IEEE Transactions on Systems Man and Cybernetics Systems,
Год журнала:
2024,
Номер
54(7), С. 4139 - 4150
Опубликована: Март 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.
Advanced Materials,
Год журнала:
2022,
Номер
34(52)
Опубликована: Апрель 6, 2022
Cancer
is
one
of
the
most
intractable
diseases
owing
to
its
high
mortality
rate
and
lack
effective
diagnostic
treatment
tools.
Advancements
in
micro-/nanorobot
(MNR)-assisted
sensing,
imaging,
therapeutics
offer
unprecedented
opportunities
develop
MNR-based
cancer
theragnostic
platforms.
Unlike
ordinary
nanoparticles,
which
exhibit
Brownian
motion
biofluids,
MNRs
overcome
viscous
resistance
an
ultralow
Reynolds
number
(Re
<<
1)
environment
by
self-propulsion.
This
unique
locomotion
property
has
motivated
advanced
design
functionalization
as
a
basis
for
next-generation
cancer-therapy
platforms,
potential
precise
distribution
improved
permeation
therapeutic
agents.
Enhanced
barrier
penetration,
imaging-guided
operation,
biosensing
are
additionally
studied
enable
promising
cancer-related
applications
MNRs.
Herein,
recent
advances
therapy
comprehensively
addresses,
including
actuation
engines,
diagnostics,
medical
targeted
drug
delivery;
research
that
can
have
profound
impact
on
over
next
decade
highlighted.
Swimming
microrobots
guided
in
the
circulation
system
offer
considerable
promise
precision
medicine
but
currently
suffer
from
problems
such
as
limited
adhesion
to
blood
vessels,
intensive
flow,
and
immune
clearance-all
reducing
targeted
interaction.
A
swimming
microrobot
design
with
clawed
geometry,
a
red
cell
(RBC)
membrane-camouflaged
surface,
magnetically
actuated
retention
is
discussed,
allowing
better
navigation
inspired
by
tardigrade's
mechanical
claw
engagement,
coupled
an
RBC
membrane
coating,
minimize
flow
impact.
Using
clinical
intravascular
optical
coherence
tomography
vivo,
microrobots'
activity
dynamics
rabbit
jugular
vein
was
monitored,
illustrating
very
effective
magnetic
propulsion,
even
against
of
~2.1
cm/s,
comparable
characteristics.
The
equivalent
friction
coefficient
elevated
~24-fold,
compared
microspheres,
achieving
active
at
3.2
for
>36
hours,
showing
across
biomedical
applications.
Advanced Intelligent Systems,
Год журнала:
2023,
Номер
5(6)
Опубликована: Март 1, 2023
The
magnetic
field
has
unique
advantages
in
manipulating
miniature
robots
working
inside
the
human
body,
such
as
high
transparency
to
biological
tissue
and
good
controllability
for
generation.
Generally,
actuated
robot
can
be
classified
into
two
categories:
tethered
devices
like
intravascular
microcatheters
untethered
helical
swimmers.
Among
these,
have
a
long
history
clinical
application
prospects,
considering
their
high‐dose
delivery
easy
removal
after
procedure.
As
an
evolution
of
traditional
continuum
medical
devices,
integration
with
actuation
provides
them
better
scalability
improved
dexterity.
Although
rapidly
developed
last
decades,
requires
further
advancements
terms
design,
fabrication,
modeling,
control,
especially
applications.
Herein,
recent
progress
magnetically
is
focused
on,
intending
offer
readers
comprehensive
survey
state‐of‐the‐art
technologies
information
collection
future
system
design.
Abstract
A
major
bottleneck
underlying
nanomaterial‐based
tumor
therapy
lies
in
complex
biological
environment
and
physiological
barriers.
Micro/nanorobots
with
the
features
of
self‐propulsion
controllable
navigation
have
gradually
become
a
research
hotspot
therapeutic
community,
exhibiting
their
advantages
efficient
cargo
loading,
delivery,
stimuli‐triggered
release,
deeper
tissue
penetration,
enhanced
accumulation
tissue.
In
this
review,
are
introduced
as
two
properties
micro/nanorobots,
which
micro/nanorobots
propelled
by
chemical
reactions,
physical
fields,
systems
could
be
navigated
chemotaxis,
remote
magnetic
guidance,
light.
Then,
recent
advances
for
chemotherapy,
immunotherapy,
photothermal
therapy,
photodynamic
chemodynamic
multimodal
would
discussed.
Finally,
perspective
challenges
also
mentioned.
It
is
expected
that
review
gives
an
insight
into
intelligent
improved
aiming
more
extensive
in‐depth
investigations,
final
applications
clinic.
Micro/nanorobotic
swarms
consisting
of
numerous
tiny
building
blocks
show
great
potential
in
biomedical
applications
because
their
collective
active
delivery
ability,
enhanced
imaging
contrast,
and
environment-adaptive
capability.
However,
vivo
real-time
tracking
micro/nanorobotic
remain
a
challenge,
considering
the
limited
size
spatial-temporal
resolution
current
modalities.
