Wafer-Scale Fabrication of Micro- to Nanoscale Bubble Swimmers and Their Fast Autonomous Propulsion by Ultrasound

Recent advances in the development of tumor microenvironment-activatable nanomotors for deep tumor penetration

Cancer represents a significant threat to human health, with the use of traditional chemotherapy drugs being limited by their harsh side effects. Tumor-targeted nanocarriers have emerged as a promising solution to this problem, as they can deliver drugs directly to the tumor site, improving drug effectiveness and reducing adverse effects. However, the efficacy of most nanomedicines is hindered by poor penetration into solid tumors. Nanomotors, capable of converting various forms of energy into mechanical energy for self-propelled movement, offer a potential solution for enhancing drug delivery to deep tumor regions. External force-driven nanomotors, such as those powered by magnetic fields or ultrasound, provide precise control but often necessitate bulky and costly external equipment. Bio-driven nanomotors, propelled by sperm, macrophages, or bacteria, utilize biological molecules for self-propulsion and are well-suited to the physiological environment. However, they are constrained by limited lifespan, inadequate speed, and potential immune responses. To address these issues, nanomotors have been engineered to propel themselves forward by catalyzing intrinsic "fuel" in the tumor microenvironment. This mechanism facilitates their penetration through biological barriers, allowing them to reach deep tumor regions for targeted drug delivery. In this regard, this article provides a review of tumor microenvironment-activatable nanomotors (fueled by hydrogen peroxide, urea, arginine), and discusses their prospects and challenges in clinical translation, aiming to offer new insights for safe, efficient, and precise treatment in cancer therapy.

Continuous motion of particles attached to cavitation bubbles

Microbubble-mediated therapeutic gene or drug delivery is a promising strategy for various cardiovascular diseases (CVDs), but the efficiency and precision need to be improved. Here, we propose a cavitation bubble-driven drug delivery strategy that can be applied to CVDs. A bubble-pulse-driving theory was proposed, and the formula of time-averaged thrust driven by bubble pulses was derived. The continuous motion of particles propelled by cavitation bubbles in the ultrasonic field is investigated experimentally by high-speed photography. The cavitation bubbles grow and collapse continuously, and generate periodic pulse thrust to drive the particles to move in the liquid. Particles attached to bubbles will move in various ways, such as ejection, collision, translation, rotation, attitude variation, and circular motion. The cavity attached to the particle is a relatively large cavitation bubble, which does not collapse to the particle surface, but to the axis of the bubble perpendicular to the particle surface. The cavitation bubble expands spherically and collapses asymmetrically, which makes the push on the particle generated by the bubble expansion greater than the pull on the particle generated by the bubble collapse. The time-averaged force of the cavitation bubble during its growth and collapse is the cavitation-bubble-driven force that propels the particle. Both the cavitation-bubble-driven force and the primary Bjerknes force act in the same position on the particle surface, but in different directions. In addition to the above two forces, particles are also affected by the mass force acting on the center of mass and the motion resistance acting on the surface, so the complex motion of particles can be explained.

Roadmap for Clinical Translation of Mobile Microrobotics

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

Acoustic manipulation of multi-body structures and dynamics

Sound can exert forces on objects of any material and shape. This has made the contactless manipulation of objects by intense ultrasound a fascinating area of research with wide-ranging applications. While much is understood for acoustic forcing of individual objects, sound-mediated interactions among multiple objects at close range gives rise to a rich set of structures and dynamics that are less explored and have been emerging as a frontier for research. We introduce the basic mechanisms giving rise to sound-mediated interactions among rigid as well as deformable particles, focusing on the regime where the particles' size and spacing are much smaller than the sound wavelength. The interplay of secondary acoustic scattering, Bjerknes forces, and micro-streaming is discussed and the role of particle shape is highlighted. Furthermore, we present recent advances in characterizing non-conservative and non-pairwise additive contributions to the particle interactions, along with instabilities and active fluctuations. These excitations emerge at sufficiently strong sound energy density and can act as an effective temperature in otherwise athermal systems.

