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Salehi Moghaddam A, Bahrami M, Sarikhani E, Tutar R, Ertas YN, Tamimi F, Hedayatnia A, Jugie C, Savoji H, Qureshi AT, Rizwan M, Maduka CV, Ashammakhi N. Engineering the Immune Response to Biomaterials. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2025; 12:e2414724. [PMID: 40232044 PMCID: PMC12097135 DOI: 10.1002/advs.202414724] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/13/2024] [Revised: 01/29/2025] [Indexed: 04/16/2025]
Abstract
Biomaterials are increasingly used as implants in the body, but they often elicit tissue reactions due to the immune system recognizing them as foreign bodies. These reactions typically involve the activation of innate immunity and the initiation of an inflammatory response, which can persist as chronic inflammation, causing implant failure. To reduce these risks, various strategies have been developed to modify the material composition, surface characteristics, or mechanical properties of biomaterials. Moreover, bioactive materials have emerged as a new class of biomaterials that can induce desirable tissue responses and form a strong bond between the implant and the host tissue. In recent years, different immunomodulatory strategies have been incorporated into biomaterials as drug delivery systems. Furthermore, more advanced molecule and cell-based immunomodulators have been developed and integrated with biomaterials. These emerging strategies will enable better control of the immune response to biomaterials and improve the function and longevity of implants and, ultimately, the outcome of biomaterial-based therapies.
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Affiliation(s)
- Abolfazl Salehi Moghaddam
- Department of BioengineeringP.C. Rossin College of Engineering & Applied ScienceLehigh UniversityBethlehemPA18015USA
| | - Mehran Bahrami
- Department of Mechanical Engineering & MechanicsLehigh UniversityBethlehemPA18015USA
| | - Einollah Sarikhani
- Department of Nano and Chemical EngineeringUniversity of California San DiegoLa JollaCA92093USA
| | - Rumeysa Tutar
- Department of ChemistryFaculty of Engineering, Istanbul University‐CerrahpaşaIstanbul, Avcılar34320Turkey
| | - Yavuz Nuri Ertas
- Department of Biomedical EngineeringErciyes UniversityKayseri38039Turkey
- ERNAM – Nanotechnology Research and Application CenterErciyes UniversityKayseri38039Turkey
| | - Faleh Tamimi
- College of Dental MedicineQatar University HealthQatar UniversityP.O. Box 2713DohaQatar
| | - Ali Hedayatnia
- Azrieli Research CenterCentre Hospitalier Universitaire Sainte‐JustineMontrealQCH3T 1C5Canada
- Institute of Biomedical Engineering, Department of Pharmacology and PhysiologyFaculty of MedicineMontrealQuebecH3T 1J4Canada
- Montreal TransMedTech InstituteiTMTMontrealQuebecH3T 1J4Canada
| | - Clotilde Jugie
- Azrieli Research CenterCentre Hospitalier Universitaire Sainte‐JustineMontrealQCH3T 1C5Canada
- Montreal TransMedTech InstituteiTMTMontrealQuebecH3T 1J4Canada
| | - Houman Savoji
- Azrieli Research CenterCentre Hospitalier Universitaire Sainte‐JustineMontrealQCH3T 1C5Canada
- Institute of Biomedical Engineering, Department of Pharmacology and PhysiologyFaculty of MedicineMontrealQuebecH3T 1J4Canada
- Montreal TransMedTech InstituteiTMTMontrealQuebecH3T 1J4Canada
| | - Asma Talib Qureshi
- Department of Biomedical EngineeringMichigan Technological UniversityHoughtonMI49931USA
| | - Muhammad Rizwan
- Department of Biomedical EngineeringMichigan Technological UniversityHoughtonMI49931USA
- Health Research InstituteMichigan Technological UniversityHoughtonMI49931USA
| | - Chima V. Maduka
- BioFrontiers InstituteUniversity of ColoradoBoulderCO80303USA
| | - Nureddin Ashammakhi
- Institute for Quantitative Health Science and Engineering (IQ) and Department of Biomedical Engineering (BME)Colleges of Engineering and Human MedicineMichigan State UniversityEast LansingMI48824USA
- Department of BioengineeringSamueli School of EngineeringUniversity of California Los AngelesLos AngelesCA90095USA
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2
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Gao C, Feng Y, Liu S, Chen B, Ding M, Du D, Zhang W, Wilson DA, Tu Y, Peng F. Light-Driven Artificial Cell Micromotors for Degenerative Knee Osteoarthritis. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2025; 37:e2416349. [PMID: 40025988 DOI: 10.1002/adma.202416349] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/25/2024] [Revised: 02/02/2025] [Indexed: 03/04/2025]
Abstract
Combining artificial cellular compartmentalization and intelligent motion benefits of micro/nanomotors, light is used as energy input to construct an artificial cell-based micromotor capable of photosynthetic anabolism and intelligent directional movement. This system is assembled from phospholipids functionalized with F-ATP synthase and molybdenum disulfide (MoS2) nanoparticles (Vesical@MoS2-ATPase). The underlying mechanism involves the generation of protons (H+) through photo-hydrolysis of MoS2 nanoparticles within vesicles, which generates a local electroosmotic flow inside the vesicles and drives the negatively charged MoS2 toward light. The established proton gradient across the phospholipid membrane, in turn, drives the ATP synthase to catalyze ATP production. Both in vitro and in vivo models demonstrate that the micromotor can elevate local intracellular ATP levels upon light and improve the metabolism of denatured chondrocytes. This cell mimicry, with capabilities of migration and biosynthesis, emerges as a promising platform for the next generation of functional bio-interface.
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Affiliation(s)
- Chao Gao
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Ye Feng
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Suyi Liu
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Bin Chen
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Miaomiao Ding
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Dailing Du
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Wenjing Zhang
- School of Electronics and Information Technology, Sun Yat-Sen University, Guangzhou, 510275, China
| | - Daniela A Wilson
- Institute for Molecules and Materials, Radboud University, Nijmegen, AJ 6525, The Netherlands
| | - Yingfeng Tu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug Screening, School of Pharmaceutical Sciences, Southern Medical University, Guangzhou, 510515, China
| | - Fei Peng
- School of Materials Science and Engineering, Sun Yat-Sen University, Guangzhou, 510275, China
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3
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Yang Y, Sokolich M, Mallick S, Das S. Quadrupole Magnetic Tweezers for Precise Cell Transportation. IEEE Trans Biomed Eng 2025; 72:1437-1444. [PMID: 40030435 PMCID: PMC12079675 DOI: 10.1109/tbme.2024.3509313] [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] [Indexed: 03/05/2025]
Abstract
This research introduces a quadrupole magnetic tweezers which can be used for precise cell transportation by actuating magnetic spherical microrobots. The focus of the system is on navigating and manipulating cells within environments characterized by high cellular density. Demonstrating efficacy in moving cells through densely packed cell samples, the system underscores its potential to overcome common obstacles such as inaccurate target delivery and inefficiency. The findings from this study highlight the significant promise that microrobotic technologies hold in advancing medical applications, particularly in precise cell delivery mechanisms, setting a foundation for the future exploration and utilization of medical microrobots.
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4
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Kim S, Kim DI, Yeo HG, Lee G, Kim JY, Choi H. Localized ultrasonic stimulation using a piezoelectric micromachined ultrasound transducer array for selective neural differentiation of magnetic cell-based robots. MICROSYSTEMS & NANOENGINEERING 2025; 11:52. [PMID: 40113763 PMCID: PMC11926166 DOI: 10.1038/s41378-025-00900-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/19/2024] [Revised: 01/13/2025] [Accepted: 02/12/2025] [Indexed: 03/22/2025]
Abstract
Targeted stem cell delivery utilizing a magnetic actuation system is an emerging technology in stem cell engineering that efficiently targets stem cells in specific areas in vitro. However, integrating precise magnetic control systems with selective neural differentiation has not yet been widely considered for building successful neural networks. Challenges arise in creating targeted functional neuronal networks, largely due to difficulties in simultaneously controlling the positions of stem cells and selectively stimulating their differentiation. These challenges often result in suboptimal differentiation rates and abnormalities in transplanted neural stem cells. In contrast, ultrasound stimulation has superior tissue penetration and focusing capability, and represents a promising noninvasive neural stimulation technique capable of modulating neural activity and promoting selective differentiation into neuronal stem cells. In this study, we introduce a method for targeted neural differentiation using localized ultrasonic stimulation with a piezoelectric micromachined ultrasound transducer (pMUT) array. Differentiation was assessed quantitatively by monitoring neurite outgrowth as the ultrasound intensity was increased. The neurite length of cells ultrasonically stimulated for 40 min was found to have increased, compared to the non-stimulated group (119.9 ± 34.3 μm vs. 63.2 ± 17.3 μm, respectively). Targeted differentiation was confirmed by measuring neurite lengths, where selective ultrasound stimulation induced differentiation in cells that were precisely delivered via an electromagnetic system. Magnetic cell-based robots reaching the area of localized ultrasound stimulation were confirmed to have enhanced differentiation. This research demonstrated the potential of the combination of precise stem cell delivery with selective neural differentiation to establish functional neural networks.
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Affiliation(s)
- Seonhyoung Kim
- Department of Robotics & Mechatronics Engineering, Daegu Gyeongbuk Institute Science and Technology (DGIST), Daegu, 42988, Republic of Korea
| | - Dong-In Kim
- Department of Robotics & Mechatronics Engineering, Daegu Gyeongbuk Institute Science and Technology (DGIST), Daegu, 42988, Republic of Korea
| | - Hong Goo Yeo
- Department of Advanced Materials Engineering, Sun Moon University, Asan-si, 31460, Republic of Korea
| | - Gyudong Lee
- Division of Nanotechnology, Daegu Gyeongbuk Institute Science and Technology (DGIST), Daegu, Republic of Korea
| | - Jin-Young Kim
- Division of Biotechnology, Daegu Gyeongbuk Institute Science and Technology (DGIST), Daegu, Republic of Korea
| | - Hongsoo Choi
- Department of Robotics & Mechatronics Engineering, Daegu Gyeongbuk Institute Science and Technology (DGIST), Daegu, 42988, Republic of Korea.
- DGIST-ETH Microrobotics Research Center, Daegu, 42988, Republic of Korea.
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5
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Goyal R, Behera J, Mandal P, Ghosh A. Externally controlled intermittent randomization enables complex navigation of multiple nanobots. Nat Commun 2025; 16:2700. [PMID: 40108155 PMCID: PMC11923227 DOI: 10.1038/s41467-025-58092-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/07/2020] [Accepted: 03/07/2025] [Indexed: 03/22/2025] Open
Abstract
Selective control of single untethered robots within a collection is trivial in macroscale robotics since it is possible to address and actuate individual entities using various communication schemes. This strategy does not work at reduced (sub-µm) length scales, where the global field cannot differentiate or control a single nanobot selectively from within a collection of indistinguishable objects. Here, we propose and demonstrate strategies where identical magnetic nanobots can be selectively and independently actuated using global control fields.
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Affiliation(s)
- Rahul Goyal
- Max Planck Institute for Medical Research, Heidelberg, Germany
- Centre for Nano Science and Engineering, Indian Institute of Science, Bangalore, India
| | - Jyotiprakash Behera
- Centre for Nano Science and Engineering, Indian Institute of Science, Bangalore, India.
- Department of Physics, Indian Institute of Science, Bangalore, India.
| | - Pranay Mandal
- Centre for Nano Science and Engineering, Indian Institute of Science, Bangalore, India
- Max Planck Institute of Molecular Cell Biology and Genetics, Dresden, Germany
| | - Ambarish Ghosh
- Centre for Nano Science and Engineering, Indian Institute of Science, Bangalore, India.
- Department of Physics, Indian Institute of Science, Bangalore, India.
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6
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Harder P, Funke L, Reh JT, Lieleg O, Özkale B. Indenting at the Microscale: Guidelines for Robust Mechanical Characterization of Alginate Microgels. ACS APPLIED MATERIALS & INTERFACES 2025; 17:13513-13526. [PMID: 39994022 PMCID: PMC11891838 DOI: 10.1021/acsami.4c20952] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/28/2024] [Revised: 02/12/2025] [Accepted: 02/12/2025] [Indexed: 02/26/2025]
Abstract
Microgels offer broad applications in bioengineering due to their customizable properties, supporting innovations in mechanobiology, tissue engineering, drug delivery, and cell therapy. This study focuses on characterizing ionically cross-linked alginate microgels using a nanoindentation technique, enabling precise assessment of their mechanical properties at the microscale. We report on the microfluidic fabrication of alginate microgels with varying sizes at different cross-linker concentrations and on the mechanical characterization of the resulting microgels in terms of Young's moduli as well as viscoelastic behavior. Measurements conducted using dynamic nanoindentation reveal that microgel elasticity is strongly influenced by the ionic composition of the surrounding media, in particular, the concentration of calcium and sodium. We demonstrate that the highest Young's modulus observed for ionically cross-linked alginate microgels is in deionized water (7.2 ± 0.9 kPa). A drastic softening effect is observed when the calcium cross-linked microgels are placed into a storage buffer containing divalent ions (0.7 ± 0.1 kPa) and cell culture media consisting of Dulbecco's Modified Eagle Medium (0.2 ± 0.1 kPa) with fetal bovine serum (0.4 ± 0.1 kPa). High concentrations of sodium were found to disrupt ionic cross-links, decreasing stiffness and increasing viscosity, with reversible effects observed upon switching back to deionized water. These findings highlight the importance of media selection for applications requiring mechanical stability, and we provide guidelines for measuring the mechanical properties of microgels in a robust manner that is applicable to a wide range of different conditions.
