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Zhao M, Tao Y, Guo W, Ge Z, Hu H, Yan Y, Zou C, Wang G, Ren Y. Multifunctional flexible magnetic drive gripper for target manipulation in complex constrained environments. LAB ON A CHIP 2024; 24:2122-2134. [PMID: 38456199 DOI: 10.1039/d3lc00945a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/09/2024]
Abstract
Soft actuators capable of remote-controlled guidance and manipulation within complex constrained spaces hold great promise in various fields, especially in medical fields such as minimally invasive surgery. However, most current magnetic drive soft actuators only have the functions of position control and guidance, and it is still challenging to achieve more flexible operations on different targets within constrained spaces. Herein, we propose a multifunctional flexible magnetic drive gripper that can be steered within complex constrained spaces and operate on targets of various shapes. On the one hand, changing the internal pressure of the magnetic gripper can achieve functions such as suction or injection of liquid and transportation of targets with smooth surfaces. On the other hand, with the help of slit structures in the constrained environment, by simply changing the position and orientation of the permanent magnet in the external environment, the magnetic gripper can be controlled to clamp and release targets of linear, flaked, and polyhedral shapes. The full flexibility and multifunctionality of the magnetic gripper suggest new possibilities for precise remote control and object transportation in constrained spaces, so it could serve as a direct contact operation tool for hazardous drugs in enclosed spaces or a surgical tool in human body cavities.
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Affiliation(s)
- Meiying Zhao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Ye Tao
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Wenshang Guo
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Zhenyou Ge
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Hanqing Hu
- Colorectal Cancer Surgery Department, The Second Affiliated Hospital of Harbin Medical University, Harbin 150086, China.
| | - Ying Yan
- Department of Oncology, The First Hospital of Harbin, Harbin 150010, China
| | - Chaoxia Zou
- Department of Biochemistry and Molecular Biology, Harbin Medical University, Harbin 150081, China
| | - Guiyu Wang
- Colorectal Cancer Surgery Department, The Second Affiliated Hospital of Harbin Medical University, Harbin 150086, China.
| | - Yukun Ren
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
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2
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Yarali E, Klimopoulou M, David K, Boukany PE, Staufer U, Fratila-Apachitei LE, Zadpoor AA, Accardo A, Mirzaali MJ. Bone cell response to additively manufactured 3D micro-architectures with controlled Poisson's ratio: Auxetic vs. non-auxetic meta-biomaterials. Acta Biomater 2024; 177:228-242. [PMID: 38325707 DOI: 10.1016/j.actbio.2024.01.045] [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: 08/21/2023] [Revised: 01/26/2024] [Accepted: 01/30/2024] [Indexed: 02/09/2024]
Abstract
The Poisson's ratio and elastic modulus are two parameters determining the elastic behavior of biomaterials. While the effects of elastic modulus on the cell response is widely studied, very little is known regarding the effects of the Poisson's ratio. The micro-architecture of meta-biomaterials determines not only the Poisson's ratio but also several other parameters that also influence cell response, such as porosity, pore size, and effective elastic modulus. It is, therefore, very challenging to isolate the effects of the Poisson's ratio from those of other micro-architectural parameters. Here, we computationally design meta-biomaterials with controlled Poisson's ratios, ranging between -0.74 and +0.74, while maintaining consistent porosity, pore size, and effective elastic modulus. The 3D meta-biomaterials were additively manufactured at the micro-scale using two-photon polymerization (2PP), and were mechanically evaluated at the meso‑scale. The response of murine preosteoblasts to these meta-biomaterials was then studied using in vitro cell culture models. Meta-biomaterials with positive Poisson's ratios resulted in higher metabolic activity than those with negative values. The cells could attach and infiltrate all meta-biomaterials from the bottom to the top, fully covering the scaffolds after 17 days of culture. Interestingly, the meta-biomaterials exhibited different cell-induced deformations (e.g., shrinkage or local bending) as observed via scanning electron microscopy. The outcomes of osteogenic differentiation (i.e., Runx2 immunofluorescent staining) and matrix mineralization (i.e., Alizarin red staining) assays indicated the significant potential impact of these meta-biomaterials in the field of bone tissue engineering, paving the way for the development of advanced bone meta-implants. STATEMENT OF SIGNIFICANCE: We studied the influence of Poisson's ratio on bone cell response in meta-biomaterials. While elastic modulus effects are well-studied, the impact of Poisson's ratio, especially negative values found in architected biomaterials, remains largely unexplored. The complexity arises from intertwined micro-architectural parameters, such as porosity and elastic modulus, making it challenging to isolate the Poisson's ratio. To overcome this limitation, this study employed rational computational design to create meta-biomaterials with controlled Poisson's ratios, alongside consistent effective elastic modulus, porosity, and pore size. The study reveals that two-photon polymerized 3D meta-biomaterials with positive Poisson's ratios displayed higher metabolic activity, while all the developed meta-biomaterials supported osteogenic differentiation of preosteoblasts as well as matrix mineralization. The outcomes pave the way for the development of advanced 3D bone tissue models and meta-implants.
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Affiliation(s)
- Ebrahim Yarali
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands; Department of Precision and Microsystems Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands.
| | - Maria Klimopoulou
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands
| | - Kristen David
- Department of Chemical Engineering, Faculty of Applied Sciences, Delft University of Technology, Van der Maasweg 9, 2629 HZ, Delft, The Netherlands
| | - Pouyan E Boukany
- Department of Chemical Engineering, Faculty of Applied Sciences, Delft University of Technology, Van der Maasweg 9, 2629 HZ, Delft, The Netherlands
| | - Urs Staufer
- Department of Precision and Microsystems Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands
| | - Lidy E Fratila-Apachitei
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands
| | - Amir A Zadpoor
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands
| | - Angelo Accardo
- Department of Precision and Microsystems Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands.
| | - Mohammad J Mirzaali
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands.
