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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-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 *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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Shape effect of prodrug nanoassemblies on treatment efficacy of cancer therapy

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Nano Research 2025年第2期18卷 616-626页

作者： Fengxiang Liu Rongzheng Liu Xiaoyuan Fan Xia Wang Kaiyuan Wang Hainan Zhao Hao Ye Shunzhe Zheng Xiao Kuang Yinxian Yang Haotian Zhang Qiming Kan Zhonggui He Jian Chen Jin Sun Department of Pharmaceutics Wuya College of InnovationShenyang Pharmaceutical UniversityShenyang 110016China School of Pharmacy Shenyang Pharmaceutical UniversityShenyang 110016China Nephrology department The First Affiliated Hospital of Jinzhou Medical UniversityJinzhou 121000China Multi-Scale Robotics Lab(MSRL) Institute of Robotics&Intelligent Systems(IRIS)ETH Zurich 8092Switzerland School of Life Science and Biopharmaceutics Shenyang Pharmaceutical UniversityShenyang 110016China Joint International Research Laboratory of Intelligent Drug Delivery Systems Ministry of EducationShenyang 110016China School of Pharmacy Shanghai Jiao Tong UniversityShanghai 200240China

The tumor microenvironment-sensitive prodrug-based nanoparticles(NPs)have emerged as a promising drug delivery system(DDS).The shape of these particles plays a crucial role in their in vivo ***,non-spherical organic NPs are rarely reported due to the inherent flexibility and variability of organic ***,we fabricate reduction-sensitive prodrug NPs and explore the impact of their morphology properties on their in vivo *** are self-assembled into spherical NPs with distearoyl phosphoethanolamine-PEG2000(DSPE-PEG2k),or into rod-shaped NPs with D-a-tocopherol polyethylene glycol 2000 succinate(TPGS2k)due to the stronger binding *** comparison with spherical NPs,the endocytosis of rod-shaped NPs predominantly relies on caveolae-mediated pathways rather than clathrin-mediated ones,potentially avoiding degradation by ***,the rod-shaped NPs exhibit prolonged circulation time,increased tumor accumulation,and enhanced antitumor *** current findings reveal the significant effect of particle shape on the behavior of prodrug NPs and introduce a novel paradigm for high-efficacy cancer therapy of prodrug NPs.

关键词： camptothecin self-assembly prodrug-based nanoparticles nanorod cancer therapy

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Force microscopy of the Caenorhabditis elegans embryonic eggshell

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Microsystems & Nanoengineering 2020年第1期6卷 1029-1039页

作者： Roger Krenger Jan T.Burri Thomas Lehnert Bradley J.Nelson Martin A.M.Gijs Laboratory of Microsystems Ecole Polytechnique Federale de Lausanne1015 LausanneSwitzerland Multi-Scale Robotics Laboratory ETH ZurichZürich 8092Switzerland

Assays focusing on emerging biological phenomena in an animal’s life can be performed during *** the embryo of Caenorhabditis elegans has been extensively studied,its biomechanical properties are largely ***,we demonstrate that cellular force microscopy(CFM),a recently developed technique that combines micro-indentation with high resolution force sensing approaching that of atomic force microscopy,can be successfully applied to *** *** performed,for the first time,a quantitative study of the mechanical properties of the eggshell of living *** embryos and demonstrate the capability of the system to detect alterations of its mechanical parameters and shell defects upon chemical *** addition to investigating natural eggshells,we applied different eggshell treatments,i.e.,exposure to sodium hypochlorite and chitinase solutions,respectively,that selectively modified the multilayer eggshell structure,in order to evaluate the impact of the different layers on the mechanical integrity of the *** element method simulations based on a simple embryo model were used to extract characteristic eggshell parameters from the experimental micro-indentation force-displacement *** found a strong correlation between the severity of the chemical treatment and the rigidity of the ***,our results showed,in contrast to previous assumptions,that short bleach treatments not only selectively remove the outermost vitelline layer of the eggshell,but also significantly degenerate the underlying chitin layer,which is primarily responsible for the mechanical stability of the egg.

关键词： remove rigidity approaching

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Acoustically Excited Channel Walls for Microbiological Applications 25

Acoustically Excited Channel Walls for Microbiological Appli...

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25th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2021

作者： Gerlt, Michael Läubli, Nino Ruppen, Peter Leuthner, Moritz Manser, Michel Wüthrich, Alexander Nelson, Bradley Panke, Sven Dual, Jürg ETH Zürich Mechanics and Experimental Dynamics Switzerland ETH Zürich Multi-Scale Robotics Lab Switzerland ETH Zürich Bioprocess Laboratory Switzerland

ISBN: (纸本)9781733419031

This work presents a novel concept for acoustofluidic cell manipulation: thin vibrating channel walls. Improved etch recipes enable us to produce thin walls between two microfluidic channels, fabricated in silicon or via PDMS casting, that can be used for challenging microbiological applications. We demonstrate the medium exchange for bacteria utilised for transformation, single-cell rotation for 3D imaging, and rapid fluid mixing. © 2021 MicroTAS 2021 - 25th International Conference on Miniaturized Systems for Chemistry and Life Sciences. All rights reserved.