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Affiliation(s)
- Philipp Harder
- Microrobotic
Bioengineering Lab (MRBL), School of Computation Information and Technology, Technical University of Munich, Hans-Piloty-Straße 1, 85748 Garching, Germany
- Munich
Institute of Robotics and Machine Intelligence, Technical University of Munich, Georg-Brauchle-Ring 60, 80992 Munich, Germany
- Munich
Institute of Biomedical Engineering, Technical
University of Munich, Boltzmannstraße 11, 85748 Garching, Germany
| | - Leonard Funke
- Microrobotic
Bioengineering Lab (MRBL), School of Computation Information and Technology, Technical University of Munich, Hans-Piloty-Straße 1, 85748 Garching, Germany
- Munich
Institute of Biomedical Engineering, Technical
University of Munich, Boltzmannstraße 11, 85748 Garching, Germany
| | - Jana Tamara Reh
- Munich
Institute of Biomedical Engineering, Technical
University of Munich, Boltzmannstraße 11, 85748 Garching, Germany
- TUM
School of Engineering and Design, Department of Materials Engineering, Technical University of Munich, Boltzmannstraße 15, 85748 Garching, Germany
- Center
for Protein Assemblies (CPA), Technical
University of Munich, Ernst-Otto-Fischer-Str. 8, 85748 Garching, Germany
| | - Oliver Lieleg
- Munich
Institute of Biomedical Engineering, Technical
University of Munich, Boltzmannstraße 11, 85748 Garching, Germany
- TUM
School of Engineering and Design, Department of Materials Engineering, Technical University of Munich, Boltzmannstraße 15, 85748 Garching, Germany
- Center
for Protein Assemblies (CPA), Technical
University of Munich, Ernst-Otto-Fischer-Str. 8, 85748 Garching, Germany
| | - Berna Özkale
- Microrobotic
Bioengineering Lab (MRBL), School of Computation Information and Technology, Technical University of Munich, Hans-Piloty-Straße 1, 85748 Garching, Germany
- Munich
Institute of Robotics and Machine Intelligence, Technical University of Munich, Georg-Brauchle-Ring 60, 80992 Munich, Germany
- Munich
Institute of Biomedical Engineering, Technical
University of Munich, Boltzmannstraße 11, 85748 Garching, Germany
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7
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Zhang L, Wang S, Hou Y. Magnetic Micro/nanorobots in Cancer Theranostics: From Designed Fabrication to Diverse Applications. ACS NANO 2025; 19:7444-7481. [PMID: 39970007 DOI: 10.1021/acsnano.4c10382] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/21/2025]
Abstract
Cancer poses a substantial threat and a serious challenge to public human health, driving the promotion of sophisticated technologies for cancer therapy. While conventional chemotherapy has bottlenecks such as low delivery efficiency, strong toxic side effects, and tumor enrichment barriers, magnetic micro/nanorobots (MNRs) emerge as promising therapeutic candidates that provide alternative strategies for cancer therapy. MNR is a kind of human-made machine that is micro- or nanosized, is reasonably designed, and performs command tasks through self-actuated or externally controlled propulsion mechanisms, which can be potentially applied in cancer theranostics. Here, this review first introduces the components that constitute a typical magnetic MNR, including the body part, the driving part, the control part, the function part, and the sensing part. Subsequently, this review elucidates representative fabrication methods to construct magnetic MNRs from top-down approaches to bottom-up approaches, covering injection molding, self-rolling, melt electrospinning writing, deposition, biotemplate method, lithography, assembling, 3D printing, and chemical synthesis. Furthermore, this review focuses on multiple applications of magnetic MNRs facing cancer diagnosis and treatment, encompassing imaging, quantification, drug release, synergy with typical therapies, cell manipulation, and surgical assistance. Then, this review systematically elaborates on the biocompatibility and biosafety of magnetic MNRs. Finally, the challenges faced by magnetic MNRs are discussed alongside future research directions. This review is intended to provide scientific guidance that may improve the comprehension and cognition of cancer theranostics through the platform of magnetic MNRs, promoting and prospering the practical application development of magnetic MNRs.
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Affiliation(s)
- Lin Zhang
- Beijing Key Laboratory for Magnetoelectric Materials and Devices, School of Materials Science and Engineering, Peking University, Beijing 100871, China
| | - Shuren Wang
- Beijing Key Laboratory for Magnetoelectric Materials and Devices, School of Materials Science and Engineering, Peking University, Beijing 100871, China
| | - Yanglong Hou
- Beijing Key Laboratory for Magnetoelectric Materials and Devices, School of Materials Science and Engineering, Peking University, Beijing 100871, China
- School of Materials, Shenzhen Campus of Sun Yat-Sen University, Shenzhen 518107, China
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8
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Nozdriukhin D, Lyu S, Bonvin J, Reiss M, Razansky D, Deán-Ben XL. Multifunctional Microflowers for Precise Optoacoustic Localization and Intravascular Magnetic Actuation In Vivo. Adv Healthc Mater 2025; 14:e2404242. [PMID: 39854151 DOI: 10.1002/adhm.202404242] [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: 12/30/2024] [Revised: 01/15/2025] [Indexed: 01/26/2025]
Abstract
Efficient drug delivery remains a significant challenge in modern medicine and pharmaceutical research. Micrometer-scale robots have recently emerged as a promising solution to enhance the precision of drug administration through remotely controlled navigation within microvascular networks. Real-time tracking is crucial for accurate guidance and confirmation of target arrival. However, deep-tissue monitoring of microscopic structures in vivo is limited by the sensitivity and spatiotemporal resolution of current bioimaging techniques. In this study, biocompatible microrobots are synthesized by incorporating indocyanine green and iron oxide nanoparticles onto copper phosphate microflowers using a layer-by-layer approach, enhancing optoacoustic contrast and enabling magnetic navigation. Magnetic control of these particles under optoacoustic guidance is demonstrated in vivo. Furthermore, super-resolution optoacoustic imaging, achieved through individual particle tracking, is shown to enable the characterization of microvascular structures and quantification of blood flow. The combination of the microflowers' high carrying capacity, in vivo actuation, and high-resolution tracking capabilities opens new opportunities for precise microvascular targeting and localized administration of theranostic agents via intravascular routes.
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Affiliation(s)
- Daniil Nozdriukhin
- Institute for Biomedical Engineering and Institute of Pharmacology and Toxicology, Faculty of Medicine, University of Zürich, Winterthurerstrasse 190, Zurich, 8057, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zürich, Rämistrasse 101, Zurich, 8093, Switzerland
| | - Shuxin Lyu
- Institute for Biomedical Engineering and Institute of Pharmacology and Toxicology, Faculty of Medicine, University of Zürich, Winterthurerstrasse 190, Zurich, 8057, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zürich, Rämistrasse 101, Zurich, 8093, Switzerland
- Institute of Medical Technology, Shanxi Medical University, Taiyuan, 030001, China
| | - Jérôme Bonvin
- Institute for Biomedical Engineering and Institute of Pharmacology and Toxicology, Faculty of Medicine, University of Zürich, Winterthurerstrasse 190, Zurich, 8057, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zürich, Rämistrasse 101, Zurich, 8093, Switzerland
| | - Michael Reiss
- Institute for Biomedical Engineering and Institute of Pharmacology and Toxicology, Faculty of Medicine, University of Zürich, Winterthurerstrasse 190, Zurich, 8057, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zürich, Rämistrasse 101, Zurich, 8093, Switzerland
| | - Daniel Razansky
- Institute for Biomedical Engineering and Institute of Pharmacology and Toxicology, Faculty of Medicine, University of Zürich, Winterthurerstrasse 190, Zurich, 8057, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zürich, Rämistrasse 101, Zurich, 8093, Switzerland
| | - Xosé Luís Deán-Ben
- Institute for Biomedical Engineering and Institute of Pharmacology and Toxicology, Faculty of Medicine, University of Zürich, Winterthurerstrasse 190, Zurich, 8057, Switzerland
- Institute for Biomedical Engineering, Department of Information Technology and Electrical Engineering, ETH Zürich, Rämistrasse 101, Zurich, 8093, Switzerland
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9
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Ressnerova A, Heger Z, Pumera M. Translational nanorobotics breaking through biological membranes. Chem Soc Rev 2025; 54:1924-1956. [PMID: 39807638 DOI: 10.1039/d4cs00483c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/16/2025]
Abstract
In the dynamic realm of translational nanorobotics, the endeavor to develop nanorobots carrying therapeutics in rational in vivo applications necessitates a profound understanding of the biological landscape of the human body and its complexity. Within this landscape, biological membranes stand as critical barriers to the successful delivery of therapeutic cargo to the target site. Their crossing is not only a challenge for nanorobotics but also a pivotal criterion for the clinical success of therapeutic-carrying nanorobots. Nevertheless, despite their urgency, strategies for membrane crossing in translational nanorobotics remain relatively underrepresented in the scientific literature, signaling an opportunity for further research and innovation. This review focuses on nanorobots with various propulsion mechanisms from chemical and physical to hybrid mechanisms, and it identifies and describes four essential biological membranes that represent the barriers needed to be crossed in the therapeutic journey of nanorobots in in vivo applications. First is the entry point into the blood stream, which is the skin or mucosa or intravenous injection; next is the exit from the bloodstream across the endothelium to the target site; further is the entry to the cell through the plasma membrane and, finally, the escape from the lysosome, which otherwise destroys the cargo. The review also discusses design challenges inherent in translating nanorobot technologies to real-world applications and provides a critical overview of documented membrane crossings. The aim is to underscore the need for further interdisciplinary collaborations between chemists, materials scientists and chemical biologists in this vital domain of translational nanorobotics that has the potential to revolutionize the field of precision medicine.
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Affiliation(s)
- Alzbeta Ressnerova
- Central European Institute of Technology, Brno University of Technology, Purkynova 123, CZ-612 00, Brno, Czech Republic.
- Research Group for Molecular Biology and Nanomedicine, Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, CZ-613 00, Brno, Czech Republic
| | - Zbynek Heger
- Research Group for Molecular Biology and Nanomedicine, Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, CZ-613 00, Brno, Czech Republic
- Center of Advanced Innovation Technologies, Faculty of Materials Science and Technology, VSB - Technical University of Ostrava, 17. Listopadu 2172/15, 70800 Ostrava, Czech Republic
| | - Martin Pumera
- Central European Institute of Technology, Brno University of Technology, Purkynova 123, CZ-612 00, Brno, Czech Republic.
- Advanced Nanorobots & Multiscale Robotics Laboratory, Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, 70800 Ostrava, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, South Korea
- Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung, Taiwan
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10
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Fu B, Luo D, Li C, Feng Y, Liang W. Advances in micro-/nanorobots for cancer diagnosis and treatment: propulsion mechanisms, early detection, and cancer therapy. Front Chem 2025; 13:1537917. [PMID: 39981265 PMCID: PMC11839623 DOI: 10.3389/fchem.2025.1537917] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/02/2024] [Accepted: 01/20/2025] [Indexed: 02/22/2025] Open
Abstract
In recent years, medical micro-/nanorobots (MNRs) have emerged as a promising technology for diagnosing and treating malignant tumors. MNRs enable precise, targeted actions at the cellular level, addressing several limitations of conventional cancer diagnosis and treatment, such as insufficient early diagnosis, nonspecific drug delivery, and chemoresistance. This review provides an in-depth discussion of the propulsion mechanisms of MNRs, including chemical fuels, external fields (light, ultrasound, magnetism), biological propulsion, and hybrid methods, highlighting their respective advantages and limitations. Additionally, we discuss novel approaches for tumor diagnosis, precision surgery, and drug delivery, emphasizing their potential clinical applications. Despite significant advancements, challenges such as biocompatibility, propulsion efficiency, and clinical translation persist. This review examines the current state of MNR applications and outlines future directions for their development, with the aim of enhancing their diagnostic and therapeutic efficacy and facilitating their integration into clinical practice.
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Affiliation(s)
- Baiyang Fu
- Department of Breast Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Dan Luo
- College of Automotive and Mechanical Engineering, Harbin Cambridge University, Harbin, China
| | - Chao Li
- Department of Rheumatology and Immunology, Daqing Oilfield General Hospital, Daqing, China
| | - Yiwen Feng
- Key Laboratory for Micro/Nano Technology and System of Liaoning Province, Dalian University of Technology, Dalian, China
| | - Wenlong Liang
- Department of Breast Surgery, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
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11
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Ren E, Hu J, Mei Z, Lin L, Zhang Q, He P, Wang J, Sheng T, Chen H, Cheng H, Xu T, Pang S, Zhang Y, Dai Q, Gao X, Liu H, Li H, Zhao Y, Gu Z, Yan X, Liu G. Water-Stable Magnetic Lipiodol Micro-Droplets as a Miniaturized Robotic Tool for Drug Delivery. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2025; 37:e2412187. [PMID: 39538994 DOI: 10.1002/adma.202412187] [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: 08/17/2024] [Revised: 10/24/2024] [Indexed: 11/16/2024]
Abstract
Magnetic microrobots, designed to navigate the complex environments of the human body, show promise for minimally invasive diagnosis and treatment. However, their clinical adoption faces hurdles such as biocompatibility, precise control, and intelligent tracking. Here a novel formulation (referred to water-stable magnetic lipiodol micro-droplets, MLMD), integrating clinically approved lipiodol, gelatin, and superparamagnetic iron oxide nanoparticles (SPION) with a fundamental understanding of the structure-property relationships is presented. This formulation demonstrates multiple improved properties including flowability, shape adaptability, efficient drug loading, and compatibility with digital subtraction angiography (DSA) imaging in both in vitro and in vivo experiments. This enables the MLMD as a versatile tool for image-guided therapy, supported by a close-looped magnetic navigation system featuring artificial intelligence (AI)-driven visual feedback for autonomous control. The system effectively performs navigational tasks, including pinpointing specific locations of MLMD, recognizing and avoiding obstacles, mapping and following predetermined paths, and utilizing magnetic fields for precise motion planning to achieve visual drug delivery. The MLMD combines magnetic actuation with an AI-directed close-looped navigation, offering a transformative platform for targeted therapeutic delivery.