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3
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Luan H, Wang M, Zhang Q, You Z, Jiao Z. Variable Stiffness Fibers Enabled Universal and Programmable Re-Foldability Strategy for Modular Soft Robotics. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307350. [PMID: 38155496 PMCID: PMC10933646 DOI: 10.1002/advs.202307350] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/03/2023] [Revised: 11/26/2023] [Indexed: 12/30/2023]
Abstract
Origami is a rich source of inspiration for creating soft actuators with complex deformations. However, implementing the re-foldability of origami on soft actuators remains a significant challenge. Herein, a universal and programmable re-foldability strategy is reported to integrate multiple origami patterns into a single soft origami actuator, thereby enabling multimode morphing capability. This strategy can selectively activate and deactivate origami creases through variable stiffness fibers. The utilization of these fibers enables the programmability of crease pattern quantity and types within a single actuator, which expands the morphing modes and deformation ranges without increasing their physical size and chamber number. The universality of this approach is demonstrated by developing a series of re-foldable soft origami actuators. Moreover, these soft origami actuators are utilized to construct a bidirectional crawling robot and a multimode soft gripper capable of adapting to object size, grasping orientation, and placing orientation. This work represents a significant step forward in the design of multifunctional soft actuators and holds great potential for the advancement of agile and versatile soft robots.
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Affiliation(s)
- Hengxuan Luan
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
| | - Meng Wang
- Shandong University of Science and TechnologyTaian271019China
| | - Qiang Zhang
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
| | - Zhong You
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
- Department of Engineering ScienceUniversity of OxfordParks RoadOxfordOX1 3PJUK
| | - Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
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4
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Liu X, Wang L, Xiang Y, Liao F, Li N, Li J, Wang J, Wu Q, Zhou C, Yang Y, Kou Y, Yang Y, Tang H, Zhou N, Wan C, Yin Z, Yang GZ, Tao G, Zang J. Magnetic soft microfiberbots for robotic embolization. Sci Robot 2024; 9:eadh2479. [PMID: 38381840 DOI: 10.1126/scirobotics.adh2479] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2023] [Accepted: 01/24/2024] [Indexed: 02/23/2024]
Abstract
Cerebral aneurysms and brain tumors are leading life-threatening diseases worldwide. By deliberately occluding the target lesion to reduce the blood supply, embolization has been widely used clinically to treat cerebral aneurysms and brain tumors. Conventional embolization is usually performed by threading a catheter through blood vessels to the target lesion, which is often limited by the poor steerability of the catheter in complex neurovascular networks, especially in submillimeter regions. Here, we propose magnetic soft microfiberbots with high steerability, reliable maneuverability, and multimodal shape reconfigurability to perform robotic embolization in submillimeter regions via a remote, untethered, and magnetically controllable manner. Magnetic soft microfiberbots were fabricated by thermal drawing magnetic soft composite into microfibers, followed by magnetizing and molding procedures to endow a helical magnetic polarity. By controlling magnetic fields, magnetic soft microfiberbots exhibit reversible elongated/aggregated shape morphing and helical propulsion in flow conditions, allowing for controllable navigation through complex vasculature and robotic embolization in submillimeter regions. We performed in vitro embolization of aneurysm and tumor in neurovascular phantoms and in vivo embolization of a rabbit femoral artery model under real-time fluoroscopy. These studies demonstrate the potential clinical value of our work, paving the way for a robotic embolization scheme in robotic settings.
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Affiliation(s)
- Xurui Liu
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Liu Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei 230026, PR China
- State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Science, 15 Beisihuan West Road, Beijing 100190, China
| | - Yuanzhuo Xiang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Fan Liao
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Na Li
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Jiyu Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei 230026, PR China
| | - Jiaxin Wang
- Department of Urology, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430030, PR China
| | - Qingyang Wu
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Cheng Zhou
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Youzhou Yang
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Yuanshi Kou
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Yueying Yang
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Hanchuan Tang
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Ning Zhou
- Division of Cardiology, Department of Internal Medicine, Tongji Hospital of Tongji Medical College of Huazhong University of Science and Technology, Wuhan 430074, China
| | - Chidan Wan
- Department of Hepatobiliary Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Zhouping Yin
- Flexible Electronics Research Center, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074, China
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Guang-Zhong Yang
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Guangming Tao
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
- Key Laboratory of Vascular Aging, Ministry of Education, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430030, China
- Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Jianfeng Zang
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
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5
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Wang Q, Wang Q, Ning Z, Chan KF, Jiang J, Wang Y, Su L, Jiang S, Wang B, Ip BYM, Ko H, Leung TWH, Chiu PWY, Yu SCH, Zhang L. Tracking and navigation of a microswarm under laser speckle contrast imaging for targeted delivery. Sci Robot 2024; 9:eadh1978. [PMID: 38381838 DOI: 10.1126/scirobotics.adh1978] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/16/2023] [Accepted: 01/26/2024] [Indexed: 02/23/2024]
Abstract
Micro/nanorobotic swarms consisting of numerous tiny building blocks show great potential in biomedical applications because of their collective active delivery ability, enhanced imaging contrast, and environment-adaptive capability. However, in vivo real-time imaging and tracking of micro/nanorobotic swarms remain a challenge, considering the limited imaging size and spatial-temporal resolution of current imaging modalities. Here, we propose a strategy that enables real-time tracking and navigation of a microswarm in stagnant and flowing blood environments by using laser speckle contrast imaging (LSCI), featuring full-field imaging, high temporal-spatial resolution, and noninvasiveness. The change in dynamic convection induced by the microswarm can be quantitatively investigated by analyzing the perfusion unit (PU) distribution, offering an alternative approach to investigate the swarm behavior and its interaction with various blood environments. Both the microswarm and surrounding environment were monitored and imaged by LSCI in real time, and the images were further analyzed for simultaneous swarm tracking and navigation in the complex vascular system. Moreover, our strategy realized real-time tracking and delivery of a microswarm in vivo, showing promising potential for LSCI-guided active delivery of microswarm in the vascular system.