A magnetically powered nanomachine with a DNA clutch

Machines found in nature and human-made machines share common components, such as an engine, and an output element, such as a rotor, linked by a clutch. This clutch, as seen in biological structures such as dynein, myosin or bacterial flagellar motors, allows for temporary disengagement of the moving parts from the running engine. However, such sophistication is still challenging to achieve in artificial nanomachines. Here we present a spherical rotary nanomotor with a reversible clutch system based on precise molecular recognition of built-in DNA strands. The clutch couples and decouples the engine from the machine's rotor in response to encoded inputs such as DNA or RNA. The nanomotor comprises a porous nanocage as a spherical rotor to confine the magnetic engine particle within the nanospace (∼0.004 μm3) of the cage. Thus, the entropically driven irreversible disintegration of the magnetic engine and the spherical rotor during the disengagement process is eliminated, and an exchange of microenvironmental inputs is possible through the nanopores. Our motor is only 200 nm in size and the clutch-mediated force transmission powered by an embedded ferromagnetic nanocrystal is high enough (∼15.5 pN at 50 mT) for the in vitro mechanical activation of Notch and integrin receptors, demonstrating its potential as nano-bio machinery.

Ultrasound Activated Nanobowls with Deep Penetration for Enhancing Sonodynamic Therapy of Orthotopic Liver Cancer

Owing to the high penetration ability and the safety of ultrasound (US) of sonodynamic therapy (SDT), it has gained significant attention in tumor treatment. However, its therapeutic efficiency depends on the performance of the sonosensitizers. The hypoxic microenvironment and abnormal stromal matrix restrict the full potential of sonosensitizers. In this study, a US-activated bowl-shaped nanobomb (APBN) is designed as a novel sonosensitizer to enhance the SDT effect through various means. This enhancement strategy combines three major characteristics: relieving tumor hypoxia, amplifying bubble cavitation damage, and US-movement-enhanced permeation. The unique bowl-shaped structure of APBN provides more favorable attachment sites for the generated oxygen gas bubbles. Thus, when catalase-like APBN catalyzes endogenous hydrogen peroxide to produce oxygen, bubbles accumulate at the groove, preventing the dissipation of oxygen and increasing the number of cavitation nuclei to improve the acoustic cavitation effect. This approach differs from traditional SDT strategies because it couples the sonodynamic effect with reactive oxygen species generation and bubble cavitation damage rather than a single action. Additionally, the asymmetric bowl-shaped structure generates a driving force under the US field, improving the distribution of sonosensitizers in the tumors. Using US and photoacoustic imaging for dual localization, these sonosensitizers can improve the accuracy of orthotopic liver tumor treatment, which presents a promising avenue for the treatment of deep tumors.

AcousticRobots: Smart acoustically powered micro-/nanoswimmers for precise biomedical applications

Although nanotechnology has evolutionarily progressed in biomedical field over the past decades, achieving satisfactory therapeutic effects remains difficult with limited delivery efficiency. Ultrasound could provide a deep penetration and maneuverable actuation to efficiently power micro-/nanoswimmers with little harm, offering an emerging and fascinating alternative to the active delivery platform. Recent advances in novel fabrication, controllable concepts like intelligent swarm and the integration of hybrid propulsions have promoted its function and potential for medical applications. In this review, we will summarize the mechanisms and types of ultrasonically propelled micro/nanorobots (termed here as "AcousticRobots"), including the interactions between AcousticRobots and acoustic field, practical design considerations (e.g., component, size, shape), the synthetic methods, surface modification, controllable behaviors, and the advantages when combined with other propulsion approaches. The representative biomedical applications of functional AcousticRobots are also highlighted, including drug delivery, invasive surgery, eradication on the surrounding bio-environment, cell manipulation, detection, and imaging, etc. We conclude by discussing the challenges and outlook of AcousticRobots in biomedical applications.

Ultrasound robotics for precision therapy

In recent years, the application of microrobots in precision therapy has gained significant attention. The small size and maneuverability of these micromachines enable them to potentially access regions that are difficult to reach using traditional methods; thus, reducing off-target toxicities and maximizing treatment effectiveness. Specifically, acoustic actuation has emerged as a promising method to exert control. By harnessing the power of acoustic energy, these small machines potentially navigate the body, assemble at the desired sites, and deliver therapies with enhanced precision and effectiveness. Amidst the enthusiasm surrounding these miniature agents, their translation to clinical environments has proven difficult. The primary objectives of this review are threefold: firstly, to offer an overview of the fundamental acoustic principles employed in the field of microrobots; secondly, to assess their current applications in medical therapies, encompassing tissue targeting, drug delivery or even cell infiltration; and lastly, to delve into the continuous efforts aimed at integrating acoustic microrobots into in vivo applications.

