.1039/d4lc00165f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 04/16/2024]
Abstract
Non-spherical flagellate algae play an increasingly significant role in handling problematic issues as versatile biological micro/nanorobots and resources of valuable bioproducts. However, the commensalism of flagellate algae with distinct structures and constituents causes considerable difficulties in their further biological utilization. Therefore, it is imperative to develop a novel method to realize high-efficiency selection of non-spherical flagellate algae in a non-invasive manner. Enthused by these, we proposed a novel method to accomplish the selection of flagellate algae based on the numerical and experimental investigation of dielectrophoretic characterizations of flagellate algae. Firstly, an arbitrary Lagrangian-Eulerian method was utilized to study the electro-orientation and dielectrophoretic assembly process of spindle-shaped and ellipsoid-shaped cells in a uniform electric field. Secondly, we studied the equilibrium state of spherical, ellipsoid-shaped, and spindle-shaped cells under positive DEP forces actuated by right-angle bipolar electrodes. Thirdly, we investigated the dielectrophoretic assembly and escape processes of the non-spherical flagellate algae in continuous flow to explore their influences on the selection. Fourthly, freshwater flagellate algae (Euglena, H. pluvialis, and C. reinhardtii) and marine ones (Euglena, Dunaliella salina, and Platymonas) were separated to validate the feasibility and adaptability of this method. Finally, this approach was engineered in the selection of Euglena cells with high viability and motility. This method presents immense prospects in the selection of pure non-spherical flagellate algae with high motility for chronic wound healing, bio-micromotor construction, and decontamination with advantages of no sheath, strong reliability, and shape-insensitivity.
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Affiliation(s)
- Xiaoming Chen
- School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, PR China.
- Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology, Qinhuangdao, 066004, PR China.
| | - Shun Liu
- School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, PR China.
- Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology, Qinhuangdao, 066004, PR China.
| | - Mo Shen
- School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, PR China.
- Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology, Qinhuangdao, 066004, PR China.
| | - Jishun Shi
- School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, PR China.
- Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology, Qinhuangdao, 066004, PR China.
| | - Chungang Wu
- School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, PR China.
- Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology, Qinhuangdao, 066004, PR China.
| | - Zhipeng Song
- School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, PR China.
- Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology, Qinhuangdao, 066004, PR China.
| | - Yong Zhao
- School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, PR China.
- Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology, Qinhuangdao, 066004, PR China.
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9
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Wang F, Zhang Y, Jin D, Jiang Z, Liu Y, Knoll A, Jiang H, Ying Y, Zhou M. Magnetic Soft Microrobot Design for Cell Grasping and Transportation. CYBORG AND BIONIC SYSTEMS 2024; 5:0109. [PMID: 38680536 PMCID: PMC11052606 DOI: 10.34133/cbsystems.0109] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/28/2023] [Accepted: 03/07/2024] [Indexed: 05/01/2024] Open
Abstract
Manipulating cells at a small scale is widely acknowledged as a complex and challenging task, especially when it comes to cell grasping and transportation. Various precise methods have been developed to remotely control the movement of microrobots. However, the manipulation of micro-objects necessitates the use of end-effectors. This paper presents a study on the control of movement and grasping operations of a magnetic microrobot, utilizing only 3 pairs of electromagnetic coils. A specially designed microgripper is employed on the microrobot for efficient cell grasping and transportation. To ensure precise grasping, a bending deformation model of the microgripper is formulated and subsequently validated. To achieve precise and reliable transportation of cells to specific positions, an approach that combines an extended Kalman filter with a model predictive control method is adopted to accomplish the trajectory tracking task. Through experiments, we observe that by applying the proposed control strategy, the mean absolute error of path tracking is found to be less than 0.155 mm. Remarkably, this value accounts for only 1.55% of the microrobot's size, demonstrating the efficacy and accuracy of our control strategy. Furthermore, an experiment involving the grasping and transportation of a zebrafish embryonic cell (diameter: 800 μm) is successfully conducted. The results of this experiment not only validate the precision and effectiveness of the proposed microrobot and its associated models but also highlight its tremendous potential for cell manipulation in vitro and in vivo.
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Affiliation(s)
- Fanghao Wang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Youchao Zhang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Daoyuan Jin
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Zhongliang Jiang
- TUM School of Computation, Information, and Technology, Garching 85748, Germany
| | - Yaqian Liu
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Alois Knoll
- TUM School of Computation, Information, and Technology, Garching 85748, Germany
| | - Huanyu Jiang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Yibin Ying
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Mingchuan Zhou
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
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10
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Zhao Z, Wu Q, Wang J, Zhang B, Zhong C, Zhilenkov AA. Exploring Embodied Intelligence in Soft Robotics: A Review. Biomimetics (Basel) 2024; 9:248. [PMID: 38667259 PMCID: PMC11047907 DOI: 10.3390/biomimetics9040248] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Revised: 04/08/2024] [Accepted: 04/16/2024] [Indexed: 04/28/2024] Open
Abstract
Soft robotics is closely related to embodied intelligence in the joint exploration of the means to achieve more natural and effective robotic behaviors via physical forms and intelligent interactions. Embodied intelligence emphasizes that intelligence is affected by the synergy of the brain, body, and environment, focusing on the interaction between agents and the environment. Under this framework, the design and control strategies of soft robotics depend on their physical forms and material properties, as well as algorithms and data processing, which enable them to interact with the environment in a natural and adaptable manner. At present, embodied intelligence has comprehensively integrated related research results on the evolution, learning, perception, decision making in the field of intelligent algorithms, as well as on the behaviors and controls in the field of robotics. From this perspective, the relevant branches of the embodied intelligence in the context of soft robotics were studied, covering the computation of embodied morphology; the evolution of embodied AI; and the perception, control, and decision making of soft robotics. Moreover, on this basis, important research progress was summarized, and related scientific problems were discussed. This study can provide a reference for the research of embodied intelligence in the context of soft robotics.
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Affiliation(s)
- Zikai Zhao
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou 310018, China; (Z.Z.)
| | - Qiuxuan Wu
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou 310018, China; (Z.Z.)
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
- International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou 310018, China
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, 190121 Sankt-Petersburg, Russia;
| | - Jian Wang
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou 310018, China; (Z.Z.)
- International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou 310018, China
| | - Botao Zhang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
- International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou 310018, China
| | - Chaoliang Zhong
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
| | - Anton A. Zhilenkov
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, 190121 Sankt-Petersburg, Russia;
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11
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Zhang Q, Zeng Y, Zhao Y, Peng X, Ren E, Liu G. Bio-Hybrid Magnetic Robots: From Bioengineering to Targeted Therapy. Bioengineering (Basel) 2024; 11:311. [PMID: 38671732 PMCID: PMC11047666 DOI: 10.3390/bioengineering11040311] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/20/2024] [Revised: 03/19/2024] [Accepted: 03/21/2024] [Indexed: 04/28/2024] Open
Abstract
Magnetic robots possess an innate ability to navigate through hard-to-reach cavities in the human body, making them promising tools for diagnosing and treating diseases minimally invasively. Despite significant advances, the development of robots with desirable locomotion and full biocompatibility under harsh physiological conditions remains challenging, which put forward new requirements for magnetic robots' design and material synthesis. Compared to robots that are synthesized with inorganic materials, natural organisms like cells, bacteria or other microalgae exhibit ideal properties for in vivo applications, such as biocompatibility, deformability, auto-fluorescence, and self-propulsion, as well as easy for functional therapeutics engineering. In the process, these organisms can provide autonomous propulsion in biological fluids or external magnetic fields, while retaining their functionalities with integrating artificial robots, thus aiding targeted therapeutic delivery. This kind of robotics is named bio-hybrid magnetic robotics, and in this mini-review, recent progress including their design, engineering and potential for therapeutics delivery will be discussed. Additionally, the historical context and prominent examples will be introduced, and the complexities, potential pitfalls, and opportunities associated with bio-hybrid magnetic robotics will be discussed.
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Affiliation(s)
- Qian Zhang
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
| | - Yun Zeng
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
| | - Yang Zhao
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
| | - Xuqi Peng
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
| | - En Ren
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- Key Laboratory of Advanced Drug Delivery Systems, Zhejiang Province College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Gang Liu
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
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12
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Tian Z, Xue J, Xiao X, Du C, Liu Y. Optomagnetic Coordination Helical Robot with Shape Transformation and Multimodal Motion Capabilities. NANO LETTERS 2024; 24:2885-2893. [PMID: 38407034 DOI: 10.1021/acs.nanolett.4c00047] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/27/2024]
Abstract
Soft robots with magnetic responsiveness exhibit diverse motion modes and programmable shape transformations. While the fixed magnetization configuration facilitates coupling control of robot posture and motion, it limits individual posture control to some extent. This poses a challenge in independently controlling the robot's transformation and motion, restricting its versatile applications. This research introduces a multifunctional helical robot responsive to both light and magnetism, segregating posture control from movements. Light fields assist in robot shaping, achieving a 78% maximum diameter shift. Magnetic fields guide helical robots in multimodal motions, encompassing rotation, flipping, rolling, and spinning-induced propulsion. By controlling multimodal locomotion and shape transformation on demand, helical robots gain enhanced flexibility. This innovation allows them to tightly grip and wirelessly transport designated payloads, showcasing potential applications in drug delivery, soft grippers, and chemical reaction platforms. The unique combination of structural design and control methods holds promise for intelligent robots in the future.
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Affiliation(s)
- Zhuangzhuang Tian
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Jingze Xue
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Xinze Xiao
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Chuankai Du
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Yan Liu
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
- Weihai Institute for Bionics, Jilin University, Weihai, 264402, China
- Institute of Structured and Architected Materials, Liaoning Academy of Materials, Shenyang 110167, China
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13
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Zhou H, Zhang S, Liu Z, Chi B, Li J, Wang Y. Untethered Microgrippers for Precision Medicine. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305805. [PMID: 37941516 DOI: 10.1002/smll.202305805] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Revised: 10/07/2023] [Indexed: 11/10/2023]
Abstract
Microgrippers, a branch of micro/nanorobots, refer to motile miniaturized machines that are of a size in the range of several to hundreds of micrometers. Compared with tethered grippers or other microscopic diagnostic and surgical equipment, untethered microgrippers play an indispensable role in biomedical applications because of their characteristics such as miniaturized size, dexterous shape tranformation, and controllable motion, which enables the microgrippers to enter hard-to-reach regions to execute specific medical tasks for disease diagnosis and treatment. To date, numerous medical microgrippers are developed, and their potential in cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery are explored. To achieve controlled locomotion and efficient target-oriented actions, the materials, size, microarchitecture, and morphology of microgrippers shall be deliberately designed. In this review, the authors summarizes the latest progress in untethered micrometer-scale grippers. The working mechanisms of shape-morphing and actuation methods for effective movement are first introduced. Then, the design principle and state-of-the-art fabrication techniques of microgrippers are discussed. Finally, their applications in the precise medicine are highlighted, followed by offering future perspectives for the development of untethered medical microgrippers.