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Affiliation(s)
- En Ren
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
- State Key Laboratory of Advanced Drug Delivery and Release Systems, and Liangzhu Laboratory, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou, 310058, China
| | - Jing Hu
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Ziyang Mei
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
- Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen, 361102, China
| | - Lin Lin
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Qian Zhang
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
- Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen, 361102, China
| | - Pan He
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Junqing Wang
- School of Pharmaceutical Sciences, Shenzhen Campus of Sun Yat-sen University, Shenzhen, 518107, China
| | - Tao Sheng
- State Key Laboratory of Advanced Drug Delivery and Release Systems, and Liangzhu Laboratory, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou, 310058, China
| | - Hu Chen
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Hongwei Cheng
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Tiantian Xu
- The Key Laboratory of Biomedical Imaging Science and System, Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences, Shenzhen, 518000, China
| | - Shiyao Pang
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Yang Zhang
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Qixuan Dai
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Xing Gao
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Hui Liu
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Hongjun Li
- State Key Laboratory of Advanced Drug Delivery and Release Systems, and Liangzhu Laboratory, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou, 310058, China
| | - Yang Zhao
- Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen, 361102, China
- Department of Shenzhen Research Institute, Xiamen University, Shenzhen, 518000, China
| | - Zhen Gu
- State Key Laboratory of Advanced Drug Delivery and Release Systems, and Liangzhu Laboratory, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou, 310058, China
| | - Xiaohui Yan
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
| | - Gang Liu
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen, 361005, China
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12
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Han H, Ma X, Deng W, Zhang J, Tang S, Pak OS, Zhu L, Criado-Hidalgo E, Gong C, Karshalev E, Yoo J, You M, Liu A, Wang C, Shen HK, Patel PN, Hays CL, Gunnarson PJ, Li L, Zhang Y, Dabiri JO, Wang LV, Shapiro MG, Wu D, Zhou Q, Greer JR, Gao W. Imaging-guided bioresorbable acoustic hydrogel microrobots. Sci Robot 2024; 9:eadp3593. [PMID: 39661698 DOI: 10.1126/scirobotics.adp3593] [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: 03/21/2024] [Accepted: 11/11/2024] [Indexed: 12/13/2024]
Abstract
Micro- and nanorobots excel in navigating the intricate and often inaccessible areas of the human body, offering immense potential for applications such as disease diagnosis, precision drug delivery, detoxification, and minimally invasive surgery. Despite their promise, practical deployment faces hurdles, including achieving stable propulsion in complex in vivo biological environments, real-time imaging and localization through deep tissue, and precise remote control for targeted therapy and ensuring high therapeutic efficacy. To overcome these obstacles, we introduce a hydrogel-based, imaging-guided, bioresorbable acoustic microrobot (BAM) designed to navigate the human body with high stability. Constructed using two-photon polymerization, a BAM comprises magnetic nanoparticles and therapeutic agents integrated into its hydrogel matrix for precision control and drug delivery. The microrobot features an optimized surface chemistry with a hydrophobic inner layer to substantially enhance microbubble retention in biofluids with multiday functionality and a hydrophilic outer layer to minimize aggregation and promote timely degradation. The dual-opening bubble-trapping cavity design enables a BAM to maintain consistent and efficient acoustic propulsion across a range of biological fluids. Under focused ultrasound stimulation, the entrapped microbubbles oscillate and enhance the contrast for real-time ultrasound imaging, facilitating precise tracking and control of BAM movement through wireless magnetic navigation. Moreover, the hydrolysis-driven biodegradability of BAMs ensures its safe dissolution after treatment, posing no risk of long-term residual harm. Thorough in vitro and in vivo experimental evidence demonstrates the promising capabilities of BAMs in biomedical applications. This approach shows promise for advancing minimally invasive medical interventions and targeted therapeutic delivery.
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Affiliation(s)
- Hong Han
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Xiaotian Ma
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Weiting Deng
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
- Kavli Nanoscience Institute, California Institute of Technology, Pasadena, CA, USA
| | - Junhang Zhang
- Alfred E. Mann Department of Biomedical Engineering, University of Southern California, Los Angeles, CA, USA
| | - Songsong Tang
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - On Shun Pak
- Department of Mechanical Engineering, Santa Clara University, Santa Clara, CA, USA
| | - Lailai Zhu
- Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore
| | - Ernesto Criado-Hidalgo
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
- Division of Chemistry and Chemical Engineering, California Institute of Technology, Pasadena, CA, USA
| | - Chen Gong
- Alfred E. Mann Department of Biomedical Engineering, University of Southern California, Los Angeles, CA, USA
| | - Emil Karshalev
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Jounghyun Yoo
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Ming You
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Ann Liu
- Division of Chemistry and Chemical Engineering, California Institute of Technology, Pasadena, CA, USA
| | - Canran Wang
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Hao K Shen
- Division of Chemistry and Chemical Engineering, California Institute of Technology, Pasadena, CA, USA
| | - Payal N Patel
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Claire L Hays
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Peter J Gunnarson
- Graduate Aerospace Laboratories, California Institute of Technology, Pasadena, CA, USA
- Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA
| | - Lei Li
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Yang Zhang
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - John O Dabiri
- Graduate Aerospace Laboratories, California Institute of Technology, Pasadena, CA, USA
- Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA
| | - Lihong V Wang
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - Mikhail G Shapiro
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
- Division of Chemistry and Chemical Engineering, California Institute of Technology, Pasadena, CA, USA
- Howard Hughes Medical Institute, Pasadena, CA, USA
| | - Di Wu
- Division of Chemistry and Chemical Engineering, California Institute of Technology, Pasadena, CA, USA
| | - Qifa Zhou
- Alfred E. Mann Department of Biomedical Engineering, University of Southern California, Los Angeles, CA, USA
| | - Julia R Greer
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
- Kavli Nanoscience Institute, California Institute of Technology, Pasadena, CA, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
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13
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Wang S, Wang Z, Shen Z, Zhang M, Jin D, Zheng K, Liu X, Chai M, Wang Z, Chi A, Ostrovidov S, Wu H, Shao D, Liu G, Wu K, Leong KW, Shi X. Magnetic soft microrobots for erectile dysfunction therapy. Proc Natl Acad Sci U S A 2024; 121:e2407809121. [PMID: 39556757 PMCID: PMC11626158 DOI: 10.1073/pnas.2407809121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/24/2024] [Accepted: 10/08/2024] [Indexed: 11/20/2024] Open
Abstract
Erectile dysfunction (ED) is a major threat to male fertility and quality of life, and mesenchymal stromal cells (MSCs) are a promising therapeutic option. However, therapeutic outcomes are compromised by low MSC retention and survival rates in corpus cavernosum tissue. Here, we developed an innovative magnetic soft microrobot comprising an ultrasoft hydrogel microsphere embedded with a magnetic nanoparticle chain for MSC delivery. This design also features phenylboronic acid groups for scavenging reactive oxygen species (ROS). With a Young's modulus of less than 1 kPa, the ultrasoft microrobot adapts its shape within narrow blood vessels, ensuring a uniform distribution of MSCs within the corpus cavernosum. Our findings showed that compared with traditional MSC injections, the MSC delivery microrobot (MSC-Rob) significantly enhanced MSC retention and survival. In both rat and beagle ED models, MSC-Rob treatment accelerated the repair of corpus cavernosum tissue and restored erectile function. Single-cell RNA sequencing (scRNA-seq) revealed that MSC-Rob treatment facilitates nerve and blood vessel regeneration in the corpus cavernosum by increasing the presence of regenerative macrophages. Overall, our MSC-Rob not only advances the clinical application of MSCs for ED therapy but also broadens the scope of microrobots for other cell therapies.
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Affiliation(s)
- Shuting Wang
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
- School of Materials Science and Engineering, South China University of Technology, Guangzhou510640, P. R. China
- Key Laboratory of Biomedical Engineering of Guangdong Province, South China University of Technology, Guangzhou510006, P. R. China
| | - Zhenqing Wang
- Department of Urology, Shandong Provincial Hospital Affiliated to Shandong First Medical University, Jinan250021, P. R. China
| | - Zongshan Shen
- Hospital of Stomatology, Guanghua School of Stomatology, Sun Yat-sen University, Guangzhou510055, P. R. China
| | - Min Zhang
- Department of Andrology, The First Affiliated Hospital, Sun Yat-sen University, Guangzhou510080, P. R. China
| | - Dongdong Jin
- School of Materials Science and Engineering, Harbin Institute of Technology, Shenzhen518071, P. R. China
| | - Ke Zheng
- School of Materials Science and Engineering, Dongguan University of Technology, Dongguan523808, P. R. China
| | - Xuemin Liu
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
| | - Muyuan Chai
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
| | - Zhenxing Wang
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
| | - Ani Chi
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
| | - Serge Ostrovidov
- Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Chiyoda-ku113-8510, Tokyo, Japan
| | - Hongkai Wu
- Department of Chemistry, The Hong Kong University of Science and Technology, Hong Kong999077, P. R. China
| | - Dan Shao
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
- School of Biomedical Sciences and Engineering, South China University of Technology, Guangzhou International Campus, Guangzhou511442, P. R. China
- Department of Biomedical Engineering Columbia University, New York, NY10032
| | - Guihua Liu
- Reproductive Centre The Sixth Affiliated Hospital Sun Yat-sen University, Guangzhou510655, P. R. China
| | - Kai Wu
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
| | - Kam W. Leong
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
| | - Xuetao Shi
- National Engineering Research Centre for Tissue Restoration and Reconstruction, South China University of Technology, Guangzhou510006, P. R. China
- School of Materials Science and Engineering, South China University of Technology, Guangzhou510640, P. R. China
- Key Laboratory of Biomedical Engineering of Guangdong Province, South China University of Technology, Guangzhou510006, P. R. China
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14
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Xu M, Qin Z, Chen Z, Wang S, Peng L, Li X, Yuan Z. Nanorobots mediated drug delivery for brain cancer active targeting and controllable therapeutics. DISCOVER NANO 2024; 19:183. [PMID: 39542942 PMCID: PMC11564721 DOI: 10.1186/s11671-024-04131-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/12/2024] [Accepted: 10/14/2024] [Indexed: 11/17/2024]
Abstract
Brain cancer pose significant life-threats by destructively invading normal brain tissues, causing dysneuria, disability and death, and its therapeutics is limited by underdosage and toxicity lying in conventional drug delivery that relied on passive delivery. The application of nanorobots-based drug delivery systems is an emerging field that holds great potential for brain cancer active targeting and controllable treatment. The ability of nanorobots to encapsulate, transport, and supply therapies directly to the lesion site through blood-brain barriers makes it possible to deliver drugs to hard-to-reach areas. In order to improve the efficiency of drug delivery and problems such as precision and sustained release, nanorobots are effectively realized by converting other forms of energy into propulsion and motion, which are considered as high-efficiency methods for drug delivery. In this article, we described recent advances in the treatment of brain cancer with nanorobots mainly from three aspects: firstly, the development history and characteristics of nanorobots are reviewed; secondly, recent research progress of nanorobots in brain cancer is comprehensively investigated, like the driving mode and mechanism of nanorobots are described; thirdly, the potential translation of nanorobotics for brain diseases is discussed and the challenges and opportunities for future research are outlined.
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Affiliation(s)
- Mengze Xu
- Center for Cognition and Neuroergonomics, Center for Advanced Materials Research, Faculty of Arts and Sciences, Beijing Normal University, Zhuhai, 519087, People's Republic of China.
- Centre for Cognitive and Brain Sciences, Faculty of Health Sciences, University of Macau, Macau, SAR 999078, People's Republic of China.
| | - Zhaoquan Qin
- School of Pharmacy, Jiangxi Science and Technology Normal University, Nanchang, People's Republic of China
| | - Zhichao Chen
- College of Chemical Engineering and Materials Science, Quanzhou Normal University, Quanzhou, 362000, Fujian, People's Republic of China
| | - Shichao Wang
- Center for Cognition and Neuroergonomics, Center for Advanced Materials Research, Faculty of Arts and Sciences, Beijing Normal University, Zhuhai, 519087, People's Republic of China.
| | - Liang Peng
- School of Pharmacy, Jiangxi Science and Technology Normal University, Nanchang, People's Republic of China.
| | - Xiaoli Li
- Center for Cognition and Neuroergonomics, Center for Advanced Materials Research, Faculty of Arts and Sciences, Beijing Normal University, Zhuhai, 519087, People's Republic of China.
| | - Zhen Yuan
- Centre for Cognitive and Brain Sciences, Faculty of Health Sciences, University of Macau, Macau, SAR 999078, People's Republic of China.