Acoustically Powered Nano- and Microswimmers: From Individual to Collective Behavior

Micro- and nanoscopic particles that swim autonomously and self-assemble under the influence of chemical fuels and external fields show promise for realizing systems capable of carrying out large-scale, predetermined tasks. Different behaviors can be realized by tuning swimmer interactions at the individual level in a manner analogous to the emergent collective behavior of bacteria and mammalian cells. However, the limited toolbox of weak forces with which to drive these systems has made it difficult to achieve useful collective functions. Here, we review recent research on driving swimming and particle self-organization using acoustic fields, which offers capabilities complementary to those of the other methods used to power microswimmers. With either chemical or acoustic propulsion (or a combination of the two), understanding individual swimming mechanisms and the forces that arise between individual particles is a prerequisite to harnessing their interactions to realize collective phenomena and macroscopic functionality. We discuss here the ingredients necessary to drive the motion of microscopic particles using ultrasound, the theory that describes that behavior, and the gaps in our understanding. We then cover the combination of acoustically powered systems with other cross-compatible driving forces and the use of ultrasound in generating collective behavior. Finally, we highlight the demonstrated applications of acoustically powered microswimmers, and we offer a perspective on the state of the field, open questions, and opportunities. We hope that this review will serve as a guide to students beginning their work in this area and motivate others to consider research in microswimmers and acoustic fields.

Biohybrid magnetic microrobots: An intriguing and promising platform in biomedicine

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.

Acoustophoresis around an elastic scatterer in a standing wave field

Acoustofluidic systems often employ prefabricated acoustic scatterers that perturb the imposed acoustic field to realize the acoustophoresis of immersed microparticles. We present a numerical study to investigate the time-averaged streaming and radiation force fields around a scatterer. Based on the streaming and radiation force field, we obtain the trajectories of the immersed microparticles with varying sizes and identify a critical transition size at which the motion of immersed microparticles in the vicinity of a prefabricated scatterer shifts from being streaming dominated to radiation dominated. We consider a range of acoustic frequencies to reveal that the critical transition size decreases with increasing frequency; this result explains the choice of acoustic frequencies in previously reported experimental studies. We also examine the impact of scatterer material and fluid properties on the streaming and radiation force fields, as well as on the critical transition size. Our results demonstrate that the critical transition size decreases with an increase in acoustic contrast factor: a nondimensional quantity that depends on material properties of the scatterer and the fluid. Our results provide a pathway to realize radiation force based manipulation of small particles by increasing the acoustic contrast factor of the scatterer, lowering the kinematic viscosity of the fluid, and increasing the acoustic frequency.

Bubble-Based Microrobots with Rapid Circular Motions for Epithelial Pinning and Drug Delivery

Remotely powered microrobots are proposed as next-generation vehicles for drug delivery. However, most microrobots swim with linear trajectories and lack the capacity to robustly adhere to soft tissues. This limits their ability to navigate complex biological environments and sustainably release drugs at target sites. In this work, bubble-based microrobots with complex geometries are shown to efficiently swim with non-linear trajectories in a mouse bladder, robustly pin to the epithelium, and slowly release therapeutic drugs. The asymmetric fins on the exterior bodies of the microrobots induce a rapid rotational component to their swimming motions of up to ≈150 body lengths per second. Due to their fast speeds and sharp fins, the microrobots can mechanically pin themselves to the bladder epithelium and endure shear stresses commensurate with urination. Dexamethasone, a small molecule drug used for inflammatory diseases, is encapsulated within the polymeric bodies of the microrobots. The sustained release of the drug is shown to temper inflammation in a manner that surpasses the performance of free drug controls. This system provides a potential strategy to use microrobots to efficiently navigate large volumes, pin at soft tissue boundaries, and release drugs over several days for a range of diseases.

Advances of medical nanorobots for future cancer treatments

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.

Ultrasound-trigged micro/nanorobots for biomedical applications

Micro- and nanorobots (MNRs) propelled by external actuations have broad potential in biomedical applications. Among the numerous external excitations, ultrasound (US) features outstanding practical significance with merits of its noninvasiveness, tunability, penetrability, and biocompatibility. Attributing to various physiochemical effects of US, it can propel the MNRs with sophisticated structures through asymmetric acoustic streaming, bubble oscillation, and so on. In this review, we introduce several advanced and representative US-propelled MNRs with inhomogeneous density distribution, asymmetric shape, hollow cavity, etc. The potential biomedical applications of these cutting-edge MNRs are also presented, including intracellular delivery, harmful substances collection, and so on. Furthermore, we conclude the advantages and limitations of US-propelled MNRs and prospect their future developments in multidisciplinary fields.