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Affiliation(s)
- Huaijuan Zhou
- Advanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing, 100081, China
| | - Shengchang Zhang
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Zijian Liu
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Bowen Chi
- Department of Neurology, Beijing Tiantan Hospital, Capital Medical University, Beijing, 100070, China
| | - Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yilong Wang
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
- Department of Neurology, Beijing Tiantan Hospital, Capital Medical University, Beijing, 100070, China
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14
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Caraglio M, Kaur H, Fiderer LJ, López-Incera A, Briegel HJ, Franosch T, Muñoz-Gil G. Learning how to find targets in the micro-world: the case of intermittent active Brownian particles. SOFT MATTER 2024; 20:2008-2016. [PMID: 38328899 PMCID: PMC10900891 DOI: 10.1039/d3sm01680c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/11/2023] [Accepted: 01/29/2024] [Indexed: 02/09/2024]
Abstract
Finding the best strategy to minimize the time needed to find a given target is a crucial task both in nature and in reaching decisive technological advances. By considering learning agents able to switch their dynamics between standard and active Brownian motion, here we focus on developing effective target-search behavioral policies for microswimmers navigating a homogeneous environment and searching for targets of unknown position. We exploit projective simulation, a reinforcement learning algorithm, to acquire an efficient stochastic policy represented by the probability of switching the phase, i.e. the navigation mode, in response to the type and the duration of the current phase. Our findings reveal that the target-search efficiency increases with the particle's self-propulsion during the active phase and that, while the optimal duration of the passive case decreases monotonically with the activity, the optimal duration of the active phase displays a non-monotonic behavior.
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Affiliation(s)
- Michele Caraglio
- Institut für Theoretische Physik, Universität Innsbruck, Technikerstraße 21A, A-6020, Innsbruck, Austria.
| | - Harpreet Kaur
- Institut für Theoretische Physik, Universität Innsbruck, Technikerstraße 21A, A-6020, Innsbruck, Austria.
| | - Lukas J Fiderer
- Institut für Theoretische Physik, Universität Innsbruck, Technikerstraße 21A, A-6020, Innsbruck, Austria.
| | - Andrea López-Incera
- Institut für Theoretische Physik, Universität Innsbruck, Technikerstraße 21A, A-6020, Innsbruck, Austria.
| | - Hans J Briegel
- Institut für Theoretische Physik, Universität Innsbruck, Technikerstraße 21A, A-6020, Innsbruck, Austria.
| | - Thomas Franosch
- Institut für Theoretische Physik, Universität Innsbruck, Technikerstraße 21A, A-6020, Innsbruck, Austria.
| | - Gorka Muñoz-Gil
- Institut für Theoretische Physik, Universität Innsbruck, Technikerstraße 21A, A-6020, Innsbruck, Austria.
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15
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Pu R, Yang X, Mu H, Xu Z, He J. Current status and future application of electrically controlled micro/nanorobots in biomedicine. Front Bioeng Biotechnol 2024; 12:1353660. [PMID: 38314349 PMCID: PMC10834684 DOI: 10.3389/fbioe.2024.1353660] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/11/2023] [Accepted: 01/09/2024] [Indexed: 02/06/2024] Open
Abstract
Using micro/nanorobots (MNRs) for targeted therapy within the human body is an emerging research direction in biomedical science. These nanoscale to microscale miniature robots possess specificity and precision that are lacking in most traditional treatment modalities. Currently, research on electrically controlled micro/nanorobots is still in its early stages, with researchers primarily focusing on the fabrication and manipulation of these robots to meet complex clinical demands. This review aims to compare the fabrication, powering, and locomotion of various electrically controlled micro/nanorobots, and explore their advantages, disadvantages, and potential applications.
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Affiliation(s)
- Ruochen Pu
- Jintan Hospital Affiliated to Jiangsu University, Changzhou, Jiangsu Province, China
- Shanghai Bone Tumor Institution, Shanghai, China
| | - Xiyu Yang
- Shanghai Bone Tumor Institution, Shanghai, China
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
| | - Haoran Mu
- Shanghai Bone Tumor Institution, Shanghai, China
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
| | - Zhonghua Xu
- Jintan Hospital Affiliated to Jiangsu University, Changzhou, Jiangsu Province, China
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
| | - Jin He
- Jintan Hospital Affiliated to Jiangsu University, Changzhou, Jiangsu Province, China
- Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
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16
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Li R, Jiang M, Liu B, Jiang S, Chen C, Liang M, Qu L, Wang C, Zhao G, Hu Y, Wu D, Chu J, Li J. High-performance magnetic metal microrobot prepared by a two-photon polymerization and sintering method. LAB ON A CHIP 2024. [PMID: 38235769 DOI: 10.1039/d3lc01084h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/19/2024]
Abstract
Magnetically-actuated microrobots (MARs) exhibit great potential in biomedicine owing to their precise navigation, wireless actuation and remote operation in confined space. However, most previously explored MARs unfold the drawback of hypodynamic magnetic torque due to low magnetic content, leading to their limited applications in controlled locomotion in fast-flowing fluid and massive cargo carrying to the target position. Here, we report a high-performance pure-nickel magnetically-actuated microrobot (Ni-MAR), prepared by a femtosecond laser polymerization followed by sintering method. Our Ni-MAR possesses a high magnetic content (∼90 wt%), thus resulting in enhanced magnetic torque under low-strength rotating magnetic fields, which enables the microrobot to exhibit high-speed swimming and superior cargo carrying. The maximum velocity of our Ni-MAR, 12.5 body lengths per second, outperforms the velocity of traditional helical MARs. The high-speed Ni-MAR is capable of maintaining controlled locomotion in fast-flowing fluid. Moreover, the Ni-MAR with massive cargo carrying capability can push a 200-times heavier microcube with translation and rotation motion. A single cell and multiple cells can be transported facilely by a single Ni-MAR to the target position. This work provides a scheme for fabricating high-performance magnetic microrobots, which holds great promise for targeted therapy and drug delivery in vivo.
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Affiliation(s)
- Rui Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Modong Jiang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Bingrui Liu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Shaojun Jiang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Chao Chen
- Department of Materials Physics and New Energy Device, School of Materials Science and Engineering, Hefei University of Technology, Hefei 230009, China
| | - Mengxue Liang
- CAS Key Laboratory of Urban Pollutant Conversion, Department of Environmental Science and Engineering, University of Science and Technology of China, Hefei 230026, China
| | - Lijie Qu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Chaowei Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Gang Zhao
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Yanlei Hu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Dong Wu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Jiaru Chu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
| | - Jiawen Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education Institutes, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China.
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17
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Feng J, Li X, Xu T, Zhang X, Du X. Photothermal-driven micro/nanomotors: From structural design to potential applications. Acta Biomater 2024; 173:1-35. [PMID: 37967696 DOI: 10.1016/j.actbio.2023.11.018] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/25/2023] [Revised: 10/20/2023] [Accepted: 11/09/2023] [Indexed: 11/17/2023]
Abstract
Micro/nanomotors (MNMs) that accomplish autonomous movement by transforming external energy into mechanical work are attractive cargo delivery vehicles. Among various propulsion mechanisms of MNMs, photothermal propulsion has gained considerable attention because of their unique advantages, such as remote, flexible, accurate, biocompatible, short response time, etc. Moreover, besides as a propulsion source, the light has been extensively investigated as an excitation source in bioimaging, photothermal therapy (PTT), photodynamic therapy (PDT) and so on. Furthermore, the geometric topology and morphology of MNMs have a tremendous impact on improving their performance in motion behavior under NIR light propulsion, environmental suitability and functional versatility. Hence, this review article provides a comprehensive overview of structural design principles and construction strategies of photothermal-driven MNMs, and their emerging nanobiomedical applications. Finally, we further provide an outlook towards prospects and challenges during the development of photothermal-driven MNMs in the future. STATEMENT OF SIGNIFICANCE: Photothermal-driven micro/nanomotors (MNMs) that are regarded as functional cargo delivery tools have gained considerable attention because of unique advantages in propulsion mechanisms, such as remote, flexible, accurate and fully biocompatible light manipulation and extremely short light response time. The geometric topology and morphology of MNMs have a tremendous impact on improving their performance in motion behavior under NIR light propulsion, environmental suitability and functional versatility of MNMs. There are no reports about the review focusing on photothermal-driven MNMs up to now. Herein, we systematically review the latest progress of photothermal-driven MNMs including design principle, fabrication strategy of various MNMs with different structures and nanobiomedical applications. Moreover, the summary and outlook on the development prospects and challenges of photothermal-driven MNMs are proposed, hoping to provide new ideas for the future design of photothermal-driven MNMs with efficient propulsion, multiple functions and high biocompatibility.
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Affiliation(s)
- Jiameng Feng
- Beijing Key Laboratory for Bioengineering and Sensing Technology, Department of Chemistry & Biological Engineering, University of Science & Technology Beijing, Beijing 100083, China
| | - Xiaoyu Li
- National Engineering Research Center of green recycling for strategic metal resources, Key Laboratory of Green Process and Engineering, Institute of Process Engineering, Chinese Academic of Sciences, University of Chinese Academic of Sciences, China
| | - Tailin Xu
- Beijing Key Laboratory for Bioengineering and Sensing Technology, Department of Chemistry & Biological Engineering, University of Science & Technology Beijing, Beijing 100083, China
| | - Xueji Zhang
- Beijing Key Laboratory for Bioengineering and Sensing Technology, Department of Chemistry & Biological Engineering, University of Science & Technology Beijing, Beijing 100083, China
| | - Xin Du
- Beijing Key Laboratory for Bioengineering and Sensing Technology, Department of Chemistry & Biological Engineering, University of Science & Technology Beijing, Beijing 100083, China.
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18
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Chen B, Sun H, Zhang J, Xu J, Song Z, Zhan G, Bai X, Feng L. Cell-Based Micro/Nano-Robots for Biomedical Applications: A Review. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2304607. [PMID: 37653591 DOI: 10.1002/smll.202304607] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/01/2023] [Revised: 07/28/2023] [Indexed: 09/02/2023]
Abstract
Micro/nano-robots are powerful tools for biomedical applications and are applied in disease diagnosis, tumor imaging, drug delivery, and targeted therapy. Among the various types of micro-robots, cell-based micro-robots exhibit unique properties because of their different cell sources. In combination with various actuation methods, particularly externally propelled methods, cell-based microrobots have enormous potential for biomedical applications. This review introduces recent progress and applications of cell-based micro/nano-robots. Different actuation methods for micro/nano-robots are summarized, and cell-based micro-robots with different cell templates are introduced. Furthermore, the review focuses on the combination of cell-based micro/nano-robots with precise control using different external fields. Potential challenges, further prospects, and clinical translations are also discussed.