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15
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Xu K, Yuan G, Zheng J, Zhang Y, Wang J, Guo H. Bioinspired microrobots and their biomedical applications. NANOSCALE 2024; 16:20434-20450. [PMID: 39441132 DOI: 10.1039/d4nr03633f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/25/2024]
Abstract
Natural organisms and biological systems provide a rich source of inspiration for the development of bioinspired microrobots. These diminutive automatons, designed to emulate the intricate structures and functions of living entities, extend human capabilities across a spectrum of applications. This review endeavors to amalgamate and elucidate the underpinnings of such bioinspired microrobots design, traversing the interdisciplinary expanse of research. It delineates a spectrum of biomedical applications for bioinspired microrobots, encompassing targeted drug delivery, cellular manipulation, and minimally invasive surgical procedures, among others. Moreover, the current technical challenges and future directions of bioinspired microrobots in the biomedical field are discussed. The objective is to impart a holistic view to the readership, illuminating the significance of bioinspired microrobots in contemporary biomedicine and charting potential trajectories of innovation.
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Affiliation(s)
- Ke Xu
- School of Electrical & Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China.
| | - Gaolong Yuan
- School of Electrical & Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China.
| | - Jianchen Zheng
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Yuzhao Zhang
- School of Future Technology, Shanghai University, Shanghai, China
| | - Jingang Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Hongji Guo
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.
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16
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Li Q, Niu F, Yang H, Xu D, Dai J, Li J, Chen C, Sun L, Zhang L. Magnetically Actuated Soft Microrobot with Environmental Adaptative Multimodal Locomotion Towards Targeted Delivery. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2406600. [PMID: 39316063 DOI: 10.1002/advs.202406600] [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: 06/14/2024] [Revised: 08/24/2024] [Indexed: 09/25/2024]
Abstract
The development of environmentally adaptive solutions for magnetically actuated microrobots to enable targeted delivery in complex and confined fluid environments presents a significant challenge. Inspired by the natural locomotion of crucian carp, a barbell-shaped soft microrobot (MBS2M) is proposed. A mechano-electromagnetic hybrid actuation system is developed to generate oscillating magnetic fields to manipulate the microrobot. The MBS2M can seamlessly transition between three fundamental locomotion modes: fast navigation (FN), high-precision navigation (HPN), and fixed-point rotation (FPR). Moreover, the MBS2M can move in reverse without turning. The multimodal locomotion endows the MBS2M's adaptability in diverse environments. It can smoothly pass through confined channels, climb over obstacles, overcome gravity for vertical motion, track complex pathways, traverse viscous environments, overcome low fluid resistance, and navigate complex spaces mimicking in vivo environments. Additionally, the MBS2M is capable of drug loading and release in response to ultrasound excitation. In an ex vivo porcine liver vein, the microrobot demonstrated targeted navigation under ultrasound guidance, showcasing its potential for specialized in vivo tasks.
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Affiliation(s)
- Qingwei Li
- Robotics and Microsystems Center, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215000, China
| | - Fuzhou Niu
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, 215000, China
| | - Hao Yang
- Robotics and Microsystems Center, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215000, China
| | - Dongqin Xu
- Robotics and Microsystems Center, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215000, China
| | - Jun Dai
- Department of Orthopedic Surgery, The Second Affiliated Hospital of Soochow University, Suzhou, Jiangsu, 215004, China
| | - Jing Li
- Department of Ultrasound, The Second Affiliated Hospital of Soochow University, Suzhou, Jiangsu, 215004, China
| | - Chenshu Chen
- Robotics and Microsystems Center, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215000, China
| | - Lining Sun
- Robotics and Microsystems Center, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215000, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, NT 999077, Hong Kong
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17
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Ren A, Hu J, Qin C, Xia N, Yu M, Xu X, Yang H, Han M, Zhang L, Ma L. Oral administration microrobots for drug delivery. Bioact Mater 2024; 39:163-190. [PMID: 38808156 PMCID: PMC11130999 DOI: 10.1016/j.bioactmat.2024.05.005] [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: 01/10/2024] [Revised: 05/02/2024] [Accepted: 05/03/2024] [Indexed: 05/30/2024] Open
Abstract
Oral administration is the most simple, noninvasive, convenient treatment. With the increasing demands on the targeted drug delivery, the traditional oral treatment now is facing some challenges: 1) biologics how to implement the oral treatment and ensure the bioavailability is not lower than the subcutaneous injections; 2) How to achieve targeted therapy of some drugs in the gastrointestinal tract? Based on these two issues, drug delivery microrobots have shown great application prospect in oral drug delivery due to their characteristics of flexible locomotion or driven ability. Therefore, this paper summarizes various drug delivery microrobots developed in recent years and divides them into four categories according to different driving modes: magnetic-controlled drug delivery microrobots, anchored drug delivery microrobots, self-propelled drug delivery microrobots and biohybrid drug delivery microrobots. As oral drug delivery microrobots involve disciplines such as materials science, mechanical engineering, medicine, and control systems, this paper begins by introducing the gastrointestinal barriers that oral drug delivery must overcome. Subsequently, it provides an overview of typical materials involved in the design process of oral drug delivery microrobots. To enhance readers' understanding of the working principles and design process of oral drug delivery microrobots, we present a guideline for designing such microrobots. Furthermore, the current development status of various types of oral drug delivery microrobots is reviewed, summarizing their respective advantages and limitations. Finally, considering the significant concerns regarding safety and clinical translation, we discuss the challenges and prospections of clinical translation for various oral drug delivery microrobots presented in this paper, providing corresponding suggestions for addressing some existing challenges.
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Affiliation(s)
- An Ren
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Jiarui Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Changwei Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China
| | - Mengfei Yu
- The Affiliated Stomatologic Hospital, School of Medicine, Zhejiang University, Hangzhou 310003, China
| | - Xiaobin Xu
- Key Laboratory of Advanced Civil Engineering Materials of Ministry of Education, Key Laboratory of D&A for Metal-Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804 China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Min Han
- Institute of Pharmaceutics, Zhejiang Province Key Laboratory of Anti-Cancer Drug Research, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou, 310058, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China
| | - Liang Ma
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
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18
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Kim H, Jo K, Choi H, Hahn SK. Biocompatible polymer-based micro/nanorobots for theranostic translational applications. J Control Release 2024; 374:606-626. [PMID: 39208932 DOI: 10.1016/j.jconrel.2024.08.040] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/03/2024] [Revised: 07/22/2024] [Accepted: 08/25/2024] [Indexed: 09/04/2024]
Abstract
Recently, micro/nanorobots (MNRs) with self-propulsion have emerged as a promising smart platform for diagnostic, therapeutic and theranostic applications. Especially, polymer-based MNRs have attracted huge attention due to their inherent biocompatibility and versatility, making them actively explored for various medical applications. As the translation of MNRs from laboratory to clinical settings is imperative, the use of appropriate polymers for MNRs is a key strategy, which can prompt the advancement of MNRs to the next phase. In this review, we describe the multifunctional versatile polymers in MNRs, and their biodegradability, motion control, cargo loading and release, adhesion, and other characteristics. After that, we review the theranostic applications of polymer-based MNRs to bioimaging, biosensing, drug delivery, and tissue engineering. Furthermore, we address the challenges that must be overcome to facilitate the translational development of polymeric MNRs with future perspectives. This review would provide valuable insights into the state-of-the-art technologies associated with polymeric MNRs and contribute to their progression for further clinical development.
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Affiliation(s)
- Hyemin Kim
- Department of Cosmetics Engineering, Konkuk University, 120 Neungdong-ro, Gwangjin-gu, Seoul 05029, Republic of Korea
| | - Kyungjoo Jo
- Department of Cosmetics Engineering, Konkuk University, 120 Neungdong-ro, Gwangjin-gu, Seoul 05029, Republic of Korea
| | - Hyunsik Choi
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk 37673, Republic of Korea.
| | - Sei Kwang Hahn
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongbuk 37673, Republic of Korea.
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19
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Hu N, Ding L, Wang A, Zhou W, Zhang C, Zhang B, Yin R. Comprehensive modeling of corkscrew motion in micro-/nano-robots with general helical structures. Nat Commun 2024; 15:7399. [PMID: 39191756 DOI: 10.1038/s41467-024-51518-z] [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: 11/01/2023] [Accepted: 08/07/2024] [Indexed: 08/29/2024] Open
Abstract
Micro-/nano-robots (MNRs) have impressive potential in minimally invasive targeted therapeutics through blood vessels, which has disruptive impact to improving human health. However, the clinical use of MNRs has yet to happen due to intrinsic limitations, such as overcoming blood flow. These bottlenecks have not been empirically solved. To tackle them, a full understanding of MNR behaviors is necessary as the first step. The common movement principle of MNRs is corkscrew motion with a helical structure. The existing dynamic model is only applicable to standard helical MNRs. In this paper, we propose a dynamic model for general MNRs without structure limitations. Comprehensive simulations and experiments were conducted, which shows the validity and accuracy of our model. Such a model can serve as a reliable basis for the design, optimization, and control of MNRs and as a powerful tool for gaining fluid dynamic insights, thus accelerating the development of the field.
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Affiliation(s)
- Ningning Hu
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Lujia Ding
- Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK, Canada.
| | - Aihui Wang
- School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou, 450007, China
| | - Wenju Zhou
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Chris Zhang
- Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK, Canada
| | - Bing Zhang
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China.
| | - Ruixue Yin
- School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China.
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20
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Wei K, Tang C, Ma H, Fang X, Yang R. 3D-printed microrobots for biomedical applications. Biomater Sci 2024; 12:4301-4334. [PMID: 39041236 DOI: 10.1039/d4bm00674g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/24/2024]
Abstract
Microrobots, which can perform tasks in difficult-to-reach parts of the human body under their own or external power supply, are potential tools for biomedical applications, such as drug delivery, microsurgery, imaging and monitoring, tissue engineering, and sensors and actuators. Compared with traditional fabrication methods for microrobots, recent improvements in 3D printers enable them to print high-precision microrobots, breaking through the limitations of traditional micromanufacturing technologies that require high skills for operators and greatly shortening the design-to-production cycle. Here, this review first introduces typical 3D printing technologies used in microrobot manufacturing. Then, the structures of microrobots with different functions and application scenarios are discussed. Next, we summarize the materials (body materials, propulsion materials and intelligent materials) used in 3D microrobot manufacturing to complete body construction and realize biomedical applications (e.g., drug delivery, imaging and monitoring). Finally, the challenges and future prospects of 3D printed microrobots in biomedical applications are discussed in terms of materials, manufacturing and advancement.
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Affiliation(s)
- Kun Wei
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Chenlong Tang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Hui Ma
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Xingmiao Fang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
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21
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Sun M, Wu Y, Zhang J, Zhang H, Liu Z, Li M, Wang C, Sitti M. Versatile, modular, and customizable magnetic solid-droplet systems. Proc Natl Acad Sci U S A 2024; 121:e2405095121. [PMID: 39088393 PMCID: PMC11317579 DOI: 10.1073/pnas.2405095121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Accepted: 06/21/2024] [Indexed: 08/03/2024] Open
Abstract
Magnetic miniature robotic systems have attracted broad research interest because of their precise maneuverability in confined spaces and adaptability to diverse environments, holding significant promise for applications in both industrial infrastructures and biomedical fields. However, the predominant construction methodology involves the preprogramming of magnetic components into the system's structure. While this approach allows for intricate shape transformations, it exhibits limited flexibility in terms of reconfiguration and presents challenges when adapting to diverse materials, combining, and decoupling multiple functionalities. Here, we propose a construction strategy that facilitates the on-demand assembly of magnetic components, integrating ferrofluid droplets with the system's structural body. This approach enables the creation of complex solid-droplet robotic systems across a spectrum of length scales, ranging from 0.8 mm to 1.5 cm. It offers a diverse selection of materials and structural configurations, akin to assembling components like building blocks, thus allowing for the seamless integration of various functionalities. Moreover, it incorporates decoupling mechanisms to enable selective control over multiple functions, leveraging the fluidity, fission/fusion, and magneto-responsiveness properties inherent in the ferrofluid. Various solid-droplet systems have validated the feasibility of this strategy. This study advances the complexity and functionality achievable in small-scale magnetic robots, augmenting their potential for future biomedical and other applications.
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Affiliation(s)
- Mengmeng Sun
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Yingdan Wu
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin150001, China
| | - Jianhua Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Hongchuan Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul34450, Türkiye
| | - Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Chunxiang Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul34450, Türkiye
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul34450, Türkiye
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22
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Lyu X, Zheng Z, Shiva A, Han M, Dayan CB, Zhang M, Sitti M. Capillary trapping of various nanomaterials on additively manufactured scaffolds for 3D micro-/nanofabrication. Nat Commun 2024; 15:6693. [PMID: 39107326 PMCID: PMC11303746 DOI: 10.1038/s41467-024-51086-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/06/2024] [Accepted: 07/29/2024] [Indexed: 08/10/2024] Open
Abstract
High-precision additive manufacturing technologies, such as two-photon polymerization, are mainly limited to photo-curable polymers and currently lacks the possibility to produce multimaterial components. Herein, we report a physically bottom-up assembly strategy that leverages capillary force to trap various nanomaterials and assemble them onto three-dimensional (3D) microscaffolds. This capillary-trapping strategy enables precise and uniform assembly of nanomaterials into versatile 3D microstructures with high uniformity and mass loading. Our approach applies to diverse materials irrespective of their physiochemical properties, including polymers, metals, metal oxides, and others. It can integrate at least four different material types into a single 3D microstructure in a sequential, layer-by-layer manner, opening immense possibilities for tailored functionalities on demand. Furthermore, the 3D microscaffolds are removable, facilitating the creation of pure material-based 3D microstructures. This universal 3D micro-/nanofabrication technique with various nanomaterials enables the creation of advanced miniature devices with potential applications in multifunctional microrobots and smart micromachines.