关键词： Bacteria

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Non-invasive urinary bladder volume estimation with artefact-suppressed bio-impedance measurements

arXiv

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arXiv 2023年

作者： Dheman, Kanika Walser, Stefan Mayer, Philipp Eggimann, Manuel Kozomara, Marko Franke, Denise Hermanns, Thomas Sax, Hugo Schürle, Simone Magno, Michele Project Based Learning Center ETH Zürich Switzerland Multi-Scale Robotics Lab ETH Zürich Switzerland Integrated Systems Laboratory ETH Zürich Switzerland Department of Infectious Diseases Bern University Hospital University of Berm Switzerland Klinik für Urologie Unispital Zurich Switzerland Responsive Biomedical Systems Laboratory ETH Zurich Switzerland

Urine output is a vital parameter to gauge kidney health. Current monitoring methods include manually written records, invasive urinary catheterization or ultrasound measurements performed by highly skilled personnel. Catheterization bears high risks of infection while intermittent ultrasound measures and manual recording are time consuming and might miss early signs of kidney malfunction. Bioimpedance (BI) measurements may serve as a non-invasive alternative for measuring urine volume in vivo. However, limited robustness have prevented its clinical translation. Here, a deep learning-based algorithm is presented that processes the local BI of the lower abdomen and suppresses artefacts to measure the bladder volume quantitatively, non-invasively and without the continuous need for additional personnel. A tetrapolar BI wearable system called ANUVIS was used to collect continuous bladder volume data from three healthy subjects to demonstrate feasibility of operation, while clinical gold standards of urodynamic (n=6) and uroflowmetry tests (n=8) provided the ground truth. Optimized location for electrode placement and a model for the change in BI with changing bladder volume is deduced. The average error for full bladder volume estimation and for residual volume estimation was -29±87.6 ml, thus, comparable to commercial portable ultrasound devices (Bland Altman analysis showed a bias of -5.2 ml with LoA between 119.7 ml to -130.1 ml), while providing the additional benefit of hands-free, non-invasive, and continuous bladder volume estimation. The combination of the wearable BI sensor node and the presented algorithm provides an attractive alternative to current standard of care with potential benefits in providing insights into kidney function. Copyright © 2023, The Authors. All rights reserved.

关键词： Risk assessment

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Analysis of the navigation of magnetic microrobots through cerebral bifurcations

arXiv

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arXiv 2025年

作者： Alves, Pedro G. Pinto, Maria Moreira, Rosa Sivakumaran, Derick Landers, Fabian C. Guix, Maria Nelson, Bradley J. Flouris, Andreas D. Pané, Salvador Puigmartí-Luis, Josep Mayor, Tiago Sotto Engineering Faculty Porto University Portugal Engineering Faculty Porto University Portugal Experian Portugal Magnebotix Zurich Switzerland Multi-Scale Robotics Lab ETH Zurich Zurich Switzerland FAME Laboratory Department of Exercise Science University of Thessaly Greece Depart. de Ciència dels Materials i Química Física Institut de Química Teòrica i Computacional University of Barcelona Barcelona Spain Barcelona Spain

Local administration of thrombolytics in ischaemic stroke could accelerate clot lysis and the ensuing reperfusion while minimizing the side effects of systemic administration. Medical microrobots could be injected into the bloodstream and magnetically navigated to the clot for administering the drugs directly to the target. The magnetic manipulation required to navigate medical microrobots will depend on various parameters such as the microrobots size, the blood velocity, and the imposed magnetic field gradients. Numerical simulation was used to study the motion of magnetically controlled microrobots flowing through representative cerebral bifurcations, for predicting the magnetic gradients required to navigate the microrobots from the injection point until the target location. Upon thorough validation of the model against several independent analytical and experimental results, the model was used to generate maps and a predictive equation providing quantitative information on the required magnetic gradients, for different scenarios. The developed maps and predictive equation are crucial to inform the design, operation and optimization of magnetic navigation systems for healthcare applications. © 2025, CC BY-NC-ND.

关键词： Controlled drug delivery

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Development of a magnetoelectric neural stimulator for in vitro experiments

Development of a magnetoelectric neural stimulator for in vi...

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IEEE Biomedical Circuits and Systems (BIOCAS)

作者： Stratis Matsoukis Joana Covelo Maria V. Sanchez-Vives Andrea Veciana Donghoon Kim Xiang-Zhong Chen Salvador Pané Hidelberto Macedo-Zamudio Ulrike Wallrabe Ren Xu Guenter Edlinger Josef Scharinger G.tec Medical Engineering GmbH Austria Institute for Computational Perception Johannes Kepler University Linz Austria Institut D'Investigacions Biomèdiques August Pi i Sunyer (IDIBAPS) Barcelona Spain Institució Catalana de Recerca i Estudis Avançats (ICREA) Barcelona Spain Multi-Scale Robotics Lab (MSRL) Institute of Robotics and Intelligent Systems (IRIS) ETH Zurich Zurich Switzerland Laboratory for Microactuators IMTEK Albert-Ludwigs-Universität Freiburg Freiburg Germany

