Thermally Drawn-Based Microtubule Soft Continuum Robot for Cardiovascular Intervention.

Cardiovascular disease is becoming the leading cause of human mortality. In order to address this, flexible continuum robots have emerged as a promising solution for miniaturizing and automating vascular interventional equipment for diagnosing and treating cardiovascular diseases. However, existing continuum robots used for vascular intervention face challenges such as large cross-sectional sizes, inadequate driving force, and lack of navigation control, preventing them from accessing cerebral blood vessels or capillaries for medical procedures. Additionally, the complex manufacturing process and high cost of soft continuum robots hinder their widespread clinical application. In this study, we propose a thermally drawn-based microtubule soft continuum robot that overcomes these limitations. The proposed robot has cross-sectional dimensions several orders of magnitude smaller than the smallest commercially available conduits, and it can be manufactured without any length restrictions. By utilizing a driving strategy based on liquid kinetic energy advancement and external magnetic field for steering, the robot can easily navigate within blood vessels and accurately reach the site of the lesion. This innovation holds the potential to achieve controlled navigation of the robot throughout the entire blood vessel, enabling in situ diagnosis and treatment of cardiovascular diseases.

Inchworm-like Soft Robot with Multi-Responsive Bilayer Films.

As an important branch of robotics, soft robots have the advantages of strong flexibility, a simple structure, and high safety. These characteristics enable soft robots to be widely used in various fields such as biomedicine, military reconnaissance, and micro space exploration. However, contemporary soft crawling robots still face problems such as the single drive mode and complex external equipment. In this study, we propose an innovative design of an inchworm-like soft crawling robot utilizing the synergistic interaction of electricity and moisture for its hybrid dual-drive locomotion. The legs of the soft robot are mainly made of GO-CNT/PE composite film, which can convert its own volume expansion into a corresponding bending motion after being stimulated by electricity or moisture. Unlike other drive methods, it requires less power and precision from external devices. The combination of the two driving methods greatly improves the environmental adaptability of the soft robot, and we developed visible light as the driving method on the basis of the dual drive. Finally, we also verified the robot's excellent load capacity, climbing ability, and optical drive effect, which laid the foundation for the application of soft robots in the future.

Bioinspired soft microrobots actuated by magnetic field.

In contrast to traditional large-scale robots, which require complicated mechanical joints and material rigidity, microrobots made of soft materials have exhibited amazing features and great potential for extensive applications, such as minimally invasive surgery. However, microrobots are faced with energy supply and control issues due to the miniaturization. Magnetic field actuation emerges as an appropriate approach to tackle with these issues. This review summarizes the latest progress of biomimetic soft microrobots actuated by magnetic field. Starting with an overview of the soft material and magnetic material adopted in the magnetic field actuated soft microrobots, the various fabrication methods and design structures of soft microrobots are summarized. Subsequently, practical and potential applications, such as targeted therapy, surgical operation, and the transportation of microscopic objects, in the fields of biomedicine and environmental remediation are presented. In the end, some current challenges, and the future development trends of magnetic soft microrobots are briefly discussed. This review is expected to offer a helpful guidance for the new researchers of biomimetic soft microrobots actuated by magnetic field.

Recent progress in magnetic applications for micro- and nanorobots.

In recent years, magnetic micro- and nanorobots have been developed and extensively used in many fields. Actuated by magnetic fields, micro- and nanorobots can achieve controllable motion, targeted transportation of cargo, and energy transmission. The proper use of magnetic fields is essential for the further research and development of micro- and nanorobotics. In this article, recent progress in magnetic applications in the field of micro- and nanorobots is reviewed. First, the achievements of manufacturing micro- and nanorobots by incorporating different magnetic nanoparticles, such as diamagnetic, paramagnetic, and ferromagnetic materials, are discussed in detail, highlighting the importance of a rational use of magnetic materials. Then the innovative breakthroughs of using different magnetoelectric devices and magnetic drive structures to improve the micro- and nanorobots are reviewed. Finally, based on the biofriendliness and the precise and stable performance of magnetic micro- and nanorobots in microbial environments, some future challenges are outlined, and the prospects of magnetic applications for micro- and nanorobots are presented.

Visible Light-Driven Jellyfish-like Miniature Swimming Soft Robot.

Soft actuators that exhibit large deformation and can move at a fast speed in response to external stimuli have been in high demand for biomimetic applications. In this paper, we propose a convenient approach to fabricate a reversible and thermal-responsive composite hydrogel. Under the irradiation of visible light, the striped hydrogel can bend at a speed of up to 65.72°/s with carbon nanotubes loaded at a concentration of 3 mg/mL. A jellyfish-like miniature soft robot is made using this hydrogel. When driven by visible light, the robot can move at a maximum speed of 3.37 mm/s. Besides swimming, other motion modes, including walking and jumping, are also achieved by the robot. In addition, the robot can perform directional transportation of tiny objects. As a new actuation approach for the research of jellyfish-like miniature soft robots, this work is of great significance to the development of flexible bionic robots. Moreover, this work also offers some important insights into the research of biomimetic robots driven by visible light.

