Data-Driven Parallel Adaptive Control for Magnetic Helical Microrobots With Derivative Structure in Uncertain Environments DOI
Huaping Wang, Shihao Zhong, Zhiqiang Zheng

et al.

IEEE Transactions on Systems Man and Cybernetics Systems, Journal Year: 2024, Volume and Issue: 54(7), P. 4139 - 4150

Published: March 27, 2024

Micron-range untethered, magnetic helical robots have great potential for biomedical applications due to their desirable performance with high flexibility and accuracy in unstructured confined environments. However, at the microscale, time-varying uncertain disturbances environment electromagnetic system greatly hinder microrobot tracking control performance. When a is replaced or even derivative version slight body structure change used different tasks, of original scheme remarkably decreases becomes ineffective. Here, we propose data-driven optimal integrated controller (D 2 -OIC) that realizes precise transfer among series microrobots derived structures situations. The approach has parallel nonlinear feedforward linear feedback controllers. inversely maps relationship between field state motion state, allowing quickly desired state. effectively adjusts parameters using virtual reference tuning (VRFT) method, thus eliminating any residual errors arising from control. By retraining on newly acquired collected cumulative data assigned weights, updated achieve various types. In experiment, two types performed arbitrary path obstacle avoidance tasks consistently less than 4% length, demonstrating feasibility proposed method.

Language: Английский

Magnetic‐Powered Janus Cell Robots Loaded with Oncolytic Adenovirus for Active and Targeted Virotherapy of Bladder Cancer DOI
Zhaoqing Cong, Songsong Tang, Leiming Xie

et al.

Advanced Materials, Journal Year: 2022, Volume and Issue: 34(26)

Published: April 22, 2022

A unique robotic medical platform is designed by utilizing cell robots as the active "Trojan horse" of oncolytic adenovirus (OA), capable tumor-selective binding and killing. The OA-loaded are fabricated entirely modifying OA-infected 293T cells with cyclic arginine-glycine-aspartic acid tripeptide (cRGD) to specifically bind bladder cancer cells, followed asymmetric immobilization Fe3 O4 nanoparticles (NPs) on surface. OA can replicate in host induce cytolysis release virus progeny surrounding tumor sites for sustainable infection oncolysis. coating magnetic NPs bestows effective movement various media wireless manipulation directional migration a microfluidic device mold under control, further enabling steerable prolonged retention mouse bladder. biorecognition cRGD robust, controllable propulsion work synergistically greatly enhance their tissue penetration anticancer efficacy 3D spheroid orthotopic model. Overall, this study integrates cell-based microrobots virotherapy generate an attractive system specificity, expanding operation scope biomedical community.

Language: Английский

Citations

67

Endoscope-assisted magnetic helical micromachine delivery for biofilm eradication in tympanostomy tube DOI Creative Commons
Yue Dong, Lu Wang, Zifeng Zhang

et al.

Science Advances, Journal Year: 2022, Volume and Issue: 8(40)

Published: Oct. 7, 2022

Occlusion of the T-tube (tympanostomy tube) is a common postoperative sequela related to bacterial biofilms. Confronting biofilm-related infections T-tubes, maneuverable and effective treatments are still challenging presently. Here, we propose an endoscopy-assisted treatment procedure based on wobbling Fe2O3 helical micromachine (HMM) with peroxidase-mimicking activity. Different from ideal corkscrew motion, HMM applies motion in tube, inducing stronger mechanical force fluid convections, which not only damages biofilm occlusion into debris quickly but also enhances catalytic generation diffusion reactive oxygen species (ROS) for killing bacteria cells. Moreover, procedure, integrated delivery, actuation, retrieval HMM, was validated implanted human cadaver ex vivo. It enables visual operation ease gentle tympanic membrane ossicles, promising clinical application.

Language: Английский

Citations

64

Microrobots for Targeted Delivery and Therapy in Digestive System DOI
Yun Wang, Jie Shen, Stephan Handschuh‐Wang

et al.