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Affiliation(s)
- Bo Chen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Hongyan Sun
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Jiaying Zhang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Junjie Xu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Zeyu Song
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Guangdong Zhan
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Xue Bai
- School of Biomedical Engineering, Capital Medical University, Beijing, 100069, China
| | - Lin Feng
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, 100191, China
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19
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Yazdan Parast F, Veeraragavan S, Gaikwad AS, Powar S, Prabhakar R, O'Bryan MK, Nosrati R. Viscous Loading Regulates the Flagellar Energetics of Human and Bull Sperm. SMALL METHODS 2023:e2300928. [PMID: 38135876 DOI: 10.1002/smtd.202300928] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/24/2023] [Revised: 12/04/2023] [Indexed: 12/24/2023]
Abstract
The viscoelastic properties of the female reproductive tract influence sperm swimming behavior, but the exact role of these rheological changes in regulating sperm energetics remains unknown. Using high-speed dark-field microscopy, the flagellar dynamics of free-swimming sperm across a physiologically relevant range of viscosities is resolved. A transition from 3D to 2D slither swimming under an increased viscous loading is revealed, in the absence of any geometrical or chemical stimuli. This transition is species-specific, aligning with viscosity variations within each species' reproductive tract. Despite substantial drag increase, 2D slithering sperm maintain a steady swimming speed across a wide viscosity range (20-250 and 75-1000 mPa s for bull and human sperm) by dissipating over sixfold more energy into the fluid without elevating metabolic activity, potentially by altering the mechanisms of dynein motor activity. This energy-efficient motility mode is ideally suited for the viscous environment of the female reproductive tract.
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Affiliation(s)
- Farin Yazdan Parast
- Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, 3800, Australia
| | - Shibani Veeraragavan
- Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, 3800, Australia
| | - Avinash S Gaikwad
- Institute of Reproductive Genetics, University of Münster, 48149, Münster, Germany
- School of BioSciences and Bio21 Institute, Faculty of Science, University of Melbourne, Parkville, Victoria, 3010, Australia
| | - Sushant Powar
- Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, 3800, Australia
| | - Ranganathan Prabhakar
- Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, 3800, Australia
| | - Moira K O'Bryan
- School of BioSciences and Bio21 Institute, Faculty of Science, University of Melbourne, Parkville, Victoria, 3010, Australia
| | - Reza Nosrati
- Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, 3800, Australia
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20
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Misko VR, Baraban L, Makarov D, Huang T, Gelin P, Mateizel I, Wouters K, De Munck N, Nori F, De Malsche W. Selecting active matter according to motility in an acoustofluidic setup: self-propelled particles and sperm cells. SOFT MATTER 2023; 19:8635-8648. [PMID: 37917007 DOI: 10.1039/d3sm01214j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/03/2023]
Abstract
Active systems - including sperm cells, living organisms like bacteria, fish, birds, or active soft matter systems like synthetic "microswimmers" - are characterized by motility, i.e., the ability to propel using their own "engine". Motility is the key feature that distinguishes active systems from passive or externally driven systems. In a large ensemble, motility of individual species can vary in a wide range. Selecting active species according to their motility represents an exciting and challenging problem. We propose a new method for selecting active species based on their motility using an acoustofluidic setup where highly motile species escape from the acoustic trap. This is demonstrated in simulations and in experiments with self-propelled Janus particles and human sperm. The immediate application of this method is selecting highly motile sperm for medically assisted reproduction (MAR). Due to the tunable acoustic trap, the proposed method is more flexible than the existing passive microfluidic methods. The proposed selection method based on motility can also be applied to other active systems that require selecting highly motile species or removing immotile species.
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Affiliation(s)
- Vyacheslav R Misko
- μFlow Group, Department of Chemical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium.
- Theoretical Quantum Physics Laboratory, Cluster for Pioneering Research, RIKEN, Wako-shi, Saitama 351-0198, Japan
| | - Larysa Baraban
- Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Radiopharmaceutical Cancer Research, Bautzner Landstrasse 400, 01328 Dresden, Germany
| | - Denys Makarov
- Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Ion Beam Physics and Materials Research, Bautzner Landstrasse 400, 01328 Dresden, Germany
| | - Tao Huang
- Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Ion Beam Physics and Materials Research, Bautzner Landstrasse 400, 01328 Dresden, Germany
| | - Pierre Gelin
- μFlow Group, Department of Chemical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium.
| | - Ileana Mateizel
- Brussels IVF - Center for Reproductive Medicine, UZ Brussel, Laarbeeklaan 101, Jette, 1090 Brussels, Belgium
| | - Koen Wouters
- Brussels IVF - Center for Reproductive Medicine, UZ Brussel, Laarbeeklaan 101, Jette, 1090 Brussels, Belgium
| | - Neelke De Munck
- Brussels IVF - Center for Reproductive Medicine, UZ Brussel, Laarbeeklaan 101, Jette, 1090 Brussels, Belgium
| | - Franco Nori
- Theoretical Quantum Physics Laboratory, Cluster for Pioneering Research, RIKEN, Wako-shi, Saitama 351-0198, Japan
- Quantum Computing Center, RIKEN, Wako-shi, Saitama, 351-0198, Japan
- Physics Department, University of Michigan, Ann Arbor, Michigan 48109-1040, USA
| | - Wim De Malsche
- μFlow Group, Department of Chemical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium.
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21
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Lee JG, Thome CP, Cruse ZA, Ganguly A, Gupta A, Shields CW. Magnetically locked Janus particle clusters with orientation-dependent motion in AC electric fields. NANOSCALE 2023; 15:16268-16276. [PMID: 37800377 PMCID: PMC10598768 DOI: 10.1039/d3nr03744d] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/07/2023]
Abstract
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.
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Affiliation(s)
- Jin Gyun Lee
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - Cooper P Thome
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - Zoe A Cruse
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - Arkava Ganguly
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - Ankur Gupta
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
| | - C Wyatt Shields
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, CO 80303, USA.
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22
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Shivalkar S, Roy A, Chaudhary S, Samanta SK, Chowdhary P, Sahoo AK. Strategies in design of self-propelling hybrid micro/nanobots for bioengineering applications. Biomed Mater 2023; 18:062003. [PMID: 37703889 DOI: 10.1088/1748-605x/acf975] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/13/2022] [Accepted: 09/13/2023] [Indexed: 09/15/2023]
Abstract
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.
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Affiliation(s)
- Saurabh Shivalkar
- Department of Applied Sciences, Indian Institute of Information Technology, Allahabad, UP, India
| | - Anwesha Roy
- Department of Biotechnology, Heritage Institute of Technology, Kolkata, West Bengal, India
| | - Shrutika Chaudhary
- Department of Biotechnology, Delhi Technological University, Delhi, India
| | - Sintu Kumar Samanta
- Department of Applied Sciences, Indian Institute of Information Technology, Allahabad, UP, India
| | - Pallabi Chowdhary
- Department of Biotechnology, M.S. Ramaiah University of Applied Sciences, Bengaluru, Karnataka, India
| | - Amaresh Kumar Sahoo
- Department of Applied Sciences, Indian Institute of Information Technology, Allahabad, UP, India
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23
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Zhu S, Cheng Y, Wang J, Liu G, Luo T, Li X, Yang S, Yang R. Biohybrid magnetic microrobots: An intriguing and promising platform in biomedicine. Acta Biomater 2023; 169:88-106. [PMID: 37572981 DOI: 10.1016/j.actbio.2023.08.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2023] [Revised: 07/19/2023] [Accepted: 08/03/2023] [Indexed: 08/14/2023]
Abstract
Biohybrid magnetic microrobots (BMMs) have emerged as an exciting class of microrobots and have been considered as a promising platform in biomedicine. Many microorganisms and body's own cells show intriguing properties, such as morphological characteristics, biosafety, and taxis abilities (e.g., chemotaxis, aerotaxis), which have made them attractive for the fabrication of microrobots. For remote controllability and sustainable actuation, magnetic components are usually incorporated onto these biological entities, and other functionalized non-biological components (e.g., therapeutic agents) are also included for specific applications. This review highlights the latest developments in BMMs with a focus on their biomedical applications. It starts by introducing the fundamental understanding of the propulsion system at the microscale in a magnetically driven manner, followed by a summary of diverse BMMs based on different microorganisms and body's own cells along with their relevant applications. Finally, the review discusses how BMMs contribute to the advancements of microrobots, the current challenges of using BMMs in practical clinical settings, and the future perspectives of this exciting field. STATEMENT OF SIGNIFICANCE: Biohybrid magnetic microrobots (BMMs), composed of biological entities and functional parts, hold great potential and serve as a novel and promising platform for biomedical applications such as targeted drug delivery. This review comprehensively summarizes the recent advancements in BMMs for biomedical applications, mainly focused on the representative propulsion modalities in a magnetically propelled manner and diverse designs of BMMs based on different biological entities, including microorganisms and body's own cells. We hope this review can provide ideas for the future design, development, and innovation of micro/nanorobots in the field of biomedicine.
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Affiliation(s)
- Shilu Zhu
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Yifan Cheng
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Jian Wang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Guangli Liu
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Tingting Luo
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China.
| | - Xiaojian Li
- Department of Management, Hefei University of Technology, Hefei 230009, China.
| | - Shanlin Yang
- Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei 230009, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China.
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24
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Jiang L, Liu X, Zhao D, Guo J, Ma X, Wang Y. Intelligent sensing based on active micro/nanomotors. J Mater Chem B 2023; 11:8897-8915. [PMID: 37667977 DOI: 10.1039/d3tb01163a] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/06/2023]
Abstract
In the microscopic world, synthetic micro/nanomotors (MNMs) can convert a variety of energy sources into driving forces to help humans perform a number of complex tasks with greater ease and efficiency. These tiny machines have attracted tremendous attention in the field of drug delivery, minimally invasive surgery, in vivo sampling, and environmental management. By modifying their surface materials and functionalizing them with bioactive agents, these MNMs can also be transformed into dynamic micro/nano-biosensors that can detect biomolecules in real-time with high sensitivity. The extensive range of operations and uses combined with their minuscule size have opened up new avenues for tackling intricate analytical difficulties. Here, in this review, various driving methods are briefly introduced, followed by a focus on intelligent detection techniques based on MNMs. And we discuss the distinctive advantages, current issues, and challenges associated with MNM-based intelligent detection. It is believed that the future advancements of MNMs will greatly impact the diagnosis, treatment, and prevention of diseases.