ModMag: A modular magnetic micro-robotic manipulation device

Electromagnetic systems have been used extensively for the control of magnetically actuated objects, such as in microrheology and micro- robotics research. Therefore, optimizing the design of such systems is highly desirable. Some of the features that are lacking in most cur- rent designs are compactness, portability, and versatility. Portability is especially relevant for biomedical applications in which in vivo or in vitro testing may be conducted in locations away from the laboratory microscope. This document describes the design, fabrication, and imple- mentation of a compact, low-cost, versatile, and user-friendly device (the ModMag) capable of controlling multiple electromagnetic setups, includ- ing a two-dimensional 4-coil configuration, a 3-dimensional Helmholtz configuration, a 2-dimensional magnetic tweezer configuration, and a piezoelectric transducer for producing acoustic waves. All electronics for powering the systems are contained in a compact 10″x6"x3" case, which includes a 10″ touchscreen. A graphical user interface provides additional ease of use. The system can also be controlled remotely, allowing for more flexibility and the ability to interface with other software running on the remote computer such as proprietary camera software. Aside from the software and circuitry, we also describe the design of the electromagnetic coil setups and provide examples of the use of the ModMag in experiments.•Low cost and portable magnetic micro-robot manipulation device•Compatible with the 3 most common coil configurations (traditional, Helmholtz, tweezer).

Dynamically reversible cooperation and interaction of multiple rotating micromotors

Micromotors have been shown to have great potential in various fields (e.g., targeted therapeutics, self-organizing systems), and research on the cooperative and interactive behaviours of multiple micromotors could potentially revolutionize many fields in terms of performing multiple or complex tasks to compensate for the limitations of individual micromotors; however, dynamically reversible transitions among diverse behaviours remain much less explored, and such dynamic transformations are advantageous for achieving complex tasks. Here, we present a microsystem consisting of multiple disk-like micromotors capable of performing reversible transformations between cooperative and interactive behaviours at the liquid surface. The micromotors with aligned magnetic particles in our system have great magnet properties, which provides a strong magnetic interaction with each other and is vital for the whole microsystem. We offer and analyse the physical models among multiple micromotors concerning the cooperative and interactive modes in the lower and higher frequency ranges, respectively, between which the state transformation can reversibly occur. Furthermore, based on the proposed reversible microsystem, the feasibility of the application of self-organization is verified by demonstrating three different dynamic self-organizing behaviours. Our proposed dynamically reversible system has great potential to serve as a paradigm for studying cooperative and interactive behaviours among multiple micromotors in the future.

Ultrasonic Steering Wheels: Turning Micromotors by Localized Acoustic Microstreaming

The ability to steer micromotors in specific directions and at precise speeds is highly desired for their use in complex environments. However, a generic steering strategy that can be applied to micromotors of all types and surface coatings is yet to be developed. Here, we report that ultrasound of ∼100 kHz can spin a spherical micromotor so that it turns left or right when moving forward, or that it moves in full circles. The direction and angular speeds of their spinning and the radii of circular trajectories are precisely tunable by varying ultrasound voltages and frequencies, as well as particle properties such as its radius, materials, and coating thickness. Such spinning is hypothesized to originate from the circular microstreaming flows localized around a solid microsphere vibrating in ultrasound. In addition to causing a micromotor to spin, such streaming flows also helped release cargos from a micromotor during a capture-transport-release mission. Localized microstreaming does not depend on or interference with a specific propulsion mechanism and can steer a wide variety of micromotors. This work suggests that ultrasound can be used to steer microrobots in complex, biologically relevant environments as well as to steer microorganisms and cells.

Swarming Magnetic Microrobots for Pathogen Isolation from Milk

Bovine mastitis produced by Staphylococcus aureus (S. aureus) causes major problems in milk production due to the staphylococcal enterotoxins produced by this bacterium. These enterotoxins are stable and cannot be eradicated easily by common hygienic procedures once they are formed in dairy products. Here, magnetic microrobots (MagRobots) are developed based on paramagnetic hybrid microstructures loaded with IgG from rabbit serum that can bind and isolate S. aureus from milk in a concentration of 3.42 10⁴ CFU g^-1 (allowable minimum level established by the United States Food and Drug Administration, FDA). Protein A, which is present on the cell wall of S. aureus, selectively binds IgG from rabbit serum and loads the bacteria onto the surface of the MagRobots. The selective isolation of S. aureus is confirmed using a mixed suspension of S. aureus and Escherichia coli (E. coli). Moreover, this fuel-free system based on magnetic robots does not affect the natural milk microbiota or add any toxic compound resulting from fuel catalysis. This system can be used to isolate and transport efficiently S. aureus and discriminate it from nontarget bacteria for subsequent identification. Finally, this system can be scaled up for industrial use in food production.