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Affiliation(s)
- Xianglong Lyu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich, Switzerland
| | - Zhiqiang Zheng
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Anitha Shiva
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Mertcan Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich, Switzerland
| | - Cem Balda Dayan
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Mingchao Zhang
- 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 Zürich, Zürich, Switzerland.
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey.
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23
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Cao M, Sheng R, Sun Y, Cao Y, Wang H, Zhang M, Pu Y, Gao Y, Zhang Y, Lu P, Teng G, Wang Q, Rui Y. Delivering Microrobots in the Musculoskeletal System. NANO-MICRO LETTERS 2024; 16:251. [PMID: 39037551 PMCID: PMC11263536 DOI: 10.1007/s40820-024-01464-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/08/2024] [Accepted: 06/16/2024] [Indexed: 07/23/2024]
Abstract
Disorders of the musculoskeletal system are the major contributors to the global burden of disease and current treatments show limited efficacy. Patients often suffer chronic pain and might eventually have to undergo end-stage surgery. Therefore, future treatments should focus on early detection and intervention of regional lesions. Microrobots have been gradually used in organisms due to their advantages of intelligent, precise and minimally invasive targeted delivery. Through the combination of control and imaging systems, microrobots with good biosafety can be delivered to the desired area for treatment. In the musculoskeletal system, microrobots are mainly utilized to transport stem cells/drugs or to remove hazardous substances from the body. Compared to traditional biomaterial and tissue engineering strategies, active motion improves the efficiency and penetration of local targeting of cells/drugs. This review discusses the frontier applications of microrobotic systems in different tissues of the musculoskeletal system. We summarize the challenges and barriers that hinder clinical translation by evaluating the characteristics of different microrobots and finally point out the future direction of microrobots in the musculoskeletal system.
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Affiliation(s)
- Mumin Cao
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Renwang Sheng
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Yimin Sun
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, 210009, People's Republic of China
| | - Ying Cao
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, 210009, People's Republic of China
| | - Hao Wang
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Ming Zhang
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Yunmeng Pu
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
| | - Yucheng Gao
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Yuanwei Zhang
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Panpan Lu
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China
| | - Gaojun Teng
- Center of Interventional Radiology and Vascular Surgery, Department of Radiology, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China.
| | - Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, 210009, People's Republic of China.
| | - Yunfeng Rui
- Department of Orthopaedics, Zhongda Hospital, School of Medicine, Southeast University, Nanjing, Jiangsu, People's Republic of China.
- School of Medicine, Southeast University, Nanjing, 210009, People's Republic of China.
- Orthopaedic Trauma Institute (OTI), Southeast University, Nanjing, 210009, People's Republic of China.
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24
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Iacovacci V, Diller E, Ahmed D, Menciassi A. Medical Microrobots. Annu Rev Biomed Eng 2024; 26:561-591. [PMID: 38594937 DOI: 10.1146/annurev-bioeng-081523-033131] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/11/2024]
Abstract
Scientists around the world have long aimed to produce miniature robots that can be controlled inside the human body to aid doctors in identifying and treating diseases. Such microrobots hold the potential to access hard-to-reach areas of the body through the natural lumina. Wireless access has the potential to overcome drawbacks of systemic therapy, as well as to enable completely new minimally invasive procedures. The aim of this review is fourfold: first, to provide a collection of valuable anatomical and physiological information on the target working environments together with engineering tools for the design of medical microrobots; second, to provide a comprehensive updated survey of the technological state of the art in relevant classes of medical microrobots; third, to analyze currently available tracking and closed-loop control strategies compatible with the in-body environment; and fourth, to explore the challenges still in place, to steer and inspire future research.
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Affiliation(s)
- Veronica Iacovacci
- Department of Excellence Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy; ,
| | - Eric Diller
- Institute of Biomedical Engineering, University of Toronto, Toronto, Canada
- Robotics Institute, University of Toronto, Toronto, Canada
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Rüschlikon, Switzerland
| | - Arianna Menciassi
- Department of Excellence Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy; ,
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25
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Chamolly A, Michelin S, Lauga E. Colloidal bubble propulsion mediated through viscous flows. SOFT MATTER 2024; 20:4744-4764. [PMID: 38837398 DOI: 10.1039/d4sm00114a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/07/2024]
Abstract
Bubble-propelled catalytic colloids stand out as a uniquely efficient design for artificial controllable micromachines, but so far lack a general theoretical framework that explains the physics of their propulsion. Here we develop a combined diffusive and hydrodynamic theory of bubble growth near a spherical catalytic colloid, that allows us to explain the underlying mechanism and the influence of environmental and material parameters. We identify two dimensionless groups, related to colloidal activity and the background fluid, that govern a saddle-node bifurcation of the bubble growth dynamics, and calculate the generated flows analytically for both slip and no slip boundary conditions on the bubble. We finish with a discussion of the assumptions and predictions of our model in the context of existing experimental results, and conclude that some of the observed behaviour, notably the ratchet-like gait, may stem from peculiarities of the experimental setup rather than fundamental physics of the propulsive mechanism.
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Affiliation(s)
- Alexander Chamolly
- Institut Pasteur, Université Paris Cité, CNRS UMR3738, Developmental and Stem Cell Biology Department, F-75015 Paris, France.
- Laboratoire de Physique de l'École normale supérieure, ENS, Université PSL, CNRS, Sorbonne Université, Université Paris Cité, F-75005 Paris, France
| | - Sébastien Michelin
- LadHyX, CNRS - Ecole Polytechnique, Institut Polytechnique de Paris, F-91128 Palaiseau Cedex, France.
| | - Eric Lauga
- Department of Applied Mathematics and Theoretical Physics, University of Cambridge, Wilberforce Road, CB3 0WA, Cambridge, UK.
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26
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Tan R, Yang X, Lu H, Shen Y. One-step formation of polymorphous sperm-like microswimmers by vortex turbulence-assisted microfluidics. Nat Commun 2024; 15:4761. [PMID: 38834563 DOI: 10.1038/s41467-024-49043-0] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/01/2022] [Accepted: 05/21/2024] [Indexed: 06/06/2024] Open
Abstract
Microswimmers are considered promising candidates for active cargo delivery to benefit a wide spectrum of biomedical applications. Yet, big challenges still remain in designing the microswimmers with effective propelling, desirable loading and adaptive releasing abilities all in one. Inspired by the morphology and biofunction of spermatozoa, we report a one-step formation strategy of polymorphous sperm-like magnetic microswimmers (PSMs) by developing a vortex turbulence-assisted microfluidics (VTAM) platform. The fabricated PSM is biodegradable with a core-shell head and flexible tail, and their morphology can be adjusted by vortex flow rotation speed and calcium chloride solution concentration. Benefiting from the sperm-like design, our PSM exhibits both effective motion ability under remote mag/netic actuation and protective encapsulation ability for material loading. Further, it can also realize the stable sustain release after alginate-chitosan-alginate (ACA) layer coating modification. This research proposes and verifies a new strategy for the sperm-like microswimmer construction, offering an alternative solution for the target delivery of diverse drugs and biologics for future biomedical treatment. Moreover, the proposed VTAM could also be a general method for other sophisticated polymorphous structures fabrication that isn't achievable by conventional laminar flow.
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Affiliation(s)
- Rong Tan
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China
| | - Xiong Yang
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China
| | - Haojian Lu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, 310027, China
- Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yajing Shen
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China.
- Center for Smart Manufacturing, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China.
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27
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Lin J, Cong Q, Zhang D. Magnetic Microrobots for In Vivo Cargo Delivery: A Review. MICROMACHINES 2024; 15:664. [PMID: 38793237 PMCID: PMC11123378 DOI: 10.3390/mi15050664] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/16/2024] [Revised: 05/12/2024] [Accepted: 05/14/2024] [Indexed: 05/26/2024]
Abstract
Magnetic microrobots, with their small size and agile maneuverability, are well-suited for navigating the intricate and confined spaces within the human body. In vivo cargo delivery within the context of microrobotics involves the use of microrobots to transport and administer drugs and cells directly to the targeted regions within a living organism. The principal aim is to enhance the precision, efficiency, and safety of therapeutic interventions. Despite their potential, there is a shortage of comprehensive reviews on the use of magnetic microrobots for in vivo cargo delivery from both research and engineering perspectives, particularly those published after 2019. This review addresses this gap by disentangling recent advancements in magnetic microrobots for in vivo cargo delivery. It summarizes their actuation platforms, structural designs, cargo loading and release methods, tracking methods, navigation algorithms, and degradation and retrieval methods. Finally, it highlights potential research directions. This review aims to provide a comprehensive summary of the current landscape of magnetic microrobot technologies for in vivo cargo delivery. It highlights their present implementation methods, capabilities, and prospective research directions. The review also examines significant innovations and inherent challenges in biomedical applications.
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Affiliation(s)
| | | | - Dandan Zhang
- Department of Bioengineering, Imperial College London, Exhibition Road, South Kensington, London SW7 2AZ, UK; (J.L.); (Q.C.)
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28
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Landers FC, Gantenbein V, Hertle L, Veciana A, Llacer-Wintle J, Chen XZ, Ye H, Franco C, Puigmartí-Luis J, Kim M, Nelson BJ, Pané S. On-Command Disassembly of Microrobotic Superstructures for Transport and Delivery of Magnetic Micromachines. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2310084. [PMID: 38101447 DOI: 10.1002/adma.202310084] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/28/2023] [Revised: 11/23/2023] [Indexed: 12/17/2023]
Abstract
Magnetic microrobots have been developed for navigating microscale environments by means of remote magnetic fields. However, limited propulsion speeds at small scales remain an issue in the maneuverability of these devices as magnetic force and torque are proportional to their magnetic volume. Here, a microrobotic superstructure is proposed, which, as analogous to a supramolecular system, consists of two or more microrobotic units that are interconnected and organized through a physical (transient) component (a polymeric frame or a thread). The superstructures consist of microfabricated magnetic helical micromachines interlocked by a magnetic gelatin nanocomposite containing iron oxide nanoparticles (IONPs). While the microhelices enable the motion of the superstructure, the IONPs serve as heating transducers for dissolving the gelatin chassis via magnetic hyperthermia. In a practical demonstration, the superstructure's motion with a gradient magnetic field in a large channel, the disassembly of the superstructure and release of the helical micromachines by a high-frequency alternating magnetic field, and the corkscrew locomotion of the released helices through a small channel via a rotating magnetic field, is showcased. This adaptable microrobotic superstructure reacts to different magnetic inputs, which can be used to perform complex delivery procedures within intricate regions of the human body.
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Affiliation(s)
- Fabian C Landers
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Valentin Gantenbein
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Lukas Hertle
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Andrea Veciana
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Joaquin Llacer-Wintle
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Xiang-Zhong Chen
- Institute of Optoelectronics, Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, 200438, P. R. China
- Yiwu Research Institute of Fudan University, Yiwu, Zhejiang, 322000, P. R. China
| | - Hao Ye
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Carlos Franco
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona, Martí i Franquès 1, Barcelona, 08028, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Minsoo Kim
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
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29
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Al Harraq A, Feng M, Gauri HM, Devireddy R, Gupta A, Sun Q, Bharti B. Magnetic Control of Nonmagnetic Living Organisms. ACS APPLIED MATERIALS & INTERFACES 2024; 16:17339-17346. [PMID: 38531044 PMCID: PMC11009914 DOI: 10.1021/acsami.4c02325] [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: 02/08/2024] [Revised: 03/08/2024] [Accepted: 03/12/2024] [Indexed: 03/28/2024]
Abstract
Living organisms inspire the design of microrobots, but their functionality is unmatched. Next-generation microrobots aim to leverage the sensing and communication abilities of organisms through magnetic hybridization, attaching magnetic particles to them for external control. However, the protocols used for magnetic hybridization are morphology specific and are not generalizable. We propose an alternative approach that leverages the principles of negative magnetostatics and magnetophoresis to control nonmagnetic organisms with external magnetic fields. To do this, we disperse model organisms in dispersions of Fe3O4 nanoparticles and expose them to either uniform or gradient magnetic fields. In uniform magnetic fields, living organisms align with the field due to external torque, while gradient magnetic fields generate a negative magnetophoretic force, pushing objects away from external magnets. The magnetic fields enable controlling the position and orientation of Caenorhabditis elegans larvae and flagellated bacteria through directional interactions and magnitude. This control is diminished in live spermatozoa and adult C. elegans due to stronger internal biological activity, i.e., force/torque. Our study presents a method for spatiotemporal organization of living organisms without requiring magnetic hybridization, opening the way for the development of controllable living microbiorobots.