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Affiliation(s)
- Lingfeng Jiang
- Key Laboratory of Clinical Laboratory Diagnostics (Ministry of Education), College of Laboratory Medicine, Chongqing Medical University, Chongqing 400016, China.
| | - Xiaoxia Liu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China.
| | - Dongfang Zhao
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China.
| | - Jinhong Guo
- Key Laboratory of Clinical Laboratory Diagnostics (Ministry of Education), College of Laboratory Medicine, Chongqing Medical University, Chongqing 400016, China.
- School of Sensing Science and Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Xing Ma
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China.
| | - Yong Wang
- Key Laboratory of Clinical Laboratory Diagnostics (Ministry of Education), College of Laboratory Medicine, Chongqing Medical University, Chongqing 400016, China.
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25
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Ye Y, Tian H, Jiang J, Huang W, Zhang R, Li H, Liu L, Gao J, Tan H, Liu M, Peng F, Tu Y. Magnetically Actuated Biodegradable Nanorobots for Active Immunotherapy. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2300540. [PMID: 37382399 PMCID: PMC10477856 DOI: 10.1002/advs.202300540] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/25/2023] [Revised: 05/27/2023] [Indexed: 06/30/2023]
Abstract
An efficient and cost-effective therapeutic vaccine is highly desirable for the prevention and treatment of cancer, which helps to strengthen the immune system and activate the T cell immune response. However, initiating such an adaptive immune response efficiently remains challenging, especially the deficient antigen presentation by dendritic cells (DCs) in the immunosuppressive tumor microenvironment. Herein, an efficient and dynamic antigen delivery system based on the magnetically actuated OVA-CaCO3 -SPIO robots (OCS-robots) is rationally designed for active immunotherapy. Taking advantage of the unique dynamic features, the developed OCS-robots achieve controllable motion capability under the rotating magnetic field. Specifically, with the active motion, the acid-responsiveness of OCS-robots is beneficial for the tumor acidity attenuating and lysosome escape as well as the subsequent antigen cross-presentation of DCs. Furthermore, the dynamic OCS-robots boost the crosstalk between the DCs and antigens, which displays prominent tumor immunotherapy effect on melanoma through cytotoxic T lymphocytes (CTLs). Such a strategy of dynamic vaccine delivery system enables the active activation of immune system based on the magnetically actuated OCS-robots, which presents a plausible paradigm for incredibly efficient cancer immunotherapy by designing multifunctional and novel robot platforms in the future.
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Affiliation(s)
- Yicheng Ye
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Hao Tian
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Jiamiao Jiang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Weichang Huang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Ruotian Zhang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Huaan Li
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Lu Liu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Junbin Gao
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Haixin Tan
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Meihuan Liu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Fei Peng
- School of Materials Science and EngineeringSun Yat‐Sen UniversityGuangzhou510275China
| | - Yingfeng Tu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
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26
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You M, Mou F, Wang K, Guan J. Tadpole-Like Flexible Microswimmers with the Head and Tail Both Magnetic. ACS APPLIED MATERIALS & INTERFACES 2023; 15:40855-40863. [PMID: 37584677 DOI: 10.1021/acsami.3c09701] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/17/2023]
Abstract
In analogy to eukaryotic cells that move by beating the flagella, magnetically powered micro/nanorobots with flexible filaments are capable of eluding the limitation of the scallop theorem to generate net displacement in a three-dimensional space, but they are limited by complicated fabrication and low speed. Here, we demonstrate a tadpole-like flexible microswimmer with a head and tail that are both magnetic by developing a magnetically assisted in situ polymerization method. The flexible microswimmer consists of a magnetic-bead head fixed to a nanochain bundle of magnetic nanoparticles (tail), and the tail length and stiffness can be adjusted simply by changing the duration and strength of the applied magnetic field during fabrication, respectively. For the microswimmer under an oscillating magnetic field, the magnetic head generates an undulatory motion, which can be further increased by the flexible magnetic tail. The magnetically induced undulation of the head and tail generates a traveling wave propagating through its flexible tail, resulting in efficient tadpole-like propulsion of the microswimmer. The flexible microswimmer runs at a maximum motion speed when the tail length is ∼5 times the diameter of the magnetic head, corresponding to ∼half the wavelength of the undulatory motion. The flexible microswimmers reported here are promising for active sensing and drug delivery, as the tails can be designed with various responsive hydrogels, and the results are expected to advance flexible micro/nanorobots.
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Affiliation(s)
- Ming You
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, China
| | - Fangzhi Mou
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, China
| | - Ke Wang
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, China
| | - Jianguo Guan
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, International School of Materials Science and Engineering, Wuhan University of Technology, Wuhan 430070, China
- Wuhan Institute of Photochemistry and Technology, 7 North Bingang Road, Wuhan 430083, China
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27
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Darmawan BA, Park JO, Go G, Choi E. Four-Dimensional-Printed Microrobots and Their Applications: A Review. MICROMACHINES 2023; 14:1607. [PMID: 37630143 PMCID: PMC10456732 DOI: 10.3390/mi14081607] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/19/2023] [Revised: 08/11/2023] [Accepted: 08/13/2023] [Indexed: 08/27/2023]
Abstract
Owing to their small size, microrobots have many potential applications. In addition, four-dimensional (4D) printing facilitates reversible shape transformation over time or upon the application of stimuli. By combining the concept of microrobots and 4D printing, it may be possible to realize more sophisticated next-generation microrobot designs that can be actuated by applying various stimuli, and also demonstrates profound implications for various applications, including drug delivery, cells delivery, soft robotics, object release and others. Herein, recent advances in 4D-printed microrobots are reviewed, including strategies for facilitating shape transformations, diverse types of external stimuli, and medical and nonmedical applications of microrobots. Finally, to conclude the paper, the challenges and the prospects of 4D-printed microrobots are highlighted.
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Affiliation(s)
- Bobby Aditya Darmawan
- Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro 208-beon-gil, Buk-gu, Gwangju 61011, Republic of Korea; (B.A.D.); (J.-O.P.)
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro 208-beon-gil, Buk-gu, Gwangju 61011, Republic of Korea; (B.A.D.); (J.-O.P.)
| | - Gwangjun Go
- Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro 208-beon-gil, Buk-gu, Gwangju 61011, Republic of Korea; (B.A.D.); (J.-O.P.)
- Department of Mechanical Engineering, Chosun University, 309 Pilmun-daero, Dong-gu, Gwangju 61452, Republic of Korea
| | - Eunpyo Choi
- Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro 208-beon-gil, Buk-gu, Gwangju 61011, Republic of Korea; (B.A.D.); (J.-O.P.)
- School of Mechanical Engineering, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju 61186, Republic of Korea
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28
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Liu S, Xu D, Chen J, Peng N, Ma T, Liang F. Nanozymatic magnetic nanomotors for enhancing photothermal therapy and targeting intracellular SERS sensing. NANOSCALE 2023; 15:12944-12953. [PMID: 37486742 DOI: 10.1039/d3nr02739b] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/25/2023]
Abstract
Self-propelled micro/nanomotors (MNMs) have emerged as promising tools for biomedical applications owing to their active and controllable movement, which is achieved by converting energy derived from chemical reactions or external physical fields into mechanical forces. However, it remains a challenge to develop all-in-one MNMs that integrate multiple bio-friendly engines and biomedical functions. In this study, we present a nanozymatic magnetic nanomotor capable of self-propulsion, driven by its intrinsic engines, and possessing inherent biomedical functions. The nanomotors with a core-island structure are fabricated by a general scalable chemistry synthesis approach. The core of the nanomotors is magnetic Fe3O4 nanoparticles, while the surrounding islands consist of Au nanostars. Such components naturally equip the nanomotors with the dual engine of the magnetic core and gold nanozyme. In addition, the localized surface plasmon resonance (LSPR) effect of the Au nanostar imparts the nanomotors with favourable photothermal conversion and surface-enhanced Raman scattering (SERS) properties. The nanomotors exhibit glucose concentration-dependent motion behavior of enhanced diffusion, leading to improved endocytosis for enhanced photothermal treatment. When exposed to a magnetic field, the nanomotors demonstrate both directional locomotion towards target cells and up-and-down oscillatory movement, enabling the efficient gathering of intracellular analytes for SERS sensing. To conclude, the as-prepared nanomotors represent an active and controllable nanoplatform with a simple structure and are naturally equipped with dual engines and dual biomedical functions, providing new perspectives to the development of all-in-one biomedical MNMs.
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Affiliation(s)
- Shimi Liu
- The State Key Laboratory of Refractories and Metallurgy, School of Chemistry and Chemical Engineering, Wuhan University of Science and Technology, Wuhan 430081, China.
- Improve-WUST Joint Laboratory of Advanced Technology for Point-of-Care Testing and Precision Medicine, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Dandan Xu
- The State Key Laboratory of Refractories and Metallurgy, School of Chemistry and Chemical Engineering, Wuhan University of Science and Technology, Wuhan 430081, China.
- Improve-WUST Joint Laboratory of Advanced Technology for Point-of-Care Testing and Precision Medicine, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Junling Chen
- The State Key Laboratory of Refractories and Metallurgy, School of Chemistry and Chemical Engineering, Wuhan University of Science and Technology, Wuhan 430081, China.
- Improve-WUST Joint Laboratory of Advanced Technology for Point-of-Care Testing and Precision Medicine, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Na Peng
- The State Key Laboratory of Refractories and Metallurgy, School of Chemistry and Chemical Engineering, Wuhan University of Science and Technology, Wuhan 430081, China.
| | - Tao Ma
- The State Key Laboratory of Refractories and Metallurgy, School of Chemistry and Chemical Engineering, Wuhan University of Science and Technology, Wuhan 430081, China.
- Improve-WUST Joint Laboratory of Advanced Technology for Point-of-Care Testing and Precision Medicine, Wuhan University of Science and Technology, Wuhan 430081, China
| | - Feng Liang
- The State Key Laboratory of Refractories and Metallurgy, School of Chemistry and Chemical Engineering, Wuhan University of Science and Technology, Wuhan 430081, China.
- Improve-WUST Joint Laboratory of Advanced Technology for Point-of-Care Testing and Precision Medicine, Wuhan University of Science and Technology, Wuhan 430081, China
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29
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Lee JG, Raj RR, Day NB, Shields CW. Microrobots for Biomedicine: Unsolved Challenges and Opportunities for Translation. ACS NANO 2023; 17:14196-14204. [PMID: 37494584 PMCID: PMC10928690 DOI: 10.1021/acsnano.3c03723] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/28/2023]
Abstract
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.