Here,
we
propose
strategy
that
enables
navigation
microswarm
stagnant
flowing
blood
environments
by
using
laser
speckle
contrast
(LSCI),
featuring
full-field
imaging,
high
temporal-spatial
resolution,
noninvasiveness.
The
change
dynamic
convection
induced
can
be
quantitatively
investigated
analyzing
perfusion
unit
(PU)
distribution,
offering
an
alternative
approach
to
investigate
swarm
behavior
its
interaction
with
various
environments.
Both
surrounding
environment
were
monitored
imaged
LSCI
real
time,
images
further
analyzed
for
simultaneous
complex
vascular
system.
Moreover,
our
realized
vivo,
showing
promising
LSCI-guided
Chemical Society Reviews,
Год журнала:
2024,
Номер
53(5), С. 2284 - 2299
Опубликована: Янв. 1, 2024
A
biofilm
constitutes
a
bacterial
community
encased
in
sticky
matrix
of
extracellular
polymeric
substances.
These
intricate
microbial
communities
adhere
to
various
host
surfaces
such
as
hard
and
soft
tissues
well
indwelling
medical
devices.
aggregates
form
robust
substances
(EPSs),
leading
the
majority
human
infections.
Such
infections
tend
exhibit
high
resistance
treatment,
often
progressing
into
chronic
states.
The
EPS
protects
bacteria
from
hostile
environment
prevents
penetration
antibacterial
agents.
Modern
robots
at
nano,
micro,
millimeter
scales
are
highly
attractive
candidates
for
biomedical
applications
due
their
diverse
functionalities,
navigating
confined
spaces
targeted
multitasking.
In
this
tutorial
review,
we
describe
key
milestones
strategies
developed
removal
eradication
biofilms
using
different
sizes
shapes.
It
can
be
seen
that
useful
effective
tools
treating
biofilms,
thus
preventing
persistent
infections,
loss
costly
implanted
devices,
additional
costs
associated
with
hospitalization
therapies.
Catheters
navigating
through
complex
vessels,
such
as
sharp
turns
or
multiple
U-turns,
remain
challenging
for
vascular
embolization.
Here,
we
propose
a
novel
multistage
embolization
strategy
hard-to-reach
vessels
that
releases
untethered
swimming
shape-memory
magnetic
microrobots
(SMMs)
from
the
prior
catheter
to
vessel
bifurcation.
SMMs,
made
of
organo-gel
with
particles,
ensure
biocompatibility,
radiopacity,
thrombosis,
and
fast
thermal
responses.
An
SMM
is
initially
linear
shape
0.5-mm
diameter
at
20
°C
inserted
in
catheter.
It
transforms
into
predetermined
helix
within
2
s
38
blood
temperature
after
being
pushed
out
blood.
SMMs
enable
agile
confined
tortuous
can
swim
upstream
using
helical
propulsion
rotating
fields.
Moreover,
validated
this
living
rabbits,
completing
100-cm
travel
renal
artery
min.
After
4
weeks,
maintained
embolic
position,
kidney
volume
decreased
by
36%.
Chemical Society Reviews,
Год журнала:
2024,
Номер
53(18), С. 9190 - 9253
Опубликована: Янв. 1, 2024
Autonomous
micro/nanorobots
capable
of
performing
programmed
missions
are
at
the
forefront
next-generation
micromachinery.
These
small
robotic
systems
predominantly
constructed
using
functional
components
sourced
from
micro-
and
nanoscale
materials;
therefore,
combining
them
with
various
advanced
materials
represents
a
pivotal
direction
toward
achieving
higher
level
intelligence
multifunctionality.
This
review
provides
comprehensive
overview
for
innovative
micro/nanorobotics,
focusing
on
five
families
that
have
witnessed
most
rapid
advancements
over
last
decade:
two-dimensional
materials,
metal-organic
frameworks,
semiconductors,
polymers,
biological
cells.
Their
unique
physicochemical,
mechanical,
optical,
properties
been
integrated
into
to
achieve
greater
maneuverability,
programmability,
intelligence,
multifunctionality
in
collective
behaviors.
The
design
fabrication
methods
hybrid
discussed
based
material
categories.
In
addition,
their
promising
potential
powering
motion
and/or
(multi-)functionality
is
described
fundamental
principles
underlying
explained.
Finally,
extensive
use
variety
applications,
including
environmental
remediation,
(bio)sensing,
therapeutics,
The European Physical Journal E,
Год журнала:
2025,
Номер
48(2)
Опубликована: Фев. 1, 2025
In
the
past
years,
amount
of
research
on
active
matter
has
grown
extremely
rapidly,
a
fact
that
is
reflected
in
particular
by
existence
more
than
1000
reviews
this
topic.
Moreover,
field
become
very
diverse,
ranging
from
theoretical
studies
statistical
mechanics
particles
to
applied
work
medical
applications
microrobots
and
biological
systems
artificial
swimmers.
This
makes
it
difficult
get
an
overview
over
as
whole.
Here,
we
provide
such
form
metareview
article
surveys
existing
review
articles
books
matter.
Thereby,
provides
useful
starting
point
for
finding
literature
about
specific