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Affiliation(s)
- Qinglong Wang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, China
| | - Zhipeng Ning
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Kai Fung Chan
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
| | - Jialin Jiang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Yuqiong Wang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Lin Su
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Shuai Jiang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, China
| | - Bonaventure Yiu Ming Ip
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Ho Ko
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Thomas Wai Hong Leung
- Division of Neurology, Department of Medicine and Therapeutics, CUHK, Shatin, N.T., Hong Kong, China
| | - Philip Wai Yan Chiu
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
- Department of Surgery, CUHK, Shatin, N.T., Hong Kong, China
| | - Simon Chun Ho Yu
- Department of Imaging and Interventional Radiology, CUHK, Shatin, N.T., Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong (CUHK), Shatin, N.T., Hong Kong, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, N.T., Hong Kong, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin, N.T., Hong Kong SAR, China
- Department of Surgery, CUHK, Shatin, N.T., Hong Kong, China
- CUHK T Stone Robotics Institute, CUHK, Shatin, N.T., Hong Kong, China
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6
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Dreyfus R, Boehler Q, Lyttle S, Gruber P, Lussi J, Chautems C, Gervasoni S, Berberat J, Seibold D, Ochsenbein-Kölble N, Reinehr M, Weisskopf M, Remonda L, Nelson BJ. Dexterous helical magnetic robot for improved endovascular access. Sci Robot 2024; 9:eadh0298. [PMID: 38354258 DOI: 10.1126/scirobotics.adh0298] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/24/2023] [Accepted: 01/17/2024] [Indexed: 02/16/2024]
Abstract
Treating vascular diseases in the brain requires access to the affected region inside the body. This is usually accomplished through a minimally invasive technique that involves the use of long, thin devices, such as wires and tubes, that are manually maneuvered by a clinician within the bloodstream. By pushing, pulling, and twisting, these devices are navigated through the tortuous pathways of the blood vessels. The outcome of the procedure heavily relies on the clinician's skill and the device's ability to navigate to the affected target region in the bloodstream, which is often inhibited by tortuous blood vessels. Sharp turns require high flexibility, but this flexibility inhibits translation of proximal insertion to distal tip advancement. We present a highly dexterous, magnetically steered continuum robot that overcomes pushability limitations through rotation. A helical protrusion on the device's surface engages with the vessel wall and translates rotation to forward motion at every point of contact. An articulating magnetic tip allows for active steerability, enabling navigation from the aortic arch to millimeter-sized arteries of the brain. The effectiveness of the magnetic continuum robot has been demonstrated through successful navigation in models of the human vasculature and in blood vessels of a live pig.
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Affiliation(s)
- R Dreyfus
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - Q Boehler
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - S Lyttle
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - P Gruber
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - J Lussi
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - C Chautems
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - S Gervasoni
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - J Berberat
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - D Seibold
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - N Ochsenbein-Kölble
- Department of Obstetrics, University Hospital Zurich, Zurich, Switzerland
- Institute of Pathology and Molecular Pathology, University of Zurich, Zurich, Switzerland
| | - M Reinehr
- University of Zurich, Zurich, Switzerland
| | - M Weisskopf
- Center for Surgical Research, University Hospital Zurich, University of Zurich, Zurich, Switzerland
| | - L Remonda
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - B J Nelson
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
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7
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Ren Z, Sitti M. Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion. Nat Protoc 2024; 19:441-486. [PMID: 38097687 DOI: 10.1038/s41596-023-00916-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2023] [Accepted: 09/21/2023] [Indexed: 02/12/2024]
Abstract
Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required.
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Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland.
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey.
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8
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Zhao X, Yao H, Lv Y, Chen Z, Dong L, Huang J, Mi S. Reprogrammable Magnetic Soft Actuators with Microfluidic Functional Modules via Pixel-Assembly. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2310009. [PMID: 38295155 DOI: 10.1002/smll.202310009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/02/2023] [Revised: 12/31/2023] [Indexed: 02/02/2024]
Abstract
Magnetic soft actuators and robots have attracted considerable attention in biomedical applications due to their speedy response, programmability, and biocompatibility. Despite recent advancements, the fabrication process of magnetic actuators and the reprogramming approach of their magnetization profiles continue to pose challenges. Here, a facile fabrication strategy is reported based on arrangements and distributions of reusable magnetic pixels on silicone substrates, allowing for various magnetic actuators with customizable architectures, arbitrary magnetization profiles, and integration of microfluidic technology. This approach enables intricate configurations with decent deformability and programmability, as well as biomimetic movements involving grasping, swimming, and wriggling in response to magnetic actuation. Moreover, microfluidic functional modules are integrated for various purposes, such as on/off valve control, curvature adjustment, fluid mixing, dynamic microfluidic architecture, and liquid delivery robot. The proposed method fulfills the requirements of low-cost, rapid, and simplified preparation of magnetic actuators, since it eliminates the need to sustain pre-defined deformations during the magnetization process or to employ laser heating or other stimulation for reprogramming the magnetization profile. Consequently, it is envisioned that magnetic actuators fabricated via pixel-assembly will have broad prospects in microfluidics and biomedical applications.
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Affiliation(s)
- Xiaoyu Zhao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Hongyi Yao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Yaoyi Lv
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Zhixian Chen
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Lina Dong
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Jiajun Huang
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
- Optometry Advanced Medical Equipment R&D Center, Research Institute of Tsinghua University in Shenzhen, Shenzhen, Guangdong, 518000, China
| | - Shengli Mi
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
- Optometry Advanced Medical Equipment R&D Center, Research Institute of Tsinghua University in Shenzhen, Shenzhen, Guangdong, 518000, China
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9
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Chen Z, Wang Y, Chen H, Law J, Pu H, Xie S, Duan F, Sun Y, Liu N, Yu J. A magnetic multi-layer soft robot for on-demand targeted adhesion. Nat Commun 2024; 15:644. [PMID: 38245517 PMCID: PMC10799857 DOI: 10.1038/s41467-024-44995-9] [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: 07/22/2023] [Accepted: 01/04/2024] [Indexed: 01/22/2024] Open
Abstract
Magnetic soft robots have shown great potential for biomedical applications due to their high shape reconfigurability, motion agility, and multi-functionality in physiological environments. Magnetic soft robots with multi-layer structures can enhance the loading capacity and function complexity for targeted delivery. However, the interactions between soft entities have yet to be fully investigated, and thus the assembly of magnetic soft robots with on-demand motion modes from multiple film-like layers is still challenging. Herein, we model and tailor the magnetic interaction between soft film-like layers with distinct in-plane structures, and then realize multi-layer soft robots that are capable of performing agile motions and targeted adhesion. Each layer of the robot consists of a soft magnetic substrate and an adhesive film. The mechanical properties and adhesion performance of the adhesive films are systematically characterized. The robot is capable of performing two locomotion modes, i.e., translational motion and tumbling motion, and also the on-demand separation with one side layer adhered to tissues. Simulation results are presented, which have a good qualitative agreement with the experimental results. The feasibility of using the robot to perform multi-target adhesion in a stomach is validated in both ex-vivo and in-vivo experiments.