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Affiliation(s)
| | | | | | - C. Wyatt Shields
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, Colorado, 80303, USA
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30
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Salinas G, Kuhn A, Arnaboldi S. Self-Sustained Rotation of Lorentz Force-Driven Janus Systems. THE JOURNAL OF PHYSICAL CHEMISTRY. C, NANOMATERIALS AND INTERFACES 2023; 127:14704-14710. [PMID: 37554549 PMCID: PMC10405271 DOI: 10.1021/acs.jpcc.3c01597] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/08/2023] [Revised: 06/12/2023] [Indexed: 08/10/2023]
Abstract
Rotation is an interesting type of motion that is currently involved in many technological applications. In this frame, different and sophisticated external stimuli to induce rotation have been developed. In this work, we have designed a simple and original self-propelled bimetallic Janus rotor powered by the synergy between a spontaneous electric and ionic current, produced by two coupled redox reactions, and a magnetic field, placed orthogonal to the surface of the device. Such a combination induces a magnetohydrodynamic vortex at each extremity of the rotor arm, which generates an overall driving force able to propel the rotor. Furthermore, the motion of the self-polarized object can be controlled by the direction of the spontaneous electric current or the orientation of the external magnetic field, resulting in a predictable clockwise or anticlockwise motion. In addition, these devices exhibit directional corkscrew-type displacement, when representing their displacement as a function of time, producing time-space specular behavior. The concept can be used to design alternative self-mixing systems for a variety of (micro)fluidic equipment.
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Affiliation(s)
- Gerardo Salinas
- Université
Bordeaux, CNRS, Bordeaux INP, ISM, UMR 5255, F-33607 Pessac, France
| | - Alexander Kuhn
- Université
Bordeaux, CNRS, Bordeaux INP, ISM, UMR 5255, F-33607 Pessac, France
| | - Serena Arnaboldi
- Dipartimento
di Chimica, Universita degli Studi di Milano, 20133 Milano, Italy
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31
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Shields CW. Biohybrid microrobots for enhancing adoptive cell transfers. ACCOUNTS OF MATERIALS RESEARCH 2023; 4:566-569. [PMID: 38737440 PMCID: PMC11086660 DOI: 10.1021/accountsmr.3c00061] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/14/2024]
Affiliation(s)
- C. Wyatt Shields
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder CO 80303, United States
- Biomedical Engineering Program, University of Colorado Boulder, Boulder CO 80303, United States
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder CO 80303, United States
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32
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Kong X, Gao P, Wang J, Fang Y, Hwang KC. Advances of medical nanorobots for future cancer treatments. J Hematol Oncol 2023; 16:74. [PMID: 37452423 PMCID: PMC10347767 DOI: 10.1186/s13045-023-01463-z] [Citation(s) in RCA: 12] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/27/2023] [Accepted: 05/31/2023] [Indexed: 07/18/2023] Open
Abstract
Early detection and diagnosis of many cancers is very challenging. Late stage detection of a cancer always leads to high mortality rates. It is imperative to develop novel and more sensitive and effective diagnosis and therapeutic methods for cancer treatments. The development of new cancer treatments has become a crucial aspect of medical advancements. Nanobots, as one of the most promising applications of nanomedicines, are at the forefront of multidisciplinary research. With the progress of nanotechnology, nanobots enable the assembly and deployment of functional molecular/nanosized machines and are increasingly being utilized in cancer diagnosis and therapeutic treatment. In recent years, various practical applications of nanobots for cancer treatments have transitioned from theory to practice, from in vitro experiments to in vivo applications. In this paper, we review and analyze the recent advancements of nanobots in cancer treatments, with a particular emphasis on their key fundamental features and their applications in drug delivery, tumor sensing and diagnosis, targeted therapy, minimally invasive surgery, and other comprehensive treatments. At the same time, we discuss the challenges and the potential research opportunities for nanobots in revolutionizing cancer treatments. In the future, medical nanobots are expected to become more sophisticated and capable of performing multiple medical functions and tasks, ultimately becoming true nanosubmarines in the bloodstream.
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Affiliation(s)
- Xiangyi Kong
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, 100021, China
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital and Shenzhen Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Shenzhen, 518116, China
| | - Peng Gao
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, 100021, China
- Division of Breast Surgery, Department of General Surgery, West China Hospital, Sichuan University, Chengdu, 610041, China
- Breast Center, West China Hospital, Sichuan University, Chengdu, 610041, China
| | - Jing Wang
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, 100021, China.
| | - Yi Fang
- Department of Breast Surgical Oncology, National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, 100021, China.
| | - Kuo Chu Hwang
- Department of Chemistry, National Tsing Hua University, Hsinchu, 30013, Taiwan ROC.
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Liu Y, Lin G, Medina-Sánchez M, Guix M, Makarov D, Jin D. Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots. ACS NANO 2023; 17:8899-8917. [PMID: 37141496 DOI: 10.1021/acsnano.3c01609] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
With the development of advanced biomedical theragnosis and bioengineering tools, smart and soft responsive microstructures and nanostructures have emerged. These structures can transform their body shape on demand and convert external power into mechanical actions. Here, we survey the key advances in the design of responsive polymer-particle nanocomposites that led to the development of smart shape-morphing microscale robotic devices. We overview the technological roadmap of the field and highlight the emerging opportunities in programming magnetically responsive nanomaterials in polymeric matrixes, as magnetic materials offer a rich spectrum of properties that can be encoded with various magnetization information. The use of magnetic fields as a tether-free control can easily penetrate biological tissues. With the advances in nanotechnology and manufacturing techniques, microrobotic devices can be realized with the desired magnetic reconfigurability. We emphasize that future fabrication techniques will be the key to bridging the gaps between integrating sophisticated functionalities of nanoscale materials and reducing the complexity and footprints of microscale intelligent robots.
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Affiliation(s)
- Yuan Liu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen, 518055 Guangdong Province, P. R. China
| | - Gungun Lin
- Institute for Biomedical Materials and Devices, School of Mathematical and Physical Sciences, Faculty of Science, University of Technology Sydney, 15 Broadway, Ultimo, NSW 2007, Australia
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069 Dresden, Germany
- Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, 01062 Dresden, Germany
| | - Maria Guix
- Universitat de Barcelona, Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional Barcelona, 08028 Barcelona, Spain
| | - Denys Makarov
- Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Ion Beam Physics and Materials Research, Bautzner Landstrasse 400, 01328 Dresden, Germany
| | - Dayong Jin
- Institute for Biomedical Materials and Devices, School of Mathematical and Physical Sciences, Faculty of Science, University of Technology Sydney, 15 Broadway, Ultimo, NSW 2007, Australia
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Wang B, Handschuh-Wang S, Shen J, Zhou X, Guo Z, Liu W, Pumera M, Zhang L. Small-Scale Robotics with Tailored Wettability. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2205732. [PMID: 36113864 DOI: 10.1002/adma.202205732] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/23/2022] [Revised: 09/01/2022] [Indexed: 05/05/2023]
Abstract
Small-scale robots (SSRs) have emerged as promising and versatile tools in various biomedical, sensing, decontamination, and manipulation applications, as they are uniquely capable of performing tasks at small length scales. With the miniaturization of robots from the macroscale to millimeter-, micrometer-, and nanometer-scales, the viscous and surface forces, namely adhesive forces and surface tension have become dominant. These forces significantly impact motion efficiency. Surface engineering of robots with both hydrophilic and hydrophobic functionalization presents a brand-new pathway to overcome motion resistance and enhance the ability to target and regulate robots for various tasks. This review focuses on the current progress and future perspectives of SSRs with hydrophilic and hydrophobic modifications (including both tethered and untethered robots). The study emphasizes the distinct advantages of SSRs, such as improved maneuverability and reduced drag forces, and outlines their potential applications. With continued innovation, rational surface engineering is expected to endow SSRs with exceptional mobility and functionality, which can broaden their applications, enhance their penetration depth, reduce surface fouling, and inhibit bacterial adhesion.
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Affiliation(s)
- Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Stephan Handschuh-Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Jie Shen
- Shenzhen Key Laboratory of Spine Surgery, Department of Spine Surgery, Peking University Shenzhen Hospital, Shenzhen, 518036, China
| | - Xuechang Zhou
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, 518055, China
| | - Zhiguang Guo
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Science, Lanzhou, 730000, China
- Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials, Hubei University, Wuhan, 430062, China
| | - Weimin Liu
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Science, Lanzhou, 730000, China
| | - Martin Pumera
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno, 61200, Czech Republic
- Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-Gu, Seoul, 03722, South Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Shatin N.T., Hong Kong, 999077, China
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35
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Aziz A, Nauber R, Iglesias AS, Tang M, Ma L, Liz-Marzán LM, Schmidt OG, Medina-Sánchez M. Nanomaterial-decorated micromotors for enhanced photoacoustic imaging. JOURNAL OF MICRO-BIO ROBOTICS 2023; 19:37-45. [PMID: 38161388 PMCID: PMC10756870 DOI: 10.1007/s12213-023-00156-7] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/17/2023] [Revised: 03/07/2023] [Accepted: 04/12/2023] [Indexed: 01/03/2024]
Abstract
Micro-and nanorobots have the potential to perform non-invasive drug delivery, sensing, and surgery in living organisms, with the aid of diverse medical imaging techniques. To perform such actions, microrobots require high spatiotemporal resolution tracking with real-time closed-loop feedback. To that end, photoacoustic imaging has appeared as a promising technique for imaging microrobots in deep tissue with higher molecular specificity and contrast. Here, we present different strategies to track magnetically-driven micromotors with improved contrast and specificity using dedicated contrast agents (Au nanorods and nanostars). Furthermore, we discuss the possibility of improving the light absorption properties of the employed nanomaterials considering possible light scattering and coupling to the underlying metal-oxide layers on the micromotor's surface. For that, 2D COMSOL simulation and experimental results were correlated, confirming that an increased spacing between the Au-nanostructures and the increase of thickness of the underlying oxide layer lead to enhanced light absorption and preservation of the characteristic absorption peak. These characteristics are important when visualizing the micromotors in a complex in vivo environment, to distinguish them from the light absorption properties of the surrounding natural chromophores. Supplementary Information The online version contains supplementary material available at 10.1007/s12213-023-00156-7.