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Affiliation(s)
- Ahmed Al Harraq
- Cain
Department of Chemical Engineering, Louisiana
State University, Baton
Rouge, Louisiana 70803, United States
| | - Min Feng
- McFerrin
Department of Chemical Engineering, Texas
A&M University, College
Station, Texas 77843, United States
| | - Hashir M. Gauri
- Cain
Department of Chemical Engineering, Louisiana
State University, Baton
Rouge, Louisiana 70803, United States
| | - Ram Devireddy
- Department
of Mechanical and Industrial Engineering, Louisiana State University, Baton
Rouge, Louisiana 70803, United States
| | - Ankur Gupta
- Department
of Chemical and Biological Engineering, University of Colorado, Boulder, Colorado 80303, United States
| | - Qing Sun
- McFerrin
Department of Chemical Engineering, Texas
A&M University, College
Station, Texas 77843, United States
| | - Bhuvnesh Bharti
- Cain
Department of Chemical Engineering, Louisiana
State University, Baton
Rouge, Louisiana 70803, United States
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30
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Xu R, Xu Q. A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation. MICROMACHINES 2024; 15:468. [PMID: 38675279 PMCID: PMC11052276 DOI: 10.3390/mi15040468] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 03/23/2024] [Accepted: 03/28/2024] [Indexed: 04/28/2024]
Abstract
Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.
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Affiliation(s)
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China;
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31
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Wang D, Xin C, Yang L, Wang L, Liu B, Wu H, Wang C, Pan D, Ren Z, Hu Y, Li J, Chu J, Wu D. Femtosecond Laser Fabrication of Three-Dimensional Bubble-Propelled Microrotors for Multicomponent Mechanical Transmission. NANO LETTERS 2024; 24:3176-3185. [PMID: 38436575 DOI: 10.1021/acs.nanolett.4c00037] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/05/2024]
Abstract
Inspired by the reverse thrust generated by fuel injection, micromachines that are self-propelled by bubble ejection are developed, such as microrods, microtubes, and microspheres. However, controlling bubble ejection sites to build micromachines with programmable actuation and further enabling mechanical transmission remain challenging. Here, bubble-propelled mechanical microsystems are constructed by proposing a multimaterial femtosecond laser processing method, consisting of direct laser writing and selective laser metal reduction. The polymer frame of the microsystems is first printed, followed by the deposition of catalytic platinum into the desired local site of the microsystems by laser reduction. With this method, a variety of designable microrotors with selective bubble ejection sites are realized, which enable excellent mechanical transmission systems composed of single and multiple mechanical components, including a coupler, a crank slider, and a crank rocker system. We believe the presented bubble-propelled mechanical microsystems could be extended to applications in microrobotics, microfluidics, and microsensors.
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Affiliation(s)
- Dawei Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Chen Xin
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong 999077, China
| | - Liang Yang
- Suzhou Institute for Advanced Research, University of Science and Technology of China, Suzhou 215123, 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, China
| | - Bingrui Liu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Hao Wu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Chaowei Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Deng Pan
- Information Materials and Intelligent Sensing Laboratory of Anhui Province, Anhui University, 111 Jiu Long Road, Hefei 230601, China
| | - Zhongguo Ren
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Yanlei Hu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Jiawen Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Jiaru Chu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Dong Wu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
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Hu X, Zhou Y, Li M, Wu J, He G, Jiao N. Catheter-Assisted Bioinspired Adhesive Magnetic Soft Millirobot for Drug Delivery. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2306510. [PMID: 37880878 DOI: 10.1002/smll.202306510] [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: 08/30/2023] [Revised: 09/26/2023] [Indexed: 10/27/2023]
Abstract
Soft millirobots have evolved into various therapeutic applications in the medical field, including for vascular dredging, cell transportation, and drug delivery, owing to adaptability to their surroundings. However, most soft millirobots cannot quickly enter, retrieve, and maintain operations in their original locations after removing the external actuation field. This study introduces a soft magnetic millirobot for targeted medicine delivery that can be transported into the body through a catheter and anchored to the tissues. The millirobot has a bilayer adhesive body with a mussel-inspired hydrogel layer and an octopus-inspired magnetic structural layer. It completes entry and retrieval with the assistance of a medical catheter based on the difference between the adhesion of the hydrogel layer in air and water. The millirobot can operate in multiple modes of motion under external magnetic fields and underwater tissue adhesion after self-unfolding with the structural layer. The adaptability and recyclability of the millirobots are demonstrated using a stomach model. Combined with ultrasound (US) imaging, operational feasibility within organisms is shown in isolated small intestines. In addition, a highly efficient targeted drug delivery is confirmed using a fluorescence imaging system. Therefore, the proposed soft magnetic millirobots have significant potential for medical applications.
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Affiliation(s)
- Xingyue Hu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Mengyue Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Junfeng Wu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Guannan He
- Department of Anesthesiology, The First Hospital, China Medical University, Shenyang, Liaoning, 110001, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
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33
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Zarader P, Francois Q, Coudert A, Duplat B, Haliyo S, Couture O. Proof of Concept of an Affordable, Compact and Transcranial Submillimeter Accurate Ultrasound-Based Tracking System. IEEE Trans Biomed Eng 2024; 71:893-903. [PMID: 37796674 DOI: 10.1109/tbme.2023.3322302] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/07/2023]
Abstract
In neurosurgery, a current challenge is to provide localized therapy in deep and difficult-to-access brain areas with millimeter accuracy. In this prospect, new surgical devices such as microrobots are being developed, which require controlled inbrain navigation to ensure the safety and efficiency of the intervention. In this context, the device tracking technology has to answer a three-sided challenge: invasiveness, performance, and facility of use. Although ultrasound seems appropriate for transcranial tracking, the skull remains an obstacle because of its significant acoustic perturbations. A compact and affordable ultrasound-based tracking system that minimizes skull-related disturbances is proposed here. This system consists of three emitters fixed on the patient's head and a one-millimeter receiver embedded in the surgical device. The 3D position of the receiver is obtained by trilateration based on time of flight measurements. The system demonstrates a submillimeter tracking accuracy through an 8.9 mm thick skull plate phantom. This result opens multiple perspectives in terms of millimeter accurate navigation for a large number of neurobiomedical devices.
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34
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Dong H, Lin J, Tao Y, Jia Y, Sun L, Li WJ, Sun H. AI-enhanced biomedical micro/nanorobots in microfluidics. LAB ON A CHIP 2024; 24:1419-1440. [PMID: 38174821 DOI: 10.1039/d3lc00909b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/05/2024]
Abstract
Human beings encompass sophisticated microcirculation and microenvironments, incorporating a broad spectrum of microfluidic systems that adopt fundamental roles in orchestrating physiological mechanisms. In vitro recapitulation of human microenvironments based on lab-on-a-chip technology represents a critical paradigm to better understand the intricate mechanisms. Moreover, the advent of micro/nanorobotics provides brand new perspectives and dynamic tools for elucidating the complex process in microfluidics. Currently, artificial intelligence (AI) has endowed micro/nanorobots (MNRs) with unprecedented benefits, such as material synthesis, optimal design, fabrication, and swarm behavior. Using advanced AI algorithms, the motion control, environment perception, and swarm intelligence of MNRs in microfluidics are significantly enhanced. This emerging interdisciplinary research trend holds great potential to propel biomedical research to the forefront and make valuable contributions to human health. Herein, we initially introduce the AI algorithms integral to the development of MNRs. We briefly revisit the components, designs, and fabrication techniques adopted by robots in microfluidics with an emphasis on the application of AI. Then, we review the latest research pertinent to AI-enhanced MNRs, focusing on their motion control, sensing abilities, and intricate collective behavior in microfluidics. Furthermore, we spotlight biomedical domains that are already witnessing or will undergo game-changing evolution based on AI-enhanced MNRs. Finally, we identify the current challenges that hinder the practical use of the pioneering interdisciplinary technology.
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Affiliation(s)
- Hui Dong
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Jiawen Lin
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
| | - Yihui Tao
- Department of Automation Control and System Engineering, University of Sheffield, Sheffield, UK
| | - Yuan Jia
- Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China
| | - Lining Sun
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Wen Jung Li
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China
| | - Hao Sun
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
- Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China
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35
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Li N, Fei P, Tous C, Rezaei Adariani M, Hautot ML, Ouedraogo I, Hadjadj A, Dimov IP, Zhang Q, Lessard S, Nosrati Z, Ng CN, Saatchi K, Häfeli UO, Tremblay C, Kadoury S, Tang A, Martel S, Soulez G. Human-scale navigation of magnetic microrobots in hepatic arteries. Sci Robot 2024; 9:eadh8702. [PMID: 38354257 DOI: 10.1126/scirobotics.adh8702] [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: 03/29/2023] [Accepted: 01/17/2024] [Indexed: 02/16/2024]
Abstract
Using external actuation sources to navigate untethered drug-eluting microrobots in the bloodstream offers great promise in improving the selectivity of drug delivery, especially in oncology, but the current field forces are difficult to maintain with enough strength inside the human body (>70-centimeter-diameter range) to achieve this operation. Here, we present an algorithm to predict the optimal patient position with respect to gravity during endovascular microrobot navigation. Magnetic resonance navigation, using magnetic field gradients in clinical magnetic resonance imaging (MRI), is combined with the algorithm to improve the targeting efficiency of magnetic microrobots (MMRs). Using a dedicated microparticle injector, a high-precision MRI-compatible balloon inflation system, and a clinical MRI, MMRs were successfully steered into targeted lobes via the hepatic arteries of living pigs. The distribution ratio of the microrobots (roughly 2000 MMRs per pig) in the right liver lobe increased from 47.7 to 86.4% and increased in the left lobe from 52.2 to 84.1%. After passing through multiple vascular bifurcations, the number of MMRs reaching four different target liver lobes had a 1.7- to 2.6-fold increase in the navigation groups compared with the control group. Performing simulations on 19 patients with hepatocellular carcinoma (HCC) demonstrated that the proposed technique can meet the need for hepatic embolization in patients with HCC. Our technology offers selectable direction for actuator-based navigation of microrobots at the human scale.
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Affiliation(s)
- Ning Li
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Phillip Fei
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Cyril Tous
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Mahdi Rezaei Adariani
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
- Inria, Palaiseau 91120, France
| | - Marie-Lou Hautot
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Inès Ouedraogo
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Nantes, Nantes 44035, France
| | - Amina Hadjadj
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Ivan P Dimov
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Quan Zhang
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
- School of Artificial Intelligence, Shanghai University, Shanghai 200444, China
| | - Simon Lessard
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Zeynab Nosrati
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Courtney N Ng
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Katayoun Saatchi
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Urs O Häfeli
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Charles Tremblay
- Department of Computer Engineering and Software Engineering, Polytechnique Montréal, Montréal, Québec H3T 1J4, Canada
| | - Samuel Kadoury
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Department of Computer Engineering and Software Engineering, Polytechnique Montréal, Montréal, Québec H3T 1J4, Canada
| | - An Tang
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
- Centre Hospitalier de l'Université de Montréal (CHUM), Montréal, Québec H2X 0C1, Canada
| | - Sylvain Martel
- Department of Computer Engineering and Software Engineering, Polytechnique Montréal, Montréal, Québec H3T 1J4, Canada
- Department of Bioengineering, McGill University, Montréal, Québec H3A 0E9, Canada
| | - Gilles Soulez
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
- Centre Hospitalier de l'Université de Montréal (CHUM), Montréal, Québec H2X 0C1, Canada
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36
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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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37
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Zhou J, Li M, Li N, Zhou Y, Wang J, Jiao N. System integration of magnetic medical microrobots: from design to control. Front Robot AI 2023; 10:1330960. [PMID: 38169802 PMCID: PMC10758462 DOI: 10.3389/frobt.2023.1330960] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/31/2023] [Accepted: 11/28/2023] [Indexed: 01/05/2024] Open
Abstract
Magnetic microrobots are ideal for medical applications owing to their deep tissue penetration, precise control, and flexible movement. After decades of development, various magnetic microrobots have been used to achieve medical functions such as targeted delivery, cell manipulation, and minimally invasive surgery. This review introduces the research status and latest progress in the design and control systems of magnetic medical microrobots from a system integration perspective and summarizes the advantages and limitations of the research to provide a reference for developers. Finally, the future development direction of magnetic medical microrobot design and control systems are discussed.
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Affiliation(s)
- Junjian Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Mengyue Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Na Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Jingyi Wang
- College of Information and Electrical Engineering, Shenyang Agricultural University, Shenyang, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
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38
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Su L, Jin D, Wang Y, Wang Q, Pan C, Jiang S, Yang H, Yang Z, Wang X, Xia N, Chan KF, Chiu PWY, Sung JJY, Zhang L. Modularized microrobot with lock-and-detachable modules for targeted cell delivery in bile duct. SCIENCE ADVANCES 2023; 9:eadj0883. [PMID: 38100592 PMCID: PMC10848723 DOI: 10.1126/sciadv.adj0883] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/06/2023] [Accepted: 11/16/2023] [Indexed: 12/17/2023]
Abstract
The magnetic microrobots promise benefits in minimally invasive cell-based therapy. However, they generally suffer from an inevitable compromise between their magnetic responsiveness and biomedical functions. Herein, we report a modularized microrobot consisting of magnetic actuation (MA) and cell scaffold (CS) modules. The MA module with strong magnetism and pH-responsive deformability and the CS module with cell loading-release capabilities were fabricated by three-dimensional printing technique. Subsequently, assembly of modules was performed by designing a shaft-hole structure and customizing their relative dimensions, which enabled magnetic navigation in complex environments, while not deteriorating the cellular functionalities. On-demand disassembly at targeted lesion was then realized to facilitate CS module delivery and retrieval of the MA module. Furthermore, the feasibility of proposed system was validated in an in vivo rabbit bile duct. Therefore, this work presents a modular design-based strategy that enables uncompromised fabrication of multifunctional microrobots and stimulates their development for future cell-based therapy.