Controlled propulsion of micro/nanomotors: operational mechanisms, motion manipulation and potential biomedical applications

Inspired by natural mobile microorganisms, researchers have developed micro/nanomotors (MNMs) that can autonomously move by transducing different kinds of energies into kinetic energy. The rapid development of MNMs has created tremendous opportunities for biomedical fields including diagnostics, therapeutics, and theranostics. Although the great progress has been made in MNM research, at a fundamental level, the accepted propulsion mechanisms are still a controversial matter. In practical applications such as precision nanomedicine, the precise control of the motion, including the speed and directionality, of MNMs is also important, which makes advanced motion manipulation desirable. Very recently, diverse MNMs with different propulsion strategies, morphologies, sizes, porosities and chemical structures have been fabricated and applied for various uses. Herein, we thoroughly summarize the physical principles behind propulsion strategies, as well as the recent advances in motion manipulation methods and relevant biomedical applications of these MNMs. The current challenges in MNM research are also discussed. We hope this review can provide a bird's eye overview of the MNM research and inspire researchers to create novel and more powerful MNMs.

Motility of acoustically powered micro-swimmers in a liquid crystalline environment

Suspensions of microswimmers in liquid crystals demonstrate remarkably complex dynamics and serve as a model system for studying active nematics. So far, experimental realization of microswimmers suspended in liquid crystalline media has relied on biological microorganisms that impose strict limitations on the compatible media and makes it difficult to regulate activity. Here, we demonstrate that acoustically powered bubble microswimmers can efficiently self-propel in a lyotropic liquid crystal. The velocity of the swimmers is controlled by the amplitude of the acoustic field. Histograms of swimming directions with respect to the local nematic field reveal a bimodal distribution: the swimmers tend to either fully align with or swim perpendicular to the director field of the liquid crystal, occasionally switching between these two states. The bubble-induced streaming from a swimmer locally melts the liquid crystal and produces topological defects at the tail of the swimmer. We show that the defect proliferation rate increases with the angle between the swimmer's velocity and the local orientation of the director field.

Multistimuli-responsive microrobots: A comprehensive review

Untethered robots of the size of a few microns have attracted increasing attention for the potential to transform many aspects of manufacturing, medicine, health care, and bioengineering. Previously impenetrable environments have become available for high-resolution in situ and in vivo manipulations as the size of the untethered robots goes down to the microscale. Nevertheless, the independent navigation of several robots at the microscale is challenging as they cannot have onboard transducers, batteries, and control like other multi-agent systems, due to the size limitations. Therefore, various unconventional propulsion mechanisms have been explored to power motion at the nanoscale. Moreover, a variety of combinations of actuation methods has also been extensively studied to tackle different issues. In this survey, we present a thorough review of the recent developments of various dedicated ways to actuate and control multistimuli-enabled microrobots. We have also discussed existing challenges and evolving concepts associated with each technique.

Two-Dimensional Mechanics of Atomically Thin Solids on Water

Movement of a three-dimensional solid at an air-water interface is strongly influenced by the extrinsic interactions between the solid and the water. The finite thickness and volume of a moving solid causes capillary interactions and water-induced drag. In this Letter, we report the fabrication and dynamical imaging of freely floating MoS₂ solids on water, which minimizes such extrinsic effects. For this, we delaminate a synthesized wafer-scale monolayer MoS₂ onto a water surface, which shows negligible height difference across water and MoS_2. Subsequently patterning by a laser generates arbitrarily shaped MoS₂ with negligible in-plane strain. We introduce photoswitchable surfactants to exert a lateral force to floating MoS₂ with a spatiotemporal control. Using this platform, we demonstrate a variety of two-dimensional mechanical systems that show reversible shape changes. Our experiment provides a versatile approach for designing and controlling a large array of atomically thin solids on water for intrinsically two-dimensional dynamics and mechanics.

Acoustic Propulsion of Nano- and Microcones: Dependence on the Viscosity of the Surrounding Fluid

This article investigates how the acoustic propulsion of cone-shaped colloidal particles that are exposed to a traveling ultrasound wave depends on the viscosity of the fluid surrounding the particles. Using acoustofluidic computer simulations, we found that the propulsion of such nano- and microcones decreases strongly and even changes sign for increasing shear viscosity. In contrast, we found only a weak dependence of the propulsion on the bulk viscosity. The obtained results are in line with the findings of previous theoretical and experimental studies.

Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly

In recent years, microbubbles have been widely used in the field of microrobots due to their unique properties. Microbubbles can be easily produced and used as power sources or tools of microrobots, and the bubbles can even serve as microrobots themselves. As a power source, bubbles can propel microrobots to swim in liquid under low-Reynolds-number conditions. As a manipulation tool, microbubbles can act as the micromanipulators of microrobots, allowing them to operate upon particles, cells, and organisms. As a microrobot, microbubbles can operate and assemble complex microparts in two- or three-dimensional spaces. This review provides a comprehensive overview of bubble applications in microrobotics including propulsion, micromanipulation, and microassembly. First, we introduce the diverse bubble generation and control methods. Then, we review and discuss how bubbles can play a role in microrobotics via three functions: propulsion, manipulation, and assembly. Finally, by highlighting the advantages and current challenges of this progress, we discuss the prospects of microbubbles in microrobotics.

Mobile Nanobots for Prevention of Root Canal Treatment Failure

Millions of root canal treatments fail worldwide due to remnant bacteria deep in the dentinal tubules located within the dentine tissue of human teeth. The complex and narrow geometry of the tubules renders current techniques relying on passive diffusion of antibacterial agents ineffective. Here, the potential of actively maneuvered nanobots is investigated to disinfect dentinal tubules, which can be incorporated during a standard root canal procedure. It is demonstrated that magnetically driven nanobots can reach the depths of the tubules not possible with current clinical practices. Subtle alterations of the magnetic drive allow both deep implantations of the nanobots isotopically distributed throughout the dentine and spatially controlled recovery from selected regions, further supported by numerical simulations. Finally, the integration of bactericidal therapeutic modality with the nanobots is demonstrated, thereby validating the tremendous potential of nanobots in dentistry and nanomedicine in general.

High shear rate propulsion of acoustic microrobots in complex biological fluids

Untethered microrobots offer a great promise for localized targeted therapy in hard-to-access spaces in our body. Despite recent advancements, most microrobot propulsion capabilities have been limited to homogenous Newtonian fluids. However, the biological fluids present in our body are heterogeneous and have shear rate-dependent rheological properties, which limit the propulsion of microrobots using conventional designs and actuation methods. We propose an acoustically powered microrobotic system, consisting of a three-dimensionally printed 30-micrometer-diameter hollow body with an oscillatory microbubble, to generate high shear rate fluidic flow for propulsion in complex biofluids. The acoustically induced microstreaming flow leads to distinct surface-slipping and puller-type propulsion modes in Newtonian and non-Newtonian fluids, respectively. We demonstrate efficient propulsion of the microrobots in diverse biological fluids, including in vitro navigation through mucus layers on biologically relevant three-dimensional surfaces. The microrobot design and high shear rate propulsion mechanism discussed herein could open new possibilities to deploy microrobots in complex biofluids toward minimally invasive targeted therapy.

Ultrasound-Responsive Systems as Components for Smart Materials

Smart materials can respond to stimuli and adapt their responses based on external cues from their environments. Such behavior requires a way to transport energy efficiently and then convert it for use in applications such as actuation, sensing, or signaling. Ultrasound can carry energy safely and with low losses through complex and opaque media. It can be localized to small regions of space and couple to systems over a wide range of time scales. However, the same characteristics that allow ultrasound to propagate efficiently through materials make it difficult to convert acoustic energy into other useful forms. Recent work across diverse fields has begun to address this challenge, demonstrating ultrasonic effects that provide control over physical and chemical systems with surprisingly high specificity. Here, we review recent progress in ultrasound-matter interactions, focusing on effects that can be incorporated as components in smart materials. These techniques build on fundamental phenomena such as cavitation, microstreaming, scattering, and acoustic radiation forces to enable capabilities such as actuation, sensing, payload delivery, and the initiation of chemical or biological processes. The diversity of emerging techniques holds great promise for a wide range of smart capabilities supported by ultrasound and poses interesting questions for further investigations.

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

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

Powering and Fabrication of Small-Scale Robotics Systems

Purpose of Review

The increasing number of contributions in the field of small-scale robotics is significantly associated with the progress in material science and process engineering during the last half century. With the objective of integrating the most optimal materials for the propulsion of these motile micro- and nanosystems, several manufacturing strategies have been adopted or specifically developed. This brief review covers some recent advances in materials and fabrication of small-scale robots with a focus on the materials serving as components for their motion and actuation.