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Affiliation(s)
- Azaam Aziz
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Richard Nauber
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Ana Sánchez Iglesias
- CIC biomaGUNE, Basque Research and Technology Alliance (BRTA), Paseo de Miramon 182, 20014 Donostia-San Sebastián, Spain
- Biomedical Research Networking Center for Bioengineering, Biomaterials and Nanomedicine, CIBER-BBN, 20014 Donostia-San Sebastián, Spain
| | - Min Tang
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Libo Ma
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
| | - Luis M. Liz-Marzán
- CIC biomaGUNE, Basque Research and Technology Alliance (BRTA), Paseo de Miramon 182, 20014 Donostia-San Sebastián, Spain
- Biomedical Research Networking Center for Bioengineering, Biomaterials and Nanomedicine, CIBER-BBN, 20014 Donostia-San Sebastián, Spain
- Ikerbasque, Basque Foundation for Science, 48009 Bilbao, Spain
| | - Oliver G. Schmidt
- Center for Materials, Architectures and Integration of Nanomembranes (MAIN), TU Chemnitz, Reichenhainer Strasse 10, 09107 Chemnitz, Saxony Germany
- School of Science, TU Dresden, 01062 Dresden, Saxony Germany
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research, Helmholtzstraße 20, 01069 Dresden, Saxony Germany
- Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, Tatzberg 41, 01062 Dresden, Germany
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36
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Wu Y, Yakov S, Fu A, Yossifon G. A Magnetically and Electrically Powered Hybrid Micromotor in Conductive Solutions: Synergistic Propulsion Effects and Label-Free Cargo Transport and Sensing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2204931. [PMID: 36507618 PMCID: PMC10015886 DOI: 10.1002/advs.202204931] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/28/2022] [Revised: 10/31/2022] [Indexed: 06/18/2023]
Abstract
Electrically powered micro- and nanomotors are promising tools for in vitro single-cell analysis. In particular, single cells can be trapped, transported, and electroporated by a Janus particle (JP) using an externally applied electric field. However, while dielectrophoretic (DEP)-based cargo manipulation can be achieved at high-solution conductivity, electrical propulsion of these micromotors becomes ineffective at solution conductivities exceeding ≈0.3 mS cm-1 . Here, JP cargo manipulation and transport capabilities to conductive near-physiological (<6 mS cm-1 ) solutions are extended successfully by combining magnetic field-based micromotor propulsion and navigation with DEP-based manipulation of various synthetic and biological cargos. Combination of a rotating magnetic field and electric field results in enhanced micromotor mobility and steering control through tuning of the electric field frequency. In addition, the micromotor's ability of identifying apoptotic cell among viable and necrotic cells based on their dielectrophoretic difference is demonstrated, thus, enabling to analyze the apoptotic status in the single-cell samples for drug discovery, cell therapeutics, and immunotherapy. The ability to trap and transport live cells towards regions containing doxorubicin-loaded liposomes is also demonstrated. This hybrid micromotor approach for label-free trapping, transporting, and sensing of selected cells within conductive solutions opens new opportunities in drug delivery and single-cell analysis, where close-to-physiological media conditions are necessary.
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Affiliation(s)
- Yue Wu
- School of Mechanical EngineeringUniversity of Tel‐AvivTel‐Aviv69978Israel
| | - Sivan Yakov
- Faculty of Mechanical EngineeringMicro‐ and Nanofluidics LaboratoryTechnion—Israel Institute of TechnologyHaifa32000Israel
| | - Afu Fu
- Technion Integrated Cancer CenterThe Rappaport Faculty of Medicine and Research InstituteTechnion—Israel Institute of TechnologyHaifa3109602Israel
| | - Gilad Yossifon
- School of Mechanical EngineeringUniversity of Tel‐AvivTel‐Aviv69978Israel
- Faculty of Mechanical EngineeringMicro‐ and Nanofluidics LaboratoryTechnion—Israel Institute of TechnologyHaifa32000Israel
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37
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Li B, Yang H, Cheng K, Song H, Zou J, Li C, Xiao W, Liu Z, Liao X. Development of magnetic poly(L-lactic Acid) nanofibrous microspheres for transporting and delivering targeted cells. Colloids Surf B Biointerfaces 2023; 223:113175. [PMID: 36738703 DOI: 10.1016/j.colsurfb.2023.113175] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2022] [Revised: 01/20/2023] [Accepted: 01/24/2023] [Indexed: 02/01/2023]
Abstract
To avoid infection and other risks caused by large open-surgery incisions using scaffold transplants, it is very important to study injectable microcarrier-loaded cells for targeted therapy and tissue regeneration. In this study, on the one hand, to simulate the hierarchical structure of the extracellular matrix and carry cells, poly(L-lactic acid) (PLLA) nanofibrous microspheres (large microspheres) were initially fabricated as cell carriers. On the other hand, to precisely deliver cells through a magnetic field and promote stem cell differentiation, drug-loaded mesoporous Fe3O4@SiO2 microspheres (small microspheres) were prepared and coated on the surface PLLA nanofibrous microspheres. The coating conditions were systematically studied and optimized. The results showed that planetary-satellite-like cell carriers were successfully prepared and the carriers were capable of freely translocating under the influence of a magnetic field. It has been demonstrated in vitro experiments that the carriers are biocompatible and are capable of acting as drug carriers. Specifically, they were able to load and release cells in response to magnetic fields. In vivo experiments indicated that the carriers could successfully load and release GFP-labelled cells in nude mice. The study presented in this paper provides a versatile and promising platform for the cell-based therapy in tissue engineering and regenerative medicine.
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Affiliation(s)
- Bo Li
- Chongqing Key Laboratory of Nano/Micro Composite Materials and Devices, Chongqing Engineering Laboratory of Nano/Micro Biomedical Detection Technology, Chongqing University of Science and Technology, Chongqing 401331, China
| | - Haocheng Yang
- Chongqing Key Laboratory of Nano/Micro Composite Materials and Devices, Chongqing Engineering Laboratory of Nano/Micro Biomedical Detection Technology, Chongqing University of Science and Technology, Chongqing 401331, China
| | - Kaiyuan Cheng
- Department of Prosthodontics, Peking University School and Hospital of Stomatology & National Center for Stomatology & National Clinical Research Center for Oral Diseases & National Engineering Research Center of Oral Biomaterials and Digital Medical Devices, Beijing 100081, China
| | - Hongli Song
- Chongqing Key Laboratory of Nano/Micro Composite Materials and Devices, Chongqing Engineering Laboratory of Nano/Micro Biomedical Detection Technology, Chongqing University of Science and Technology, Chongqing 401331, China
| | - Jie Zou
- Chongqing Key Laboratory of Nano/Micro Composite Materials and Devices, Chongqing Engineering Laboratory of Nano/Micro Biomedical Detection Technology, Chongqing University of Science and Technology, Chongqing 401331, China
| | - Chenchen Li
- Chongqing Key Laboratory of Nano/Micro Composite Materials and Devices, Chongqing Engineering Laboratory of Nano/Micro Biomedical Detection Technology, Chongqing University of Science and Technology, Chongqing 401331, China
| | - Wenqian Xiao
- Chongqing Key Laboratory of Nano/Micro Composite Materials and Devices, Chongqing Engineering Laboratory of Nano/Micro Biomedical Detection Technology, Chongqing University of Science and Technology, Chongqing 401331, China.
| | - Zhongning Liu
- Department of Prosthodontics, Peking University School and Hospital of Stomatology & National Center for Stomatology & National Clinical Research Center for Oral Diseases & National Engineering Research Center of Oral Biomaterials and Digital Medical Devices, Beijing 100081, China.
| | - Xiaoling Liao
- Chongqing Key Laboratory of Nano/Micro Composite Materials and Devices, Chongqing Engineering Laboratory of Nano/Micro Biomedical Detection Technology, Chongqing University of Science and Technology, Chongqing 401331, China
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38
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Deng X, Su Y, Xu M, Gong D, Cai J, Akhter M, Chen K, Li S, Pan J, Gao C, Li D, Zhang W, Xu W. Magnetic Micro/nanorobots for biological detection and targeted delivery. Biosens Bioelectron 2023; 222:114960. [PMID: 36463650 DOI: 10.1016/j.bios.2022.114960] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/23/2022] [Revised: 10/12/2022] [Accepted: 11/25/2022] [Indexed: 11/29/2022]
Affiliation(s)
- Xue Deng
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Yuan Su
- Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health Institute of Nutrition and Health, China Agricultural University, Beijing, 100083, China
| | - Minghao Xu
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - De Gong
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Jun Cai
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Muhammad Akhter
- College of Information and Electrical Engineering, China Agricultural University, Beijing, 100083, China
| | - Kehan Chen
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Shuting Li
- Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health Institute of Nutrition and Health, China Agricultural University, Beijing, 100083, China
| | - Jingwen Pan
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Chao Gao
- College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Daoliang Li
- College of Information and Electrical Engineering, China Agricultural University, Beijing, 100083, China
| | - Wenqiang Zhang
- College of Engineering, China Agricultural University, Beijing, 100083, China.
| | - Wentao Xu
- Key Laboratory of Precision Nutrition and Food Quality, Department of Nutrition and Health Institute of Nutrition and Health, China Agricultural University, Beijing, 100083, China; Key Laboratory of Safety Assessment of Genetically Modified Organism Food Safety MOA, College of Food Science and Nutritional Engineering, China Agricultural University, Beijing, 100083, China.
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39
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Nath B, Caprini L, Maggi C, Zizzari A, Arima V, Viola I, Di Leonardo R, Puglisi A. A microfluidic method for passive trapping of sperms in microstructures. LAB ON A CHIP 2023; 23:773-784. [PMID: 36723114 DOI: 10.1039/d2lc00997h] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Sperm motility is a prerequisite for male fertility. Enhancing the concentration of motile sperms in assisted reproductive technologies - for human and animal reproduction - is typically achieved through aggressive methods such as centrifugation. Here, we propose a passive technique for the amplification of motile sperm concentration, with no externally imposed forces or flows. The technique is based on the disparity between probability rates, for motile cells, of entering and escaping from complex structures. The effectiveness of the technique is demonstrated in microfluidic experiments with microstructured devices, comparing the trapping power in different geometries. In these micro-traps, we observe an enhancement of cells' concentration close to 10, with a contrast between motile and non-motile cells increased by a similar factor. Simulations of suitable interacting model sperms in realistic geometries reproduce quantitatively the experimental results, extend the range of observations and highlight the components that are key to the optimal trap design.