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Affiliation(s)
- Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Dongdong Jin
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong 518055, China
| | - Yuqiong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Shuai Jiang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Kai Fung Chan
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Philip Wai Yan Chiu
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Joseph Jao-Yiu Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore, Singapore
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, China
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39
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Abstract
Biomedical microrobots could overcome current challenges in targeted therapies.
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Affiliation(s)
- Bradley J Nelson
- Multi-Scale Robotics Lab, Department of Mechanical and Process Engineering, ETH Zürich, 8092, Zürich, Switzerland
| | - Salvador Pané
- Multi-Scale Robotics Lab, Department of Mechanical and Process Engineering, ETH Zürich, 8092, Zürich, Switzerland
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Zimmermann CJ, Petruska AJ, Neeves KB, Marr DWM. Coupling magnetic torque and force for colloidal microbot assembly and manipulation. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 5:2300332. [PMID: 38737989 PMCID: PMC11086969 DOI: 10.1002/aisy.202300332] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2023] [Indexed: 05/14/2024]
Abstract
For targeted transport in the body, biomedical microbots (μbots) must move effectively in three-dimensional (3D) microenvironments. Swimming μbots translate via asymmetric or screw-like motions while rolling ones use friction with available surfaces to generate propulsive forces. We have previously shown that planar rotating magnetic fields assemble μm-scale superparamagnetic beads into circular μbots that roll along surfaces. In this, gravity is required to pull μbots near the surface; however, this is not necessarily practical in complex geometries. Here we show that rotating magnetic fields, in tandem with directional magnetic gradient forces, can be used to roll μbots on surfaces regardless of orientation. Simplifying implementation, we use a spinning permanent magnet to generate differing ratios of rotating and gradient fields, optimizing control for different environments. This use of a single magnetic actuator sidesteps the need for complex electromagnet or tandem field setups, removes requisite gravitational load forces, and enables μbot targeting in complex 3D biomimetic microenvironments.
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Affiliation(s)
- Coy J Zimmermann
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
| | - Andrew J Petruska
- Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA
| | - Keith B Neeves
- Departments of Bioengineering and Pediatrics, University of Colorado Denver | Anschutz Medical Campus, Aurora, CO
| | - David W M Marr
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
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Dutta S, Noh S, Gual RS, Chen X, Pané S, Nelson BJ, Choi H. Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications. NANO-MICRO LETTERS 2023; 16:41. [PMID: 38032424 PMCID: PMC10689718 DOI: 10.1007/s40820-023-01259-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Accepted: 10/19/2023] [Indexed: 12/01/2023]
Abstract
Synthetic micromotor has gained substantial attention in biomedicine and environmental remediation. Metal-based degradable micromotor composed of magnesium (Mg), zinc (Zn), and iron (Fe) have promise due to their nontoxic fuel-free propulsion, favorable biocompatibility, and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media, efficient cargo delivery and favorable biocompatibility. A noteworthy number of degradable metal-based micromotors employ bubble propulsion, utilizing water as fuel to generate hydrogen bubbles. This novel feature has projected degradable metallic micromotors for active in vivo drug delivery applications. In addition, understanding the degradation mechanism of these micromotors is also a key parameter for their design and performance. Its propulsion efficiency and life span govern the overall performance of a degradable metallic micromotor. Here we review the design and recent advancements of metallic degradable micromotors. Furthermore, we describe the controlled degradation, efficient in vivo drug delivery, and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical applications. Moreover, we discuss micromotors' efficacy in detecting and destroying environmental pollutants. Finally, we address the limitations and future research directions of degradable metallic micromotors.
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Affiliation(s)
- Sourav Dutta
- Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu, 42988, Republic of Korea
| | - Seungmin Noh
- Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu, 42988, Republic of Korea
| | - Roger Sanchis Gual
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, 8092, Zurich, Switzerland
| | - Xiangzhong Chen
- Institute of Optoelectronics, State Key Laboratory of Photovoltaic Science and Technology, Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, 200433, People's Republic of China
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, 8092, Zurich, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, 8092, Zurich, Switzerland
| | - Hongsoo Choi
- Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, 42988, Republic of Korea.
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu, 42988, Republic of Korea.
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Wang Q, Yang S, Zhang L. Untethered Micro/Nanorobots for Remote Sensing: Toward Intelligent Platform. NANO-MICRO LETTERS 2023; 16:40. [PMID: 38032461 PMCID: PMC10689342 DOI: 10.1007/s40820-023-01261-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Accepted: 10/25/2023] [Indexed: 12/01/2023]
Abstract
Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities. Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems, enabling in situ detection of substances that traditional sensing methods struggle to achieve. Over the past decade of development, significant research progress has been made in designing sensing strategies based on micro/nanorobots, employing various coordinated control and sensing approaches. This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots, robot behavior, microrobotic manipulation, and robot-environment interactions. Providing recent studies and relevant applications in remote sensing, we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments, translating lab research achievements into widespread real applications.
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Affiliation(s)
- Qianqian Wang
- Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, 211189, People's Republic of China.
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China.
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China.
- T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China.
- Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong, 999077, People's Republic of China.
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Deng C, Li Z, Lu L, Zhang H, Chen R, Liu Y, Tong Y, Fan OR, Huang W, Sun YE, Yin F, Cheng Y. Sophisticated Magneto-Mechanical Actuation Promotes In Situ Stem Cell Assembly and Chondrogenesis for Treating Osteoarthritis. ACS NANO 2023; 17:21690-21707. [PMID: 37862095 DOI: 10.1021/acsnano.3c06909] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/21/2023]
Abstract
Abnormal mechanical loading often leads to the progressive degradation of cartilage and causes osteoarthritis (OA). Although multiple mechanoresponsive strategies based on biomaterials have been designed to restore healthy cartilage microenvironments, methods to remotely control the on-demand mechanical forces for cartilage repair pose significant challenges. Here, a magneto-mechanically controlled mesenchymal stem cell (MSC) platform, based on the integration of intercellular mechanical communication and intracellular mechanosignaling processes, is developed for OA treatment. MSCs loaded with antioxidative melanin@Fe3O4 magnetic nanoparticles (Magcells) rapidly assemble into highly ordered cell clusters with enhanced cell-cell communication under a time-varying magnetic field, which enables long-term retention and differentiation of Magcells in the articular cavity. Subsequently, via mimicking the gait cycle, chondrogenesis can be further enhanced by the dynamic activation of mechanical signaling processes in Magcells. This sophisticated magneto-mechanical actuation strategy provides a paradigm for developing mechano-therapeutics to repair cartilage in OA treatment.
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Affiliation(s)
- Cuijun Deng
- Shanghai Key Laboratory of Anesthesiology and Brain Functional Modulation, Clinical Research Center for Anesthesiology and Perioperative Medicine, Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, School of Medicine, Tongji University, Shanghai 200434, China
| | - Zhenguang Li
- Shanghai Key Laboratory of Anesthesiology and Brain Functional Modulation, Clinical Research Center for Anesthesiology and Perioperative Medicine, Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, School of Medicine, Tongji University, Shanghai 200434, China
| | - Laiya Lu
- Department of Joint Surgery, Shanghai East Hospital, School of Medicine, Tongji University, 150 Jimo Road, Shanghai, 200032, China
| | - Huina Zhang
- Stem Cell Translational Research Center, Tongji Hospital, School of Medicine, Tongji University, Shanghai, 200065, China
| | - Runzhi Chen
- Department of Joint Surgery, Shanghai East Hospital, School of Medicine, Tongji University, 150 Jimo Road, Shanghai, 200032, China
| | - Yali Liu
- Shanghai Key Laboratory of Anesthesiology and Brain Functional Modulation, Clinical Research Center for Anesthesiology and Perioperative Medicine, Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, School of Medicine, Tongji University, Shanghai 200434, China
| | - Yifan Tong
- Shanghai Key Laboratory of Anesthesiology and Brain Functional Modulation, Clinical Research Center for Anesthesiology and Perioperative Medicine, Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, School of Medicine, Tongji University, Shanghai 200434, China
| | - Orion R Fan
- Stem Cell Translational Research Center, Tongji Hospital, School of Medicine, Tongji University, Shanghai, 200065, China
| | - Wanxin Huang
- Shanghai Key Laboratory of Anesthesiology and Brain Functional Modulation, Clinical Research Center for Anesthesiology and Perioperative Medicine, Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, School of Medicine, Tongji University, Shanghai 200434, China
| | - Yi Eve Sun
- Stem Cell Translational Research Center, Tongji Hospital, School of Medicine, Tongji University, Shanghai, 200065, China
| | - Feng Yin
- Department of Joint Surgery, Shanghai East Hospital, School of Medicine, Tongji University, 150 Jimo Road, Shanghai, 200032, China
| | - Yu Cheng
- Shanghai Key Laboratory of Anesthesiology and Brain Functional Modulation, Clinical Research Center for Anesthesiology and Perioperative Medicine, Translational Research Institute of Brain and Brain-Like Intelligence, Shanghai Fourth People's Hospital, School of Medicine, Tongji University, Shanghai 200434, China
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Li Y, Cong Z, Xie L, Tang S, Ren C, Peng X, Tang D, Wan F, Han H, Zhang X, Gao W, Wu S. Magnetically Powered Immunogenic Macrophage Microrobots for Targeted Multimodal Cancer Therapy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2301489. [PMID: 37300342 DOI: 10.1002/smll.202301489] [Citation(s) in RCA: 17] [Impact Index Per Article: 8.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/15/2023] [Revised: 04/06/2023] [Indexed: 06/12/2023]
Abstract
Motile microrobots open a new realm for disease treatment. However, the concerns of possible immune elimination, targeted capability and limited therapeutic avenue of microrobots constrain its practical biomedical applications. Herein, a biogenic macrophage-based microrobot loaded with magnetic nanoparticles and bioengineered bacterial outer membrane vesicles (OMVs), capable of magnetic propulsion, tumor targeting, and multimodal cancer therapy is reported. Such cell robots preserve intrinsic properties of macrophages for tumor suppression and targeting, and bioengineered OMVs for antitumor immune regulation and fused anticancer peptides. Cell robots display efficient magnetic propulsion and directional migration in the confined space. In vivo tests show that cell robots can accumulate at the tumor site upon magnetic manipulation, coupling with tumor tropism of macrophages to greatly improve the efficacy of its multimodal therapy, including tumor inhibition of macrophages, immune stimulation, and antitumor peptides of OMVs. This technology offers an attractive avenue to design intelligent medical microrobots with remote manipulation and multifunctional therapy capabilities for practical precision treatment.
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Affiliation(s)
- Yangyang Li
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Zhaoqing Cong
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Leiming Xie
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Songsong Tang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Chunyu Ren
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Xiqi Peng
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Daitian Tang
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Fangchen Wan
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
| | - Hong Han
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Xueji Zhang
- School of Biomedical Engineering, Health Science Centre, Shenzhen University, Shenzhen, 518060, P. R. China
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Song Wu
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen, 518000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen, 518000, P. R. China
- South China Hospital, Health Science Center, Shenzhen University, Shenzhen, 518116, P. R. China
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Yang Y, Kirmizitas FC, Sokolich M, Valencia A, Rivas D, Karakan MÇ, White AE, Malikopoulos AA, Das S. Rolling Helical Microrobots for Cell Patterning. ... INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES (MARSS). INTERNATIONAL CONFERENCE ON MANIPULATION AUTOMATION AND ROBOTICS AT SMALL SCALES 2023; 2023:10.1109/marss58567.2023.10294113. [PMID: 38952455 PMCID: PMC11215787 DOI: 10.1109/marss58567.2023.10294113] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/03/2024]
Abstract
Microrobots, untethered miniature devices capable of performing tasks at the microscale, have gained significant attention in the fields of robotics and biomedicine. These devices hold immense potential for various industrial and scientific applications, including targeted drug delivery and cell manipulation. In this study, we present a novel magnetic rolling helical microrobot specifically designed for bio-compatible cell patterning. Our microrobot incorporates both open-loop and closed-loop control mechanisms, providing flexible, precise, and rapid control for various applications. Through experiments, we demonstrate the microrobot's ability to manipulate cells by pushing them while rolling and arranging cells into desired patterns. This result is particularly significant as it has implications for diverse biological applications such as tissue engineering and organoid development. Moreover, we showcase the effectiveness of our microrobot in a closed-loop control system, where it successfully follows a predetermined path from an origin to a destination. The combination of cellular manipulation capabilities and trajectory-tracking performance underlines the versatility and potential of our magnetic rolling helical microrobot. The ability to control and navigate the microrobot with high precision opens up new possibilities for advanced biomedical applications. These findings contribute to the growing body of knowledge in microbotics and pave the way for further research and development in the field.