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Affiliation(s)
- Ziheng Chen
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Junhui Law
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
| | - Huayan Pu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Shaorong Xie
- School of Computer Engineering and Science, Shanghai University, Shanghai, 200444, China
| | - Feng Duan
- Department of Interventional Radiology, Chinese PLA General Hospital, Beijing, 100853, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
| | - Na Liu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China.
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China.
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China.
- School of Medicine, The Chinese University of Hong Kong, Shenzhen, 518172, China.
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10
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Vinnakota M, Bellur K, Starnes SL, Schulz MJ. Scaling a Hydraulic Motor for Minimally Invasive Medical Devices. MICROMACHINES 2024; 15:131. [PMID: 38258250 PMCID: PMC10818856 DOI: 10.3390/mi15010131] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/01/2023] [Revised: 01/07/2024] [Accepted: 01/10/2024] [Indexed: 01/24/2024]
Abstract
Aligned with the medical device industry's trend of miniaturization, academic and commercial researchers are constantly attempting to reduce device sizes. Many applications require miniature actuators (2 mm range) to perform mechanical work; however, biocompatible micromotors are not readily available. To that end, a hydraulic motor-driven cutting module that aims to combine cutting and drug delivery is presented. The hydraulic motor prototype developed has an outside diameter (OD) of ~4 mm (twice the target size) and a 1 mm drive shaft to attach a cutter. Four different designs were explored and fabricated using additive manufacturing. The benchtop experimental data of the prototypes are presented herein. For the prototype motor with fluid inlet perpendicular to the blades, the average angular velocity was 10,593 RPM at a flowrate of 3.6 mL/s and 42,597 RPM at 10.1 mL/s. This design was numerically modeled using 3D-transient simulations in ANSYS CFX (version 2022 R2) to determine the performance characteristics and the internal resistance of the motor. Simplified mathematical models were also used to compute and compare the peak torque with the simulation estimates. The viability of current design represents a crucial milestone in scaling the hydraulic motor to a 2 mm OD to power a microcutter.
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Affiliation(s)
- Manjeera Vinnakota
- College of Engineering and Applied Sciences, University of Cincinnati, Cincinnati, OH 45221, USA; (M.V.); (M.J.S.)
| | - Kishan Bellur
- College of Engineering and Applied Sciences, University of Cincinnati, Cincinnati, OH 45221, USA; (M.V.); (M.J.S.)
| | - Sandra L. Starnes
- College of Medicine, University of Cincinnati, Cincinnati, OH 45221, USA;
| | - Mark J. Schulz
- College of Engineering and Applied Sciences, University of Cincinnati, Cincinnati, OH 45221, USA; (M.V.); (M.J.S.)
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11
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Tian M, Ma Z, Yang GZ. Micro/nanosystems for controllable drug delivery to the brain. Innovation (N Y) 2024; 5:100548. [PMID: 38161522 PMCID: PMC10757293 DOI: 10.1016/j.xinn.2023.100548] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/06/2023] [Accepted: 11/26/2023] [Indexed: 01/03/2024] Open
Abstract
Drug delivery to the brain is crucial in the treatment for central nervous system disorders. While significant progress has been made in recent years, there are still major challenges in achieving controllable drug delivery to the brain. Unmet clinical needs arise from various factors, including controlled drug transport, handling large drug doses, methods for crossing biological barriers, the use of imaging guidance, and effective models for analyzing drug delivery. Recent advances in micro/nanosystems have shown promise in addressing some of these challenges. These include the utilization of microfluidic platforms to test and validate the drug delivery process in a controlled and biomimetic setting, the development of novel micro/nanocarriers for large drug loads across the blood-brain barrier, and the implementation of micro-intervention systems for delivering drugs through intraparenchymal or peripheral routes. In this article, we present a review of the latest developments in micro/nanosystems for controllable drug delivery to the brain. We also delve into the relevant diseases, biological barriers, and conventional methods. In addition, we discuss future prospects and the development of emerging robotic micro/nanosystems equipped with directed transportation, real-time image guidance, and closed-loop control.
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Affiliation(s)
- Mingzhen Tian
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Zhichao Ma
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Guang-Zhong Yang
- Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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12
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Huang J, Liu Y, Wu J, Dong F, Liu C, Luo J, Liu X, Wang N, Wang L, Xu H. An extracellular matrix-mimicking magnetic microrobot for targeted elimination of circulating cancer cells. NANOSCALE 2024; 16:624-634. [PMID: 38086673 DOI: 10.1039/d3nr03799a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/04/2024]
Abstract
Cancer cells disseminate through the bloodstream, leading to metastasis in distant sites within the body. One promising strategy to prevent metastasis is to eliminate circulating tumor cells. However, this remains challenging due to the lack of an active and targeted biomedical tool for efficient cancer cell elimination. Here, we developed a magnetic microrobot by using natural materials derived from the extracellular matrix (ECM) to mimic the ligand-receptor interaction between cancer cells and the ECM, offering targeted elimination of cancer cells. The ECM-mimicking microrobot is designed with a biodegradable hydrogel matrix, incorporating a cancer cell ligand and magnetic microparticles for cancer cell capture and active locomotion. This microrobot was fabricated based on an interface-shearing method, enabling controllable magnetic response and size scalability (30 μm-500 μm). The presented ECM-mimicking microrobot can actively approach and capture single cancer cells and cell clusters under the control of specific magnetic fields. The experiment was conducted in a blood vessel-mimicking simulator. The microrobot demonstrates an outstanding elimination efficacy of 92.3% on MDA-MB-231 cancer cells and a stable transport capability of the captured cells over long distances to a designed recycling site, inhibiting cell metastasis. This magnetic ECM-mimicking microrobot based on a bioinspired binding mechanism represents a promising candidate for the efficient elimination of cancer cells and other biological waste in the blood.