ACS Nano, Journal Year: 2022, Volume and Issue: 17(1), P. 27 - 50

Published: Dec. 19, 2022

Untethered miniature robots enable targeted delivery and therapy deep inside the gastrointestinal tract in a minimally invasive manner. By combining actuation systems imaging tools, significant progress has been made toward development of functional microrobots. These can be actuated by external fields fuels while featuring real-time tracking feedback certain regions perform therapeutic process rational exertion local environment (e.g., pH, enzyme). Compared with conventional surgical such as endoscopic devices catheters, feature diagnosis treatment, multifunctionality, high safety adaptivity, embodied intelligence, easy access to tortuous narrow lumens. In addition, active motion microrobots enhances penetration retention drugs tissues compared common passive oral drug delivery. Based on dissimilar microenvironments various sections tract, this review introduces advances for diseases along tract. The modalities their application scenarios are also discussed. We finally evaluate challenges barriers that retard applications hint future research directions field.

Language: Английский

Citations

57

Carbon Helical Nanorobots Capable of Cell Membrane Penetration for Single Cell Targeted SERS Bio‐Sensing and Photothermal Cancer Therapy DOI

Yuduo Chen,

Renjie Pan, Wang Yong

et al.

Advanced Functional Materials, Journal Year: 2022, Volume and Issue: 32(30)

Published: May 8, 2022

Abstract Penetration of cell membrane at micro/nano‐scale with untethered probe is great scientific significance, yet still challenging. Here, a carbon nanocoil based magnetic nanorobot, which can precisely target single and perform penetration, reported. The nanorobots are as‐synthesized by chemical vapor deposition high yield, followed physical Ni Au nanofilms. Rotating electromagnetic fields used to steer the navigate following any pre‐designed path. helical realize mechanical perforation plasma even nuclear envelope precise position subcellular level. With aid externally deposited nanofilm, surface enhanced Raman scattering bio‐sensing signals be collected from cellular nucleus. Furthermore, demonstrate capability efficient photothermal therapy against targeted cancer cells serve as an integrated theranostic platform, providing promising prospects in future precision medicine.

Language: Английский

Citations

49

Small‐Scale Robotics with Tailored Wettability DOI
Ben Wang, Stephan Handschuh‐Wang, Jie Shen

et al.

Advanced Materials, Journal Year: 2022, Volume and Issue: 35(18)

Published: Sept. 17, 2022

Abstract Small‐scale robots (SSRs) have emerged as promising and versatile tools in various biomedical, sensing, decontamination, manipulation applications, they are uniquely capable of performing tasks at small length scales. With the miniaturization from macroscale to millimeter‐, micrometer‐, nanometer‐scales, viscous surface forces, namely adhesive forces tension become dominant. These significantly impact motion efficiency. Surface engineering with both hydrophilic hydrophobic functionalization presents a brand‐new pathway overcome resistance enhance ability target regulate for tasks. This review focuses on current progress future perspectives SSRs modifications (including tethered untethered robots). The study emphasizes distinct advantages SSRs, such improved maneuverability reduced drag outlines their potential applications. continued innovation, rational is expected endow exceptional mobility functionality, which can broaden penetration depth, reduce fouling, inhibit bacterial adhesion.

Language: Английский

Citations

42

Nano‐biotechnology in tumour and cancerous disease: A perspective review DOI Creative Commons
Ambikesh Soni, Manohar Prasad Bhandari, Gagan Kant Tripathi

et al.

Journal of Cellular and Molecular Medicine, Journal Year: 2023, Volume and Issue: 27(6), P. 737 - 762

Published: Feb. 24, 2023

Abstract In recent years, drug manufacturers and researchers have begun to consider the nanobiotechnology approach improve delivery system for tumour cancer diseases. this article, we review current strategies delivery, which mainly focuses on sustaining biocompatibility, biodistribution, active targeting. The conventional therapy using cornerstone drugs such as fludarabine, cisplatin etoposide, paclitaxel has its own challenges especially not being able discriminate between versus normal cells eventually led toxicity side effects in patients. contrast approach, nanoparticle‐based provides target‐specific controlled release of drug, a better therapeutic window treatment options by focusing eradication diseased via targeting sparing passive Additionally, tumours associated with brain is hampered impermeability blood–brain barriers drugs, poor survival Nanoparticle‐based offers superior target breaching barriers. Herein, provide an overview properties nanoparticles that are crucial nanotechnology applications. We address potential future applications specific or desired areas. particular, use nanomaterials, biostructures, methods targeted explored.

Language: Английский

Citations

34

Biohybrid microrobots regulate colonic cytokines and the epithelium barrier in inflammatory bowel disease DOI
Zhengxing Li, Yaou Duan, Fangyu Zhang

et al.