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Affiliation(s)
- Yanda Yang
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Fatma Ceren Kirmizitas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
- Department of Animal and Food Sciences, University of Delaware, Newark, DE 19716 USA
| | - Max Sokolich
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - Alejandra Valencia
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - David Rivas
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
| | - M Çağatay Karakan
- Department of Biomedical Engineering, Boston University, Boston, MA 02215 USA
| | - Alice E White
- Department of Mechanical Engineering, and the departments of Biomedical Engineering and Materials Science and Engineering, Boston University, Boston, MA 02215 USA
| | | | - Sambeeta Das
- Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA
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Zhu S, Cheng Y, Wang J, Liu G, Luo T, Li X, Yang S, Yang R. Biohybrid magnetic microrobots: An intriguing and promising platform in biomedicine. Acta Biomater 2023; 169:88-106. [PMID: 37572981 DOI: 10.1016/j.actbio.2023.08.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2023] [Revised: 07/19/2023] [Accepted: 08/03/2023] [Indexed: 08/14/2023]
Abstract
Biohybrid magnetic microrobots (BMMs) have emerged as an exciting class of microrobots and have been considered as a promising platform in biomedicine. Many microorganisms and body's own cells show intriguing properties, such as morphological characteristics, biosafety, and taxis abilities (e.g., chemotaxis, aerotaxis), which have made them attractive for the fabrication of microrobots. For remote controllability and sustainable actuation, magnetic components are usually incorporated onto these biological entities, and other functionalized non-biological components (e.g., therapeutic agents) are also included for specific applications. This review highlights the latest developments in BMMs with a focus on their biomedical applications. It starts by introducing the fundamental understanding of the propulsion system at the microscale in a magnetically driven manner, followed by a summary of diverse BMMs based on different microorganisms and body's own cells along with their relevant applications. Finally, the review discusses how BMMs contribute to the advancements of microrobots, the current challenges of using BMMs in practical clinical settings, and the future perspectives of this exciting field. STATEMENT OF SIGNIFICANCE: Biohybrid magnetic microrobots (BMMs), composed of biological entities and functional parts, hold great potential and serve as a novel and promising platform for biomedical applications such as targeted drug delivery. This review comprehensively summarizes the recent advancements in BMMs for biomedical applications, mainly focused on the representative propulsion modalities in a magnetically propelled manner and diverse designs of BMMs based on different biological entities, including microorganisms and body's own cells. We hope this review can provide ideas for the future design, development, and innovation of micro/nanorobots in the field of biomedicine.
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Affiliation(s)
- Shilu Zhu
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Yifan Cheng
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Jian Wang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Guangli Liu
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China
| | - Tingting Luo
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China.
| | - Xiaojian Li
- Department of Management, Hefei University of Technology, Hefei 230009, China.
| | - Shanlin Yang
- Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei 230009, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei 230032, China.
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Zhao P, Yan L, Gao X. A programmable ferrofluidic droplet robot. THE EUROPEAN PHYSICAL JOURNAL. E, SOFT MATTER 2023; 46:87. [PMID: 37752272 DOI: 10.1140/epje/s10189-023-00348-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/03/2023] [Accepted: 09/10/2023] [Indexed: 09/28/2023]
Abstract
Soft miniature robots have wide potential applications in lab-on-a-chip and biomedical sciences due to their deformability, safety, and remarkable controllability. However, current ferrofluidic droplet robots have some problems, such as easy broken, limited motion range and high energy consumption. Therefore, the objective of this study is to propose a programmable ferrofluidic flexible droplet robot (PFDR) with control strategies for elongation, splitting and merging behaviors by designing an actuation system consisting of a row of electromagnets and a robotic arm or a coordinate robot. The PFDR can not only deform actively to prevent itself from breaking, but also deform passively to fit the profile of channels or tubes to move efficiently. The actuation system can make PFDR have larger motion range as well as lower energy consumption. The design concept and the operating principle of PFDR are presented. The magnetic actuation system is developed. The lag of PFDR is analyzed in theoretical and experimental ways. The splitting and merging behaviors are investigated and other functionalities are studied as well.
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Affiliation(s)
- Peiran Zhao
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China
| | - Liang Yan
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China.
- Ningbo Institute of Technology, Beihang University, Ningbo, 315800, China.
- Tianmushan Laboratory, Hangzhou, 310023, China.
- Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, China.
| | - Xiaoshan Gao
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China
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48
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Yi C, Qu S, Wang Y, Qi H, Zhang Y, Cheng GJ. Optical force brush enabled free-space painting of 4D functional structures. SCIENCE ADVANCES 2023; 9:eadg0300. [PMID: 37729409 PMCID: PMC10511190 DOI: 10.1126/sciadv.adg0300] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/28/2022] [Accepted: 08/18/2023] [Indexed: 09/22/2023]
Abstract
Femtosecond laser-based technique called two-photon polymerization (TPP) has emerged as a powerful tool for nanofabrication and integrating nanomaterials. However, challenges persist in existing three-dimensional (3D) nanoprinting methods, such as slow layer-by-layer printing and limited material options due to laser-matter interactions. Here, we present an approach to 3D nanoprinting called free-space nanopainting, using an optical force brush (OFB). OFB enables precise spatial writing paths, instantaneous adjustment of linewidths and concentrations, and unrestricted resolution beyond optical limits. OFB allows rapid aggregation and solidification of radicals, resulting in narrower lines at lower polymerization thresholds and enhanced sensitivity to laser energy. This advancement enables high-accuracy free-space painting, analogous to Chinese brush painting on paper. The printing speed is increased substantially compared to layer-by-layer methods, from 100 to 1000 times faster. We successfully printed various bionic muscle models derived from 4D nanostructures with tunable mechanical properties, responsive to electrical signals, and excellent biocompatibility.
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Affiliation(s)
- Chenqi Yi
- Institute of Technological Sciences, Wuhan University, Wuhan 430072, China
| | - Shuyuan Qu
- State Key Laboratory of Oral & Maxillofacial Reconstruction and Regeneration, Key Laboratory of Oral Biomedicine Ministry of Education, Hubei Key Laboratory of Stomatology, School & Hospital of Stomatology, Taikang Center for Life and Medical Sciences, Medical Research Institute, School of Medicine, Wuhan University, Wuhan 430079, China
| | - Yaoyu Wang
- Institute of Technological Sciences, Wuhan University, Wuhan 430072, China
| | - Haoning Qi
- State Key Laboratory of Oral & Maxillofacial Reconstruction and Regeneration, Key Laboratory of Oral Biomedicine Ministry of Education, Hubei Key Laboratory of Stomatology, School & Hospital of Stomatology, Taikang Center for Life and Medical Sciences, Medical Research Institute, School of Medicine, Wuhan University, Wuhan 430079, China
| | - Yufeng Zhang
- State Key Laboratory of Oral & Maxillofacial Reconstruction and Regeneration, Key Laboratory of Oral Biomedicine Ministry of Education, Hubei Key Laboratory of Stomatology, School & Hospital of Stomatology, Taikang Center for Life and Medical Sciences, Medical Research Institute, School of Medicine, Wuhan University, Wuhan 430079, China
| | - Gary J. Cheng
- Institute of Technological Sciences, Wuhan University, Wuhan 430072, China
- School of Industrial Engineering, Purdue University, West Lafayette, IN 47906, USA
- School of Materials Engineering, Purdue University, West Lafayette, IN 47906, USA
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49
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Ye Y, Tian H, Jiang J, Huang W, Zhang R, Li H, Liu L, Gao J, Tan H, Liu M, Peng F, Tu Y. Magnetically Actuated Biodegradable Nanorobots for Active Immunotherapy. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2300540. [PMID: 37382399 PMCID: PMC10477856 DOI: 10.1002/advs.202300540] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/25/2023] [Revised: 05/27/2023] [Indexed: 06/30/2023]
Abstract
An efficient and cost-effective therapeutic vaccine is highly desirable for the prevention and treatment of cancer, which helps to strengthen the immune system and activate the T cell immune response. However, initiating such an adaptive immune response efficiently remains challenging, especially the deficient antigen presentation by dendritic cells (DCs) in the immunosuppressive tumor microenvironment. Herein, an efficient and dynamic antigen delivery system based on the magnetically actuated OVA-CaCO3 -SPIO robots (OCS-robots) is rationally designed for active immunotherapy. Taking advantage of the unique dynamic features, the developed OCS-robots achieve controllable motion capability under the rotating magnetic field. Specifically, with the active motion, the acid-responsiveness of OCS-robots is beneficial for the tumor acidity attenuating and lysosome escape as well as the subsequent antigen cross-presentation of DCs. Furthermore, the dynamic OCS-robots boost the crosstalk between the DCs and antigens, which displays prominent tumor immunotherapy effect on melanoma through cytotoxic T lymphocytes (CTLs). Such a strategy of dynamic vaccine delivery system enables the active activation of immune system based on the magnetically actuated OCS-robots, which presents a plausible paradigm for incredibly efficient cancer immunotherapy by designing multifunctional and novel robot platforms in the future.
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Affiliation(s)
- Yicheng Ye
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Hao Tian
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Jiamiao Jiang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Weichang Huang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Ruotian Zhang
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Huaan Li
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Lu Liu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Junbin Gao
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Haixin Tan
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Meihuan Liu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
| | - Fei Peng
- School of Materials Science and EngineeringSun Yat‐Sen UniversityGuangzhou510275China
| | - Yingfeng Tu
- NMPA Key Laboratory for Research and Evaluation of Drug Metabolism & Guangdong Provincial Key Laboratory of New Drug ScreeningSchool of Pharmaceutical SciencesSouthern Medical UniversityGuangzhou510515China
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50
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Lee G, Jeong WH, Kim B, Jeon S, Smith AM, Seo J, Suzuki K, Kim JY, Lee H, Choi H, Chung DS, Choi J, Choi H, Lim SJ. Design and Synthesis of CdHgSe/HgS/CdZnS Core/Multi-Shell Quantum Dots Exhibiting High-Quantum-Yield Tissue-Penetrating Shortwave Infrared Luminescence. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2301161. [PMID: 37127870 PMCID: PMC11341011 DOI: 10.1002/smll.202301161] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/09/2023] [Revised: 04/18/2023] [Indexed: 05/03/2023]
Abstract
Cdx Hg1- x Se/HgS/Cdy Zn1- y S core/multi-shell quantum dots (QDs) exhibiting bright tissue-penetrating shortwave infrared (SWIR; 1000-1700 nm) photoluminescence (PL) are engineered. The new structure consists of a quasi-type-II Cdx Hg1- x Se/HgS core/inner shell domain creating luminescent bandgap tunable across SWIR window and a wide-bandgap Cdy Zn1- y S outer shell boosting the PL quantum yield (QY). This compositional sequence also facilitates uniform and coherent shell growth by minimizing interfacial lattice mismatches, resulting in high QYs in both organic (40-80%) and aqueous (20-70%) solvents with maximum QYs of 87 and 73%, respectively, which are comparable to those of brightest visible-to-near infrared QDs. Moreover, they maintain bright PL in a photocurable resin (QY 40%, peak wavelength ≈ 1300 nm), enabling the fabrication of SWIR-luminescent composites of diverse morphology and concentration. These composites are used to localize controlled amounts of SWIR QDs inside artificial (Intralipid) and porcine tissues and quantitatively evaluate the applicability as luminescent probes for deep-tissue imaging.
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Affiliation(s)
- Gyudong Lee
- Department of Energy Science and Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
- Division of Nanotechnology, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
| | - Woo Hyeon Jeong
- Division of Nanotechnology, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
- Department of Chemistry and Research Institute for Natural Science, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul, 04763, Republic of Korea
| | - Beomjoo Kim
- Department of Robotics Engineering, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
| | - Sungwoong Jeon
- DGIST-ETH Microrobotics Research Center, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
- IMsystem Corp., DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
| | - Andrew M Smith
- Department of Bioengineering, University of Illinois Urbana-Champaign (UIUC), Urbana, IL, 61801, USA
- Department of Materials Science and Engineering, UIUC, Urbana, IL, 61801, USA
- Cancer Center at Illinois, UIUC, Urbana, IL, 61801, USA
- Carle Illinois College of Medicine, UIUC, Urbana, IL, 61801, USA
| | - Jongcheol Seo
- Department of Chemistry, POSTECH, 77 Cheongam-Ro, Nam-Gu, Pohang, Gyeongsangbuk-Do, 37673, Republic of Korea
| | - Kengo Suzuki
- Applied Spectroscopy System Department, Hamamatsu Photonics K.K., 812 Joko-Cho, Higashi-Ku, Hamamatsu City, 431-3196, Japan
| | - Jin-Young Kim
- DGIST-ETH Microrobotics Research Center, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
- Division of Biotechnology, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
| | - Hyunki Lee
- DGIST-ETH Microrobotics Research Center, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
- Division of Intelligent Robot, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
| | - Hongsoo Choi
- Department of Robotics Engineering, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
- DGIST-ETH Microrobotics Research Center, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
| | - Dae Sung Chung
- Department of Chemical Engineering, POSTECH, 77 Cheongam-Ro, Nam-Gu, Pohang, Gyeongsangbuk-Do, 37673, Republic of Korea
| | - Jongmin Choi
- Department of Energy Science and Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
| | - Hyosung Choi
- Department of Chemistry and Research Institute for Natural Science, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul, 04763, Republic of Korea
| | - Sung Jun Lim
- Division of Nanotechnology, DGIST, 333 Techno Jungang Daero, Hyeonpung-Eup, Dalseong-Gun, Daegu, 42988, Republic of Korea
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