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Affiliation(s)
- Jing Huang
- Department of Polymer Materials and Engineering, College of Materials and Metallurgy, Guizhou University, Guiyang, 550025, China.
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
| | - Yuan Liu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
| | - Jiandong Wu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
| | - Fuping Dong
- Department of Polymer Materials and Engineering, College of Materials and Metallurgy, Guizhou University, Guiyang, 550025, China.
| | - Chu Liu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
| | - Jiawei Luo
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
| | - Xiangchao Liu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
| | - Ning Wang
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
| | - Lei Wang
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
| | - Haifeng Xu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen, 518055, China.
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13
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Li W, Sang M, Lou C, Liao G, Liu S, Wu J, Gong X, Ma Q, Xuan S. Triple-Responsive Soft Actuator with Plastically Retentive Deformation and Magnetically Programmable Recovery. ACS NANO 2023. [PMID: 37987998 DOI: 10.1021/acsnano.3c08888] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/22/2023]
Abstract
Multistimuli responsiveness and programmable shape recovery are crucial for soft actuators in soft robotics, electronics, and wearables. However, existing strategies for actuation cannot attain power-free shape retention after removing the external energy supply. Here, a self-assembled density deposition method was developed to fabricate an electrothermal-NIR-magnetic triple-response actuator which was composed of cellulose nanofiber/poly(vinyl alcohol)/liquid metal (CNF/PVA/LM) and magnetic polydimethylsiloxane (MPDMS) layer. Interestingly, the large deformation can be controllably fixed and the temporary configuration will be programmable recovered under a magnetic field due to the thermal-plastic transferring behavior of the CNF/PVA/LM. Rolling robot prepared based on soft actuators exhibits good ability to avoid obstacles. In addition, the object handling and programmable release capabilities of the carrier robots demonstrate that this actuation approach will contribute to a better understanding of how to more rationally utilize various stimuli for application purposes.
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Affiliation(s)
- Wenwen Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Min Sang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Congcong Lou
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Guojiang Liao
- Science and Technology on Reactor System Design Technology Laboratory, Nuclear Power Institute of China, Chengdu Sichuan 610213, PR China
| | - Shuai Liu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Jianpeng Wu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Xinglong Gong
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
- State Key Laboratory of Fire Science, University of Science and Technology of China, 96 Jinzhai Road, Hefei, Anhui 230026, PR China
| | - Qian Ma
- BASF Advanced Chemicals Co., Ltd. 333 Jiang Xin Sha Road, Pudong, Shanghai 200137, PR China
| | - Shouhu Xuan
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
- State Key Laboratory of Fire Science, University of Science and Technology of China, 96 Jinzhai Road, Hefei, Anhui 230026, PR China
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14
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Fan X, Zhang Y, Wu Z, Xie H, Sun L, Chen T, Yang Z. Combined three dimensional locomotion and deformation of functional ferrofluidic robots. NANOSCALE 2023. [PMID: 37982182 DOI: 10.1039/d3nr02535g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/21/2023]
Abstract
Magnetic microrobots possess remarkable potential for targeted applications in the medical field, primarily due to their non-invasive, controllable properties. These unique qualities have garnered increased attention and fascination among researchers. However, these robotic systems do face challenges such as limited deformation capabilities and difficulties navigating confined spaces. Recently, researchers have turned their attention towards magnetic droplet robots, which are notable for their superior deformability, controllability, and potential for a range of applications such as automated virus detection and targeted drug delivery. Despite these advantages, the majority of current research is constrained to two-dimensional deformation and motion, thereby limiting their broader functionality. In response to these limitations, this study proposes innovative strategies for controlling deformation and achieving a three-dimensional (3D) trajectory in ferrofluidic robots. These strategies leverage a custom-designed eight-axis electromagnetic coil and a sliding mode controller. The implementation of these methods exhibits the potential of ferrofluidic robots in diverse applications, including microfluidic pump systems, 3D micromanipulation, and selective vascular occlusion. In essence, this study aims to broaden the capabilities of ferrofluidic robots, thereby enhancing their applicability across a multitude of fields such as medicine, micromanipulation, bioengineering, and more by maximizing the potential of these intricate robotic systems.
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Affiliation(s)
- Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
| | - Yunfei Zhang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
| | - Zhengnan Wu
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Lining Sun
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
| | - Tao Chen
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
- School of Future Science and Engineering, Soochow University, No. 1, Jiuyongxi Road, Suzhou 215222, China.
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
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15
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Baburova PI, Kladko DV, Lokteva A, Pozhitkova A, Rumyantceva V, Rumyantceva V, Pankov IV, Taskaev S, Vinogradov VV. Magnetic Soft Robot for Minimally Invasive Urethral Catheter Biofilm Eradication. ACS NANO 2023; 17:20925-20938. [PMID: 37871301 DOI: 10.1021/acsnano.2c10127] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/25/2023]
Abstract
Catheter-related biofilm infection remains the main problem for millions of people annually, affecting morbidity, mortality, and quality of life. Despite the recent advances in the prevention of biofilm formation, alternative methods for biofilm prevention or eradication still should be found to avoid traumatic and expensive removal or catheter replacement. Soft magnetic robots have drawn significant interest in favor of remote control, fast response, and wide space for design. In this work, we demonstrated magnetic soft robots as a minimally invasive, safe, and effective approach to eliminate biofilm from urethral catheters (20 Fr or 5.1 mm in diameter). Seven designs of the robot were fabricated (size 4.5 × 15 mm), characterized, and tested in the presence of a rotating magnetic field. As a proof-of-concept, we demonstrated the superior efficiency of biofilm removal on the model of a urethral catheter using a magnetic robot, reaching full eradication for the octagram-shaped robot (velocity 2.88 ± 0.6 mm/s) at a 15 Hz frequency and a 10 mT amplitude. These findings are helpful for the treatment of biofilm-associated catheter contamination, which allows an increase in the catheter wearing time without frequent replacement and treatment of catheter-associated infections.