Magnetoelectric (ME) materials hold the potential for wireless and minimally invasive brain stimulation with high spatial precision. However, comprehensive integration of ME materials in neurophysiology experiments remains an open challenge. In this study, we present the development of a ME stimulator prototype for in vitro brain stimulation, specifically tested with BiFeO 3 -CoFe 2 O 4 (BFO-CFO) nanoparticles. Our approach entails the design and implementation of a ME stimulator, which seamlessly integrates with existing electrophysiology setups while supporting a wide range of frequencies. To optimize the stimulator's design and evaluate its performance, we conducted modeling and simulations, bench tests, and in vitro experiments using cortical slices. The proposed ME stimulator offers neuroscientists a reliable and versatile tool to advance their understanding of brain function and potentially enhance the treatment of neurological disorders.

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Toward Lung Ultrasound Automation: Fully Autonomous Robotic Longitudinal and Transverse Scans Along Intercostal Spaces

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 768-781页

作者： Long Lei Yingbai Hu Zixing Jiang Juzheng Miao Xiao Luo Yu Zhang Qiong Wang Shujun Wang Zheng Li Pheng-Ann Heng Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Multi-Scale Medical Robotics Centre Ltd. The Chinese University of Hong Kong Hong Kong China Department of Surgery The Chinese University of Hong Kong Hong Kong China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Biomedical Engineering The Hong Kong Polytechnic University Hong Kong China Department of Surgery Chow Yuk Ho Technology Centre for Innovative Medicine Li Ka Shing Institute of Health Sciences and Multiscale Medical Robotics Centre Ltd. The Chinese University of Hong Kong Hong Kong China

Lung ultrasound scanning is essential for diagnosing lung diseases. The scan effectiveness critically depends on both longitudinal and transverse scans through intercostal spaces to reduce rib shadowing interference, as well as maintaining the probe perpendicular to pleura for pathological artifact generation. Achieving this level of scan quality often depends heavily on the experience of doctors. Robotic ultrasound scanning shows promise, but currently lacks a direct path planning method for intercostal scanning, and probe orientation does not consider imaging differences between lungs and solid organs. In this paper, we aim to fully automate two fundamental operations in lung ultrasound scanning: longitudinal and transverse scans. We propose pioneering path planning methods along intercostal spaces and innovative solutions for adaptive probe posture adjustment using real-time pleural line feedback, specifically addressing the unique characteristics of lung ultrasound scanning. This ensures the acquisition of high-quality, diagnostically meaningful ultrasound images. In addition, we develop a robotic lung ultrasound system to validate the proposed methods. Extensive experimental results on two volunteers and a chest phantom confirm the efficacy of our methods, and demonstrate the system’s feasibility in automated lung ultrasound examinations. Our work lays a solid foundation for automated robotic complete lung scanning.

关键词： Ultrasonic imaging Lungs Probes Robots Robot kinematics Medical robotics Ribs Medical services Surface morphology Computed tomography

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Biomechanical study of living caenorhabditis elegans embryos using cellular force microscopy 23

Biomechanical study of living caenorhabditis elegans embryos...

引用

23rd International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2019

作者： Krenger, Roger Burri, Jan T. Lehnert, Thomas Nelson, Bradley J. Gijs, Martin A.M. Laboratory of Microsystems LMIS2 EPFL Lausanne Switzerland Multi-Scale Robotics Lab MSRL ETH Zürich Switzerland

The Caenorhabditis elegans embryo has been extensively studied, however, its biomechanical properties are largely unknown for the time being. In this work, we performed for the first time a quantitative study of the m... 详细信息

ISBN: (纸本)9781733419000

关键词： Biomechanics

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Novel Methods Inspired by Reinforcement Learning Actor-Critic Mechanism for Eye-in-Hand Calibration in robotics

Novel Methods Inspired by Reinforcement Learning Actor-Criti...

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IEEE International Conference on Development and Learning, ICDL

作者： Chenxing Li Yinlong Liu Yingbai Hu Fabian Schreier Jan Seyler Shahram Eivazi Department of Computer Science University of Tübingen Tübingen Germany Advanced Development Analytics and Control Festo SE and Co. KG Esslingen Germany State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC) University of Macau Macau China HUA Cloud Intelligent Healthcare Co. Ltd. Ningbo China Multi-Scale Medical Robotics Centre and the Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong Kong Hong Kong China

Eye-in-hand camera calibration is an essential step in robotic vision systems. Traditional methods perform the calibration via geometry computation methods where the calibration points are acquired by moving the robot arm while capturing images of a static object (often a checkerboard) of known geometry. Our work aims to explore deep reinforcement learning (DRL) techniques for solving common calibration optimization problems. Inspired by the actor-critic mechanism of DRL, we propose a novel approach to perform eye-in-hand camera calibration on the robot arm. Numerical and real-world experiments prove the feasibility of the proposed method as such here we show the potential of the reinforcement learning method to solve the camera calibration problem.

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