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Affiliation(s)
- Binita Nath
- ISC-CNR, Institute for Complex Systems, Piazzale A. Moro 2, I-00185 Rome, Italy
- Dipartimento di Fisica, Sapienza Università di Roma, Piazzale A. Moro 2, I-00185, Rome, Italy
- Department of Mechanical Engineering, National Institute of Technology Silchar, Silchar - 788010, Assam, India
| | - Lorenzo Caprini
- Heinrich-Heine-Universität Düsseldorf, Institut für Theoretische Physik II - Soft Matter, D-40225 Düsseldorf, Germany.
| | - Claudio Maggi
- NANOTEC-CNR, Institute of Nanotechnology, Soft and Living Matter Laboratory, c/o Dipt. di Fisica, Sapienza Università di Roma, Piazzale A. Moro 2, I-00185, Rome, Italy
| | - Alessandra Zizzari
- NANOTEC-CNR, Institute of Nanotechnology, c/o Campus Ecotekne, University of Salento, Via Monteroni, I-73100, Lecce, Italy
| | - Valentina Arima
- NANOTEC-CNR, Institute of Nanotechnology, c/o Campus Ecotekne, University of Salento, Via Monteroni, I-73100, Lecce, Italy
| | - Ilenia Viola
- NANOTEC-CNR, Institute of Nanotechnology, Soft and Living Matter Laboratory, c/o Dipt. di Fisica, Sapienza Università di Roma, Piazzale A. Moro 2, I-00185, Rome, Italy
| | - Roberto Di Leonardo
- Dipartimento di Fisica, Sapienza Università di Roma, Piazzale A. Moro 2, I-00185, Rome, Italy
- NANOTEC-CNR, Institute of Nanotechnology, Soft and Living Matter Laboratory, c/o Dipt. di Fisica, Sapienza Università di Roma, Piazzale A. Moro 2, I-00185, Rome, Italy
| | - Andrea Puglisi
- ISC-CNR, Institute for Complex Systems, Piazzale A. Moro 2, I-00185 Rome, Italy
- Dipartimento di Fisica, Sapienza Università di Roma, Piazzale A. Moro 2, I-00185, Rome, Italy
- INFN, Unità di Roma Tor Vergata, 00133 Rome, Italy
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40
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Nauber R, Goudu SR, Goeckenjan M, Bornhäuser M, Ribeiro C, Medina-Sánchez M. Medical microrobots in reproductive medicine from the bench to the clinic. Nat Commun 2023; 14:728. [PMID: 36759511 PMCID: PMC9911761 DOI: 10.1038/s41467-023-36215-7] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2021] [Accepted: 01/20/2023] [Indexed: 02/11/2023] Open
Abstract
Medical microrobotics is an emerging field that aims at non-invasive diagnosis and therapy inside the human body through miniaturized sensors and actuators. Such microrobots can be tethered (e.g., smart microcatheters, microendoscopes) or untethered (e.g., cell-based drug delivery systems). Active motion and multiple functionalities, distinguishing microrobots from mere passive carriers and conventional nanomedicines, can be achieved through external control with physical fields such as magnetism or ultrasound. Here we give an overview of the key challenges in the field of assisted reproduction and how these new technologies could, in the future, enable assisted fertilization in vivo and enhance embryo implantation. As a case study, we describe a potential intervention in the case of recurrent embryo implantation failure, which involves the non-invasive delivery of an early embryo back to the fertilization site using magnetically-controlled microrobots. As the embryo will be in contact with the secretory oviduct fluid, it can develop under natural conditions and in synchrony with the endometrium preparation. We discuss the potential microrobot designs, including a proper selection of materials and processes, envisioning their translation from bench to animal studies and human medicine. Finally, we highlight regulatory and ethical considerations for bringing this technology to the clinic.
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Affiliation(s)
- Richard Nauber
- Micro- and NanoBiomedical Engineering Group (MNBE) Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Sandhya R Goudu
- Micro- and NanoBiomedical Engineering Group (MNBE) Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Maren Goeckenjan
- Medical Clinic I, University Hospital, Technische Universität Dresden, Fetscherstraße 74, 01307, Dresden, Germany
| | - Martin Bornhäuser
- Medical Clinic I, University Hospital, Technische Universität Dresden, Fetscherstraße 74, 01307, Dresden, Germany.,National Center for Tumor Diseases (NCT/UCC), Dresden, Germany
| | - Carla Ribeiro
- Micro- and NanoBiomedical Engineering Group (MNBE) Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE) Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany. .,Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, 01062, Dresden, Germany.
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41
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Ji F, Wu Y, Pumera M, Zhang L. Collective Behaviors of Active Matter Learning from Natural Taxes Across Scales. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2203959. [PMID: 35986637 DOI: 10.1002/adma.202203959] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/02/2022] [Revised: 07/23/2022] [Indexed: 06/15/2023]
Abstract
Taxis orientation is common in microorganisms, and it provides feasible strategies to operate active colloids as small-scale robots. Collective taxes involve numerous units that collectively perform taxis motion, whereby the collective cooperation between individuals enables the group to perform efficiently, adaptively, and robustly. Hence, analyzing and designing collectives is crucial for developing and advancing microswarm toward practical or clinical applications. In this review, natural taxis behaviors are categorized and synthetic microrobotic collectives are discussed as bio-inspired realizations, aiming at closing the gap between taxis strategies of living creatures and those of functional active microswarms. As collective behaviors emerge within a group, the global taxis to external stimuli guides the group to conduct overall tasks, whereas the local taxis between individuals induces synchronization and global patterns. By encoding the local orientations and programming the global stimuli, various paradigms can be introduced for coordinating and controlling such collective microrobots, from the viewpoints of fundamental science and practical applications. Therefore, by discussing the key points and difficulties associated with collective taxes of different paradigms, this review potentially offers insights into mimicking natural collective behaviors and constructing intelligent microrobotic systems for on-demand control and preassigned tasks.
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Affiliation(s)
- Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
| | - Yilin Wu
- Department of Physics, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
| | - Martin Pumera
- Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul, 03722, Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, 999077, China
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Medical micro- and nanomotors in the body. Acta Pharm Sin B 2023; 13:517-541. [PMID: 36873176 PMCID: PMC9979267 DOI: 10.1016/j.apsb.2022.10.010] [Citation(s) in RCA: 20] [Impact Index Per Article: 20.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/24/2022] [Revised: 08/24/2022] [Accepted: 09/14/2022] [Indexed: 11/20/2022] Open
Abstract
Attributed to the miniaturized body size and active mobility, micro- and nanomotors (MNMs) have demonstrated tremendous potential for medical applications. However, from bench to bedside, massive efforts are needed to address critical issues, such as cost-effective fabrication, on-demand integration of multiple functions, biocompatibility, biodegradability, controlled propulsion and in vivo navigation. Herein, we summarize the advances of biomedical MNMs reported in the past two decades, with particular emphasis on the design, fabrication, propulsion, navigation, and the abilities of biological barriers penetration, biosensing, diagnosis, minimally invasive surgery and targeted cargo delivery. Future perspectives and challenges are discussed as well. This review can lay the foundation for the future direction of medical MNMs, pushing one step forward on the road to achieving practical theranostics using MNMs.
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Shivalkar S, Chowdhary P, Afshan T, Chaudhary S, Roy A, Samanta SK, Sahoo AK. Nanoengineering of biohybrid micro/nanobots for programmed biomedical applications. Colloids Surf B Biointerfaces 2023; 222:113054. [PMID: 36446238 DOI: 10.1016/j.colsurfb.2022.113054] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/24/2022] [Revised: 11/14/2022] [Accepted: 11/22/2022] [Indexed: 11/26/2022]
Abstract
Biohybrid micro/nanobots have emerged as an innovative resource to be employed in the biomedical field due to their biocompatible and biodegradable properties. These are tiny nanomaterial-based integrated structures engineered in a way that they can move autonomously and perform the programmed tasks efficiently even at hard-to-reach organ/tissues/cellular sites. The biohybrid micro/nanobots can either be cell/bacterial/enzyme-based or may mimic the properties of an active molecule. It holds the potential to change the landscape in various areas of biomedical including early diagnosis of disease, therapeutics, imaging, or precision surgery. The propulsion mechanism of the biohybrid micro/nanobots can be both fuel-based and fuel-free, but the most effective and easiest way to propel these micro/nanobots is via enzymes. Micro/nanobots possess the feature to adsorb/functionalize chemicals or drugs at their surfaces thus offering the scope of delivering drugs at the targeted locations. They also have shown immense potential in intracellular sensing of biomolecules and molecular events. Moreover, with recent progress in the material development and processing is required for enhanced activity and robustness the fabrication is done via various advanced techniques to avoid self-degradation and cause cellular toxicity during autonomous movement in biological medium. In this review, various approaches of design, architecture, and performance of such micro/nanobots have been illustrated along with their potential applications in controlled cargo release, therapeutics, intracellular sensing, and bioimaging. Furthermore, it is also foregrounding their advancement offering an insight into their future scopes, opportunities, and challenges involved in advanced biomedical applications.
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Affiliation(s)
- Saurabh Shivalkar
- Department of Applied Sciences, Indian Institute of Information Technology, Allahabad, UP, India.
| | - Pallabi Chowdhary
- Department of Biotechnology, MS Ramaiah University of Applied Sciences, Bengaluru, Karnataka, India
| | - Tayyaba Afshan
- Department of Applied Sciences, Indian Institute of Information Technology, Allahabad, UP, India
| | - Shrutika Chaudhary
- Department of Biotechnology, Delhi Technological University, Delhi, India
| | - Anwesha Roy
- Department of Biotechnology, Heritage Institute of Technology, Kolkata, West Bengal, India
| | - Sintu Kumar Samanta
- Department of Applied Sciences, Indian Institute of Information Technology, Allahabad, UP, India
| | - Amaresh Kumar Sahoo
- Department of Applied Sciences, Indian Institute of Information Technology, Allahabad, UP, India.
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Yu SX, Wu Y, Luo H, Liu Y, Chen YC, Wang YJ, Liu W, Tang J, Shi H, Gao H, Jing G, Liu YJ. Escaping Behavior of Sperms on the Biomimetic Oviductal Surface. Anal Chem 2023; 95:2366-2374. [PMID: 36655581 DOI: 10.1021/acs.analchem.2c04338] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/20/2023]
Abstract
Before fertilization, sperms adhere to oviductal epithelium cells, and only a restrictive number of winner sperms can escape to reach the egg. To study the sperm escape behavior from the oviductal surface, we developed a microfluidic chip to fabricate an adhesive surface and to create a gradient of progesterone (P4) for mimicking the oviduct microenvironment in vivo. We identified three sperm motion patterns in such a microenvironment─anchored spin, run-and-spin, and escaped mode. By using kinetic analysis, we verified the hypothesis that the responsive rotation energy anchored with the adhered sperm head determines whether the sperm is trapped or detaching, which is defined as the hammer flying strategy of successful escape after accumulating energy in the process of rotating. Intriguingly, this hammer-throw escaping is able to be triggered by the P4 biochemical stimulation. Our results revealed the tangled process of sperm escape before fertilization in the ingenious microfluidic system.