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Affiliation(s)
- Polina I Baburova
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Daniil V Kladko
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Alina Lokteva
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Anna Pozhitkova
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Viktoriya Rumyantceva
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Valeriya Rumyantceva
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
| | - Ilya V Pankov
- Institute of Physical and Organic Chemistry, Southern Federal University, 344090 Rostov-on-Don, Russia
| | - Sergey Taskaev
- National Research South Ural State University, Chelyabinsk 454080, Russia
- Chelyabinsk State University, Chelyabinsk 454001, Russia
| | - Vladimir V Vinogradov
- International Institute "Solution Chemistry of Advanced Materials and Technologies", ITMO University, 191002 Saint Petersburg, Russia
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16
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Sun Y, Wang L, Zhu Z, Li X, Sun H, Zhao Y, Peng C, Liu J, Zhang S, Li M. A 3D-Printed Ferromagnetic Liquid Crystal Elastomer with Programmed Dual-Anisotropy and Multi-Responsiveness. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2302824. [PMID: 37437184 DOI: 10.1002/adma.202302824] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/27/2023] [Revised: 07/06/2023] [Accepted: 07/11/2023] [Indexed: 07/14/2023]
Abstract
Liquid crystal elastomers (LCE) and magnetic soft materials are promising active materials in many emerging fields, such as soft robotics. Despite the high demand for developing active materials that combine the advantages of LCE and magnetic actuation, the lack of independent programming of the LCE nematic order and magnetization in a single material still hinders the desired multi-responsiveness. In this study, a ferromagnetic LCE (magLCE) ink with nematic order and magnetization is developed that can be independently programmed to be anisotropic, referred to as "dual anisotropy", via a customized 3D-printing platform. The magLCE ink is fabricated by dispersing ferromagnetic microparticles in the LCE matrix, and a 3D-printing platform is created by integrating a magnet with 3-DoF motion into an extrusion-based 3D printer. In addition to magnetic fields, magLCEs can also be actuated by heating sources (either environmental heating or photo-heating of the embedded ferromagnetic microparticles) with a high energy density and tunable actuation temperature. A programmed magLCE strip robot is demonstrated with enhanced adaptability to complex environments (different terrains, magnetic fields, and temperatures) using a multi-actuation strategy. The magLCE also has potential applications in mechanical memory, as demonstrated by the multistable mechanical metastructure array with remote writability and stable memory.
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Affiliation(s)
- Yuxuan Sun
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Liu Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui, 230026, P. R. China
- State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Science, 15 Beisihuan West Road, Beijing, 100190, P. R. China
| | - Zhengqing Zhu
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Xingxiang Li
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Hong Sun
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Yong Zhao
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Chenhui Peng
- Department of Physics, University of Science and Technology of China, Hefei, Anhui, 230026, P. R. China
| | - Ji Liu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology of China, Shenzhen, 518055, P. R. China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, P. R. China
- Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, 518055, P. R. China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, 518055, P. R. China
| | - Shiwu Zhang
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
| | - Mujun Li
- Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, P. R. China
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17
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Zhang L, Wang YC, Liao Y, Zhang Q, Liu X, Zhu D, Feng H, Bryce MR, Ren L. Near-Infrared Afterglow ONOO --Triggered Nanoparticles for Real-Time Monitoring and Treatment of Early Ischemic Stroke. ACS APPLIED MATERIALS & INTERFACES 2023; 15:45574-45584. [PMID: 37729542 PMCID: PMC10561133 DOI: 10.1021/acsami.3c08033] [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: 06/06/2023] [Accepted: 09/06/2023] [Indexed: 09/22/2023]
Abstract
Early detection and drug intervention with the appropriate timing and dosage are the main clinical challenges for ischemic stroke (IS) treatment. The conventional therapeutic agents relay fluorescent signals, which require real-time external light excitation, thereby leading to inevitable autofluorescence and poor tissue penetration. Herein, we report endogenous peroxynitrite (ONOO-)-activated BDP-4/Cur-CL NPs that release NIR afterglow signals (λmax 697 nm) for real-time monitoring of the progression of ischemia reperfusion (I/R) brain injury while releasing curcumin for the safe treatment of IS. The BDP-4/Cur-CL NPs exhibited bright NIR afterglow luminescence (maximum 732-fold increase), superb sensitivity (LOD = 82.67 nM), high energy-transfer efficiency (94.6%), deep tissue penetration (20 mm), outstanding antiapoptosis, and anti-inflammatory effects. The activated NIR afterglow signal obtained in mice with middle cerebral artery occlusion (MCAO) showed three functions: (i) the BDP-4/Cur-CL NPs are rapidly activated by endogenous ONOO-, instantly illuminating the lesion area, distinguishing I/R damage from normal areas, which can be successfully used for endogenous ONOO- detection in the early stage of IS; (ii) real-time reporting of in situ generation and dynamic fluctuations of endogenous ONOO- levels in the lesion area, which is of great value in monitoring the evolutionary mechanisms of IS; and (iii) dynamic monitoring of the release of curcumin drug for safe treatment. Indeed, the released curcumin effectively decreased apoptosis, enhanced survival, alleviated neuroinflammation, reduced brain tissue loss, and improved the cognition of MCAO stroke mice. This work is the first example of afterglow luminescence for early diagnosis, real-time reporting, drug tracing, and treatment for IS.