Recent Findings

Integration of a wealth of materials is now possible in several micro- and nanorobotic designs owing to the advances in micro- and nanofabrication and chemical synthesis. Regarding light-driven swimmers, novel photocatalytic materials and deformable liquid crystal elastomers have been recently reported. Acoustic swimmers are also gaining attention, with several prominent examples of acoustic bubble-based 3D swimmers being recently reported. Magnetic micro- and nanorobots are increasingly investigated for their prospective use in biomedical applications. The adoption of different materials and novel fabrication strategies based on 3D printing, template-assisted electrodeposition, or electrospinning is briefly discussed.

Summary

A brief review on fabrication and powering of small-scale robotics is presented. First, a concise introduction to the world of small-scale robotics and their propulsion by means of magnetic fields, ultrasound, and light is provided. Recent examples of materials and fabrication methodologies for the realization of these devices follow thereafter.

Highly Efficient Magnetic Propulsion of NiFe Nanorod-Based Miniature Swimmers in Three Dimensions

Magnetically actuated miniature robots have attracted the attention of the scientific community over the past two decades, but the confined workspace of their manipulation system (typically a tri-axial coil or eight electromagnetic coils) and the low efficiency of propulsion have limited their utility. Here, we describe a highly efficient NiFe nanorod-based magnetic miniature swimmer that can be manipulated in 3D spaces using two pairs of coils placed in the x-y horizontal plane. In the new swimmer, the shape symmetry is broken along its body, and the asymmetry in magnetizations is introduced perpendicular to the long axis of its body simultaneously. Such a combined asymmetry design offers favorable controllability in planar magnetic fields, which relaxes the multi-axial coil requirement of the commonly used manipulation system and thus reduces the restriction on the shape and size of the workspaces. The new swimmers display efficient 3D propulsion, with a speed of over 5000 μm s^-1 (∼3 body length s^-1) and powerful locomotion in biological media such as raw human blood. The fuel utilization efficiency of the swimmer, defined as the ratio of the distance to the net input work in one period, was estimated to be approximately from 10^-2 to 10^-3 m/J, which is significantly higher than that of magnetic motors with a slender body. Moreover, to provide practical support for further potential use, we demonstrated that the swimmer is able to perform incision operations as a minimally invasive microsurgical tool. Such a swimmer actuation strategy provides a simple and efficient way for 3D manipulation of magnetic miniature robots, offering great potential for future biomedical and other applications.

Biologically inspired micro-robotic swimmers remotely controlled by ultrasound waves

We 3D print micro-robotic swimmers with the size of animal cells using a Nanoscribe. The micro-swimmers are powered by the microstreaming flows induced by the oscillating air bubbles entrapped within the micro-robotic swimmers. Previously, micro-swimmers propelled by acoustic streaming require the use of a magnetic field or an additional ultrasound transducer to steer their direction. Here, we show a two-bubble based micro-swimmer that can be propelled and steered entirely using one ultrasound transducer. The swimmer displays boundary following traits similar to those biological swimmers that are known to be important for performing robust biological functions. The micro-robotic swimmer has the potential to advance the current technology in targeted drug delivery and remote microsurgery.

Engineering Active Micro and Nanomotors

Micro- and nanomotors (MNMs) are micro/nanoparticles that can perform autonomous motion in complex fluids driven by different power sources. They have been attracting increasing attention due to their great potential in a variety of applications ranging from environmental science to biomedical engineering. Over the past decades, this field has evolved rapidly, with many significant innovations contributed by global researchers. In this review, we first briefly overview the methods used to propel motors and then present the main strategies used to design proper MNMs. Next, we highlight recent fascinating applications of MNMs in two examplary fields, water remediation and biomedical microrobots, and conclude this review with a brief discussion of challenges in the field.