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Affiliation(s)
- Sai-Xi Yu
- Shanghai Key Laboratory of Medical Epigenetics, Institutes of Biomedical Sciences, Shanghai Stomatological Hospital, Department of Systems Biology for Medicine, Fudan University, Shanghai200032, China
| | - Yi Wu
- Shanghai Key Laboratory of Medical Epigenetics, Institutes of Biomedical Sciences, Shanghai Stomatological Hospital, Department of Systems Biology for Medicine, Fudan University, Shanghai200032, China
| | - Hao Luo
- School of Physics, State Key Laboratory of Photon Technology in Western China Energy, Northwest University, Xi'an710069, China
| | - Yanan Liu
- School of Physics, State Key Laboratory of Photon Technology in Western China Energy, Northwest University, Xi'an710069, China
| | - Yu-Chen Chen
- Shanghai Key Laboratory of Medical Epigenetics, Institutes of Biomedical Sciences, Shanghai Stomatological Hospital, Department of Systems Biology for Medicine, Fudan University, Shanghai200032, China
| | - Ya-Jun Wang
- Shanghai Key Laboratory of Medical Epigenetics, Institutes of Biomedical Sciences, Shanghai Stomatological Hospital, Department of Systems Biology for Medicine, Fudan University, Shanghai200032, China
| | - Wei Liu
- Shanghai Key Laboratory of Medical Epigenetics, Institutes of Biomedical Sciences, Shanghai Stomatological Hospital, Department of Systems Biology for Medicine, Fudan University, Shanghai200032, China
| | - Jianan Tang
- NHC Key Lab. of Reproduction Regulation (Shanghai Institute for Biomedical and Pharmaceutical Technologies), Fudan University, Shanghai200032, China
| | - Huijuan Shi
- NHC Key Lab. of Reproduction Regulation (Shanghai Institute for Biomedical and Pharmaceutical Technologies), Fudan University, Shanghai200032, China
| | - Hai Gao
- Shanghai Key Laboratory of Medical Epigenetics, Institutes of Biomedical Sciences, Shanghai Stomatological Hospital, Department of Systems Biology for Medicine, Fudan University, Shanghai200032, China
| | - Guangyin Jing
- School of Physics, State Key Laboratory of Photon Technology in Western China Energy, Northwest University, Xi'an710069, China
| | - Yan-Jun Liu
- Shanghai Key Laboratory of Medical Epigenetics, Institutes of Biomedical Sciences, Shanghai Stomatological Hospital, Department of Systems Biology for Medicine, Fudan University, Shanghai200032, China
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Samatas S, Lintuvuori J. Hydrodynamic Synchronization of Chiral Microswimmers. PHYSICAL REVIEW LETTERS 2023; 130:024001. [PMID: 36706412 DOI: 10.1103/physrevlett.130.024001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/24/2022] [Revised: 11/15/2022] [Accepted: 12/19/2022] [Indexed: 06/18/2023]
Abstract
We study synchronization in bulk suspensions of spherical microswimmers with chiral trajectories using large scale numerics. The model is generic. It corresponds to the lowest order solution of a general model for self-propulsion at low Reynolds numbers, consisting of a nonaxisymmetric rotating source dipole. We show that both purely circular and helical swimmers can spontaneously synchronize their rotation. The synchronized state corresponds to velocity alignment with high orientational order in both the polar and azimuthal directions. Finally, we consider a racemic mixture of helical swimmers where intraspecies synchronization is observed while the system remains as a spatially uniform fluid. Our results demonstrate hydrodynamic synchronization as a natural collective phenomenon for microswimmers with chiral trajectories.
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Affiliation(s)
- Sotiris Samatas
- Univ. Bordeaux, CNRS, LOMA, UMR 5798, F-33400 Talence, France
| | - Juho Lintuvuori
- Univ. Bordeaux, CNRS, LOMA, UMR 5798, F-33400 Talence, France
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46
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Wang Y, Shen J, Handschuh-Wang S, Qiu M, Du S, Wang B. Microrobots for Targeted Delivery and Therapy in Digestive System. ACS NANO 2023; 17:27-50. [PMID: 36534488 DOI: 10.1021/acsnano.2c04716] [Citation(s) in RCA: 13] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Untethered miniature robots enable targeted delivery and therapy deep inside the gastrointestinal tract in a minimally invasive manner. By combining actuation systems and imaging tools, significant progress has been made toward the development of functional microrobots. These robots can be actuated by external fields and fuels while featuring real-time tracking feedback toward certain regions and can perform the therapeutic process by rational exertion of the local environment of the gastrointestinal tract (e.g., pH, enzyme). Compared with conventional surgical tools, such as endoscopic devices and catheters, miniature robots feature minimally invasive diagnosis and treatment, multifunctionality, high safety and adaptivity, embodied intelligence, and easy access to tortuous and narrow lumens. In addition, the active motion of microrobots enhances local penetration and retention of drugs in tissues compared to common passive oral drug delivery. Based on the dissimilar microenvironments in the various sections of the gastrointestinal tract, this review introduces the advances of miniature robots for minimally invasive targeted delivery and therapy of diseases along the gastrointestinal tract. The imaging modalities for the tracking and their application scenarios are also discussed. We finally evaluate the challenges and barriers that retard their applications and hint on future research directions in this field.
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Affiliation(s)
- Yun Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
| | - Jie Shen
- Shenzhen Key Laboratory of Spine Surgery, Department of Spine Surgery, Peking University Shenzhen Hospital, Shenzhen518036, P.R. China
| | - Stephan Handschuh-Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
| | - Ming Qiu
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen518111, P.R. China
| | - Shiwei Du
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen518111, P.R. China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
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47
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Bryan MT. Assessing the Challenges of Nanotechnology-Driven Targeted Therapies: Development of Magnetically Directed Vectors for Targeted Cancer Therapies and Beyond. Methods Mol Biol 2023; 2575:105-123. [PMID: 36301473 DOI: 10.1007/978-1-0716-2716-7_6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Targeted delivery, in which therapeutic agents are preferentially concentrated at the diseased site, has the potential to improve therapeutic outcomes by minimizing off-target interactions in healthy tissue. Both passive and active methods of targeting delivery have been proposed, often with particular emphasis on cancer treatment. Passive methods rely on the overexpression of a biomarker in diseased tissue that can then be used to target the therapy. Active techniques involve physically guiding therapeutic agents toward the target region. Since the motion of magnetic particles can be remotely controlled by external magnetic fields, magnetic technologies have the potential to drive and hold drugs or other cargo at the required therapeutic site, increasing the localized dose while minimizing overall exposure. Directed motion may be generated either by simple magnetic attraction or by causing the particles to perform swimming strokes to produce propulsion. This chapter will compare the different strategies using magnetic nanotechnology to produce directed motion compatible with that required for targeted cargo delivery and magnetically assisted therapies and assess their potential to meet the challenges of operating within the human body.
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Affiliation(s)
- Matthew T Bryan
- Department of Electronic Engineering, Royal Holloway, University of London, Egham, UK.
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48
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Zhang F, Li Z, Duan Y, Luan H, Yin L, Guo Z, Chen C, Xu M, Gao W, Fang RH, Zhang L, Wang J. Extremophile-based biohybrid micromotors for biomedical operations in harsh acidic environments. SCIENCE ADVANCES 2022; 8:eade6455. [PMID: 36563149 PMCID: PMC9788783 DOI: 10.1126/sciadv.ade6455] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2022] [Accepted: 11/07/2022] [Indexed: 05/28/2023]
Abstract
The function of robots in extreme environments is regarded as one of the major challenges facing robotics. Here, we demonstrate that acidophilic microalgae biomotors can maintain their swimming behavior over long periods of time in the harsh acidic environment of the stomach, thus enabling them to be applied for gastrointestinal (GI) delivery applications. The biomotors can also be functionalized with a wide range of cargos, ranging from small molecules to nanoparticles, without compromising their ability to self-propel under extreme conditions. Successful GI delivery of model payloads after oral administration of the acidophilic algae motors is confirmed using a murine model. By tuning the surface properties of cargos, it is possible to modulate their precise GI localization. Overall, our findings indicate that multifunctional acidophilic algae-based biomotors offer distinct advantages compared to traditional biohybrid platforms and hold great potential for GI-related biomedical applications.
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49
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Lim S, Du Y, Lee Y, Panda SK, Tong D, Khalid Jawed M. Fabrication, control, and modeling of robots inspired by flagella and cilia. BIOINSPIRATION & BIOMIMETICS 2022; 18:011003. [PMID: 36533860 DOI: 10.1088/1748-3190/aca63d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/21/2022] [Accepted: 11/25/2022] [Indexed: 06/17/2023]
Abstract
Flagella and cilia are slender structures that serve important functionalities in the microscopic world through their locomotion induced by fluid and structure interaction. With recent developments in microscopy, fabrication, biology, and modeling capability, robots inspired by the locomotion of these organelles in low Reynolds number flow have been manufactured and tested on the micro-and macro-scale, ranging from medicalin vivomicrobots, microfluidics to macro prototypes. We present a collection of modeling theories, control principles, and fabrication methods for flagellated and ciliary robots.
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Affiliation(s)
- Sangmin Lim
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yayun Du
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yongkyu Lee
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Shivam Kumar Panda
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Dezhong Tong
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - M Khalid Jawed
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
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50
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Bag P, Nayak S, Debnath T, Ghosh PK. Directed Autonomous Motion and Chiral Separation of Self-Propelled Janus Particles in Convection Roll Arrays. J Phys Chem Lett 2022; 13:11413-11418. [PMID: 36459443 DOI: 10.1021/acs.jpclett.2c03193] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Self-propelled Janus particles exhibit autonomous motion thanks to engines of their own. However, due to the randomly changing direction of such motion they are of little use for emerging nanotechnological and biomedical applications. Here, we numerically show that the motion of chiral active Janus particles can be directed, subjecting them to a linear array of convection rolls. The rectification power of self-propulsion motion here can be made to be more than 60%, which is much larger than earlier reports. We show that rectification of a chiral Janus particle's motion leads to conspicuous segregation of dextrogyre and levogyre active particles from a racemic binary mixture. Further, we demonstrate how efficiently the rectification effect can be exploited to separate dextrogyre and levogyre particles when their intrinsic torques are distributed with Gaussian statistics.
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Affiliation(s)
- Poulami Bag
- Department of Chemistry, Presidency University, Kolkata700073, India
| | - Shubhadip Nayak
- Department of Chemistry, Presidency University, Kolkata700073, India
| | - Tanwi Debnath
- Department of Chemistry, University of Calcutta, Kolkata700009, India
| | - Pulak K Ghosh
- Department of Chemistry, Presidency University, Kolkata700073, India
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