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Affiliation(s)
- Liping Zhang
- Department
of Neurology, Inst Translat Med, The First
Affiliated Hospital of Shenzhen University, Shenzhen Second People’s
Hospital, Shenzhen 518035, P. R. China
| | - Ya-chao Wang
- Department
of Neurology, Inst Translat Med, The First
Affiliated Hospital of Shenzhen University, Shenzhen Second People’s
Hospital, Shenzhen 518035, P. R. China
| | - Yuqi Liao
- Department
of Neurology, Inst Translat Med, The First
Affiliated Hospital of Shenzhen University, Shenzhen Second People’s
Hospital, Shenzhen 518035, P. R. China
| | - Qian Zhang
- Department
of Neurology, Inst Translat Med, The First
Affiliated Hospital of Shenzhen University, Shenzhen Second People’s
Hospital, Shenzhen 518035, P. R. China
| | - Xia Liu
- Department
of Neurology, Inst Translat Med, The First
Affiliated Hospital of Shenzhen University, Shenzhen Second People’s
Hospital, Shenzhen 518035, P. R. China
| | - Dongxia Zhu
- Key
Laboratory of Nanobiosensing and Nanobioanalysis at Universities of
Jilin Province, Department of Chemistry, Northeast Normal University, 5268 Renmin Street, Changchun, Jilin 130024, P. R. China
| | - Haixing Feng
- Department
of Neurology, Inst Translat Med, The First
Affiliated Hospital of Shenzhen University, Shenzhen Second People’s
Hospital, Shenzhen 518035, P. R. China
| | - Martin R. Bryce
- Department
of Chemistry Durham, University Durham, Durham DH1 3LE, U.K.
| | - Lijie Ren
- Department
of Neurology, Inst Translat Med, The First
Affiliated Hospital of Shenzhen University, Shenzhen Second People’s
Hospital, Shenzhen 518035, P. R. China
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18
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Yan Y, Wang T, Zhang R, Liu Y, Hu W, Sitti M. Magnetically assisted soft milli-tools for occluded lumen morphology detection. SCIENCE ADVANCES 2023; 9:eadi3979. [PMID: 37585531 PMCID: PMC10431716 DOI: 10.1126/sciadv.adi3979] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/24/2023] [Accepted: 07/17/2023] [Indexed: 08/18/2023]
Abstract
Methodologies based on intravascular imaging have revolutionized the diagnosis and treatment of endovascular diseases. However, current methods are limited in detecting, i.e., visualizing and crossing, complicated occluded vessels. Therefore, we propose a miniature soft tool comprising a magnet-assisted active deformation segment (ADS) and a fluid drag-driven segment (FDS) to visualize and cross the occlusions with various morphologies. First, via soft-bodied deformation and interaction, the ADS could visualize the structure details of partial occlusions with features as small as 0.5 millimeters. Then, by leveraging the fluidic drag from the pulsatile flow, the FDS could automatically detect an entry point selectively from severe occlusions with complicated microchannels whose diameters are down to 0.2 millimeters. The functions have been validated in both biologically relevant phantoms and organs ex vivo. This soft tool could help enhance the efficacy of minimally invasive medicine for the diagnosis and treatment of occlusions in various circulatory systems.
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Affiliation(s)
- Yingbo Yan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Laboratory for Multiscale Mechanics and Medical Science, SV LAB, School of Aerospace, Xi’an Jiaotong University, Xi’an 710049, China
| | - Tianlu Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Rongjing Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Yilun Liu
- Laboratory for Multiscale Mechanics and Medical Science, SV LAB, School of Aerospace, Xi’an Jiaotong University, Xi’an 710049, China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, 8092 Zurich, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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19
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Richter M, Sikorski J, Makushko P, Zabila Y, Venkiteswaran VK, Makarov D, Misra S. Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2302077. [PMID: 37330643 PMCID: PMC10460866 DOI: 10.1002/advs.202302077] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Revised: 05/21/2023] [Indexed: 06/19/2023]
Abstract
Advances in magnetoresponsive composites and (electro-)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small-scale robotic devices. Near-field MSMs offer energy efficiency and compactness by bringing the field source and effectors in close proximity. Current challenges of near-field MSM are limited programmability of effector motion, dimensionality, ability to perform collaborative tasks, and structural flexibility. Herein, a new class of near-field MSMs is demonstrated that combines microscale thickness flexible planar coils with magnetoresponsive polymer effectors. Ultrathin manufacturing and magnetic programming of effectors is used to tailor their response to the nonhomogeneous near-field distribution on the coil surface. The MSMs are demonstrated to lift, tilt, pull, or grasp in close proximity to each other. These ultrathin (80 µm) and lightweight (100 gm-2 ) MSMs can operate at high frequency (25 Hz) and low energy consumption (0.5 W), required for the use of MSMs in portable electronics.
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Affiliation(s)
- Michiel Richter
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
| | - Jakub Sikorski
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
| | - Pavlo Makushko
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Yevhen Zabila
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
- The H. Niewodniczanski Institute of Nuclear Physics, Polish Academy of SciencesKrakow31‐342Poland
| | | | - Denys Makarov
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Sarthak Misra
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
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20
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Wang Y, Du X, Zhang H, Zou Q, Law J, Yu J. Amphibious Miniature Soft Jumping Robot with On-Demand In-Flight Maneuver. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2207493. [PMID: 37097734 PMCID: PMC10288233 DOI: 10.1002/advs.202207493] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/17/2022] [Revised: 03/13/2023] [Indexed: 06/19/2023]
Abstract
In nature, some semiaquatic arthropods evolve biomechanics for jumping on the water surface with the controlled burst of kinetic energy. Emulating these creatures, miniature jumping robots deployable on the water surface have been developed, but few of them achieve the controllability comparable to biological systems. The limited controllability and agility of miniature robots constrain their applications, especially in the biomedical field where dexterous and precise manipulation is required. Herein, an insect-scale magnetoelastic robot with improved controllability is designed. The robot can adaptively regulate its energy output to generate controllable jumping motion by tuning magnetic and elastic strain energy. Dynamic and kinematic models are developed to predict the jumping trajectories of the robot. On-demand actuation can thus be applied to precisely control the pose and motion of the robot during the flight phase. The robot is also capable of making adaptive amphibious locomotion and performing various tasks with integrated functional modules.