Emerging Application of Nanorobotics and Artificial Intelligence To Cross the BBB: Advances in Design, Controlled Maneuvering, and Targeting of the Barriers

The blood-brain barrier (BBB) is a prime focus for clinicians to maintain the homeostatic function in health and deliver the theranostics in brain cancer and number of neurological diseases. The structural hierarchy and in situ biochemical signaling of BBB neurovascular unit have been primary targets to recapitulate into the in vitro modules. The microengineered perfusion systems and development in 3D cellular and organoid culture have given a major thrust to BBB research for neuropharmacology. In this review, we focus on revisiting the nanoparticles based bimolecular engineering to enable them to maneuver, control, target, and deliver the theranostic payloads across cellular BBB as nanorobots or nanobots. Subsequently we provide a brief outline of specific case studies addressing the payload delivery in brain tumor and neurological disorders (e.g., Alzheimer's disease, Parkinson's disease, multiple sclerosis, etc.). In addition, we also address the opportunities and challenges across the nanorobots' development and design. Finally, we address how computationally powered machine learning (ML) tools and artificial intelligence (AI) can be partnered with robotics to predict and design the next generation nanorobots to interact and deliver across the BBB without causing damage, toxicity, or malfunctions. The content of this review could be references to multidisciplinary science to clinicians, roboticists, chemists, and bioengineers involved in cutting-edge pharmaceutical design and BBB research.

A Journey of Nanomotors for Targeted Cancer Therapy: Principles, Challenges, and a Critical Review of the State-of-the-Art

A nanomotor is a miniaturized device that converts energy stored in the environment into mechanical motion. The last two decades have witnessed a surge of research interests in the biomedical applications of nanomotors, but little clinical translation. To accelerate this process, targeted cancer therapy is used as an example to describe a "survive, locate, operate, and terminate" (SLOT) mission of a nanomotor, where it must 1) survive in the unfriendly in vivo environment, 2) locate its target as well as be located by human operators, 3) carry out specific operations, and 4) terminate after the mission is completed. Along this journey, the challenges presented to a nanomotor, including to power, navigate, steer, target, release, control, image, and communicate are discussed, and how state-of-the-art nanomotors meet or fall short of these requirements is critically reviewed. These discussions are then condensed into a table for easy reference. In particular, it is argued that chemically powered nanomotors are intrinsically ill-positioned for targeted cancer therapy, while nanomotors powered by magnetic fields or ultrasound show more promises. Following this argument, a tentative nanomotor design is then presented in the end to conform to the SLOT guideline, and to inspire practical, functional nanorobots that are yet to come.

Medical Micro/Nanorobots in Precision Medicine

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

Contactless acoustic micro/nano manipulation: a paradigm for next generation applications in life sciences

Acoustic actuation techniques offer a promising tool for contactless manipulation of both synthetic and biological micro/nano agents that encompass different length scales. The traditional usage of sound waves has steadily progressed from mid-air manipulation of salt grains to sophisticated techniques that employ nanoparticle flow in microfluidic networks. State-of-the-art in microfabrication and instrumentation have further expanded the outreach of these actuation techniques to autonomous propulsion of micro-agents. In this review article, we provide a universal perspective of the known acoustic micromanipulation technologies in terms of their applications and governing physics. Hereby, we survey these technologies and classify them with regards to passive and active manipulation of agents. These manipulation methods account for both intelligent devices adept at dexterous non-contact handling of micro-agents, and acoustically induced mechanisms for self-propulsion of micro-robots. Moreover, owing to the clinical compliance of ultrasound, we provide future considerations of acoustic manipulation techniques to be fruitfully employed in biological applications that range from label-free drug testing to minimally invasive clinical interventions.

Ultrafast Growth and Locomotion of Dandelion-Like Microswarms with Tubular Micromotors

Dynamic assembly and cooperation represent future frontiers for next generations of advanced micro/nano robots, but the required local interaction and communication cannot be directly translated from macroscale robots through the minimization because of tremendous technological challenges. Here, an ultrafast growth and locomotion methodology is presented for dandelion-like microswarms assembled from catalytic tubular micromotors. With ultrasound oscillation of self-generated bubbles, such microswarms could overcome the tremendous and chaotic drag force from extensive and disordered bubble generation in single units. Tubular MnO₂ micromotor individuals headed by self-generated oxygen bubbles are ultrasonically driven to swim rapidly in surfactant-free H₂ O₂ solutions. A large bubble core fused from multiple microbubbles is excited to oscillate and the resultant local intensified acoustic field attracts the individual micromotors to school around it, leading to a simultaneous growth of dandelion-like microswarms. The bubble-carried micromotor groups driven by ultrasound could swarm at a zigzag pattern with an average speed of up to 50 mm s^-1 , which is validated in low H₂ O₂ concentrations. Additionally, such superfast locomotion could be ultrasonically modulated on demand. The ultrafast microswarm growth and locomotion strategy offers a new paradigm for constructing distinct dynamic assemblies and rapid transmission of artificial microrobots, paving the way to a myriad of promising applications.