Science Robotics, Journal Year: 2024, Volume and Issue: 9(91)

Published: June 26, 2024

Cytokines have been identified as key contributors to the development of inflammatory bowel disease (IBD), yet conventional treatments often prove inadequate and carry substantial side effects. Here, we present an innovative biohybrid robotic system, termed “algae-MΦNP-robot,” for addressing IBD by actively neutralizing colonic cytokine levels. Our approach combines moving green microalgae with macrophage membrane–coated nanoparticles (MΦNPs) efficiently capture proinflammatory cytokines “on fly.” The dynamic algae-MΦNP-robots outperformed static counterparts enhancing removal through continuous movement, better distribution, extended retention in colon. This system is encapsulated oral capsule, which shields it from gastric acidity ensures functionality upon reaching targeted site. resulting algae-MΦNP-robot capsule effectively regulated levels, facilitating healing damaged epithelial barriers. It showed markedly improved prevention treatment efficacy a mouse model demonstrated excellent biosafety profile. Overall, our offers promising efficient solution IBD, cytokine-related inflammation effectively.

Language: Английский

Citations

12

Insect‐Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque DOI Creative Commons
Jinsheng Zhao, Xin Chen, Jiaqi Zhu

et al.

Advanced Materials, Journal Year: 2024, Volume and Issue: 36(24)

Published: March 11, 2024

Abstract Multimodal and controllable locomotion in complex terrain is of great importance for practical applications insect‐scale robots. Robust plays a particularly critical role. In this study, mechanism magnetic robots based on asymmetrical friction effect induced by torque revealed defined. The defined overcomes the design constraints imposed both robot substrate structures, enabling realization multimodal terrains. Drawing inspiration from human walking running locomotion, biped proposed, which not only exhibits rapid across substrates with varying coefficients but also achieves precise along patterned trajectories through programmed controlling. Furthermore, apart its exceptional locomotive capabilities, demonstrates remarkable robustness terms load‐carrying weight‐bearing performance. presented herein introduce novel concept designing while offering extensive possibilities robotics.

Language: Английский

Citations

9

Magnetic Micro/Nanorobots: A New Age in Biomedicines DOI Creative Commons
Dong Liu, Ruirui Guo, Bin Wang

et al.

Advanced Intelligent Systems, Journal Year: 2022, Volume and Issue: 4(12)

Published: Nov. 6, 2022

Micro‐/nanorobots have tremendous potential in biomedical applications, as they efficiently and accurately perform local diagnosis targeted therapy. A magnetic field provides a wireless mean to drive control micro/nanorobots. This method requires no fuel is convenient for debugging, reconfiguration, programmability; it recyclable allows nondestructive penetration of biological tissue. The successful integration well‐designed robots, remote actuation systems, imaging techniques has become crucial step toward particularly vivo implementations. Herein, the fabrication methods micro/nanorobots are examined, driving mechanism explained, development transport tools load deliver drugs, reagents, live cells traced. Applications these expanding surgical sample collection, ophthalmic surgery, biofilm degradation vitro relying on light, sound, magnetism. Finally, challenges faced by applications their future prospects discussed.

Language: Английский

Citations

30

Bioinspired Anisotropic Slippery Cilia for Stiffness-Controllable Bubble Transport DOI
Chunhui Zhang, Xiao Xiao, Yuheng Zhang

et al.

ACS Nano, Journal Year: 2022, Volume and Issue: 16(6), P. 9348 - 9358

Published: May 16, 2022

Bubbles play a crucial role in multidisciplinary industrial applications, e.g., heat transfer and mass transfer. However, existing methods to manipulate bubbles still face many challenges, such as buoyancy inhibition, hydrostatic pressure, gas dissolving, easy deformability, so on. To circumvent these constraints, here we develop bioinspired anisotropic slippery cilia surface achieve an elegant bubble transport by tuning its elastic modulus, which results from the different contacts of with cilia, i.e., soft will be easily bent motion, while hard pierce into bubble, consequently leading asymmetric three-phase contact line resistance force. Moreover, real-time arbitrarily directional manipulation is also demonstrated applying external magnetic field, enabling scalable operation remote manner. Our work exhibits strategy regulating behavior smartly, update wide range gas-related sciences or technologies including evolution reactions, transfer, microfluidics,

Language: Английский

Citations

29