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Affiliation(s)
- Yibin Wang
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
| | - Xingzhou Du
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
| | - Huimin Zhang
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
| | - Qian Zou
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
| | - Junhui Law
- Department of Mechanical and Industrial EngineeringUniversity of TorontoTorontoON M5S 3G8Canada
| | - Jiangfan Yu
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
- School of MedicineThe Chinese University of Hong Kong518172ShenzhenChina
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21
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3D printing of thermosets with diverse rheological and functional applicabilities. Nat Commun 2023; 14:245. [PMID: 36646723 PMCID: PMC9842742 DOI: 10.1038/s41467-023-35929-y] [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: 08/08/2022] [Accepted: 01/09/2023] [Indexed: 01/18/2023] Open
Abstract
Thermosets such as silicone are ubiquitous. However, existing manufacturing of thermosets involves either a prolonged manufacturing cycle (e.g., reaction injection molding), low geometric complexity (e.g., casting), or limited processable materials (e.g., frontal polymerization). Here, we report an in situ dual heating (ISDH) strategy for the rapid 3D printing of thermosets with complex structures and diverse rheological properties by incorporating direct ink writing (DIW) technique and a heating-accelerated in situ gelation mechanism. Enabled by an integrated Joule heater at the printhead, extruded thermosetting inks can quickly cure in situ, allowing for DIW of various thermosets with viscosities spanning five orders of magnitude, printed height over 100 mm, and high resolution of 50 μm. We further demonstrate DIW of a set of heterogenous thermosets using multiple functional materials and present a hybrid printing of a multilayer soft electronic circuit. Our ISDH strategy paves the way for fast manufacturing of thermosets for various emerging fields.
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22
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Panikkanvalappil SR, Bhagavatula SK, Deans K, Jonas O, Rashidian M, Mishra S. Enhanced Tumor Accumulation of Multimodal Magneto-Plasmonic Nanoparticles via an Implanted Micromagnet-Assisted Delivery Strategy. Adv Healthc Mater 2023; 12:e2201585. [PMID: 36213946 PMCID: PMC9840675 DOI: 10.1002/adhm.202201585] [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: 06/30/2022] [Revised: 09/29/2022] [Indexed: 01/18/2023]
Abstract
One of the major shortcomings of nano carriers-assisted cancer therapeutic strategies continues to be the inadequate tumor penetration and retention of systemically administered nanoformulations and its off-target toxicity. Stromal parameters-related heterogeneity in enhanced permeability and retention effect and physicochemical properties of the nanoformulations immensely contributes to their poor tumor extravasation. Herein, a novel tumor targeting strategy, where an intratumorally implanted micromagnet can significantly enhance accumulation of magneto-plasmonic nanoparticles (NPs) at the micromagnet-implanted tumor in bilateral colorectal tumor models while limiting their off-target accumulation, is demonstrated. To this end, novel multimodal gold/iron oxide NPs comprised of an array of multifunctional moieties with high therapeutic, sensing, and imaging potential are developed. It is also discovered that cancer cell targeted NPs in combination with static magnetic field can selectively induce cancer cell death. A multimodal caspase-3 nanosensor is also developed for real-time visualization of selective induction of apoptosis in cancer cells. In addition, the photothermal killing capability of these NPs in vitro is evaluated, and their potential for enhanced photothermal ablation in tissue samples is demonstrated. Building on current uses of implantable devices for therapeutic purposes, this study envisions the proposed micromagnet-assisted NPs delivery approach may be used to accelerate the clinical translation of various nanoformulations.
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Affiliation(s)
| | - Sharath K. Bhagavatula
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA 02115, USA
| | - Kyle Deans
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA 02115, USA
| | - Oliver Jonas
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA 02115, USA
| | - Mohammad Rashidian
- Department of Cancer Immunology and Virology, Dana-Farber Cancer Institute and Harvard Medical School, Boston, MA 02215, USA
| | - Shruti Mishra
- Department of Cancer Immunology and Virology, Dana-Farber Cancer Institute and Harvard Medical School, Boston, MA 02215, USA
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23
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Huang C, Lai Z, Wu X, Xu T. Multimodal Locomotion and Cargo Transportation of Magnetically Actuated Quadruped Soft Microrobots. CYBORG AND BIONIC SYSTEMS 2022; 2022:0004. [PMID: 36924475 PMCID: PMC10010670 DOI: 10.34133/cbsystems.0004] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2022] [Accepted: 11/06/2022] [Indexed: 01/02/2023] Open
Abstract
Untethered microrobots have attracted extensive attention due to their potential for biomedical applications and micromanipulation at the small scale. Soft microrobots are of great research importance because of their highly deformable ability to achieve not only multiple locomotion mechanisms but also minimal invasion to the environment. However, the existing microrobots are still limited in their ability to locomote and cross obstacles in unstructured environments compared to conventional legged robots. Nature provides much inspiration for developing miniature robots. Here, we propose a bionic quadruped soft thin-film microrobot with a nonmagnetic soft body and 4 magnetic flexible legs. The quadruped soft microrobot can achieve multiple controllable locomotion modes in the external magnetic field. The experiment demonstrated the robot's excellent obstacle-crossing ability by walking on the surface with steps and moving in the bottom of a stomach model with gullies. In particular, by controlling the conical angle of the external conical magnetic field, microbeads gripping, transportation, and release of the microrobot were demonstrated. In the future, the quadruped microrobot with excellent obstacle-crossing and gripping capabilities will be relevant for biomedical applications and micromanipulation.
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Affiliation(s)
- Chenyang Huang
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China.,University of Chinese Academy of Sciences, Beijing 100049, China
| | - Zhengyu Lai
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China.,University of Chinese Academy of Sciences, Beijing 100049, China
| | - Xinyu Wu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China
| | - Tiantian Xu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China
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