Biomimetic soft micro-swimmers: from actuation mechanisms to applications.

Underwater robot designs inspired by the behavior and morphological characteristics of aquatic animals can provide reinforced mobility and energy efficiency. In the past two decades, the emerging materials science and integrated circuit technology have been combined and applied to various types of bionic soft underwater miniaturized robots by researchers around the world. Further, the potential applications of biomimetic soft micro-swimmers in the biological and medical fields have been explored. Here, this paper reviews the development of biomimetic soft tiny swimmers, which are designed based on a variety of intelligent materials and control strategies. This review focuses on the various actuation mechanisms of soft tiny swimmers reported in the past two decades and classifies these robots into four categories: fish-like, snake-like, jellyfish-like and microbial-inspired ones. Besides, this review considers the practical challenges faced by actuation mechanisms of each type of robot, and summarizes and prospects how these challenges affect the potential applications of robots in real environments.

Enzyme-powered Janus platelet cell robots for active and targeted drug delivery.

Transforming natural cells into functional biocompatible robots capable of active movement is expected to enhance the functions of the cells and revolutionize the development of synthetic micromotors. However, present cell-based micromotor systems commonly require the propulsion capabilities of rigid motors, external fields, or harsh conditions, which may compromise biocompatibility and require complex actuation equipment. Here, we report on an endogenous enzyme-powered Janus platelet micromotor (JPL-motor) system prepared by immobilizing urease asymmetrically onto the surface of natural platelet cells. This Janus distribution of urease on platelet cells enables uneven decomposition of urea in biofluids to generate enhanced chemophoretic motion. The cell surface engineering with urease has negligible impact on the functional surface proteins of platelets, and hence, the resulting JPL-motors preserve the intrinsic biofunctionalities of platelets, including effective targeting of cancer cells and bacteria. The efficient propulsion of JPL-motors in the presence of the urea fuel greatly enhances their binding efficiency with these biological targets and improves their therapeutic efficacy when loaded with model anticancer or antibiotic drugs. Overall, asymmetric enzyme immobilization on the platelet surface leads to a biogenic microrobotic system capable of autonomous movement using biological fuel. The ability to impart self-propulsion onto biological cells, such as platelets, and to load these cellular robots with a variety of functional components holds considerable promise for developing multifunctional cell-based micromotors for a variety of biomedical applications.

Recent progress in perovskite solar cells: the perovskite layer.

Perovskite solar cells (PSCs) are set to be game changing components in next-generation photovoltaic technology due to their high efficiency and low cost. In this article, recent progress in the development of perovskite layers, which are the basis of PSCs, is reviewed. Achievements in the fabrication of high-quality perovskite films by various methods and techniques are introduced. The reported works demonstrate that the power conversion efficiency of the perovskite layers depends largely on their morphology and the crystalline quality. Furthermore, recent achievements concerning the scalability of perovskite films are presented. These developments aim at manufacturing large-scale perovskite solar modules at high speed. Moreover, it is shown that the development of low-dimensional perovskites plays an important role in improving the long-term ambient stability of PSCs. Finally, these latest advancements can enhance the competitiveness of PSCs in photovoltaics, paving the way for their commercialization. In the closing section of this review, some future critical challenges are outlined, and the prospect of commercialization of PSCs is presented.

Onion-like Multifunctional Microtrap Vehicles for Attraction-Trapping-Destruction of Biological Threats.

A multifunctional motile microtrap is developed that is capable of autonomously attracting, trapping, and destroying pathogens by controlled chemoattractant and therapeutic agent release. The onion-inspired multi-layer structure contains a magnesium engine core and inner chemoattractant and therapeutic layers. Upon chemical propulsion, the magnesium core is depleted, resulting in a hollow structure that exposes the inner layers and serves as structural trap. The sequential dissolution and autonomous release of the chemoattractant and killing agents result in long-range chemotactic attraction, trapping, and destruction of motile pathogens. The dissolved chemoattractant (l-serine) significantly increases the accumulation and capture of motile pathogens (E. coli) within the microtrap structure, while the internal release of silver ions (Ag+ ) leads to lysis of the pathogen accumulated within the microtrap cavity.

Rise of cyborg microrobot: different story for different configuration.

By integrating organic parts achieved through evolution and inorganic parts developed by human civilisation, the cyborg microrobot is rising by taking advantage of the high flexibility, outstanding energy efficiency, extremely exquisite structure in the natural components and the fine upgradability, nice controllability in the artefact parts. Compared to the purely synthetic microrobots, the cyborg microrobots, due to the exceptional biocompatibility and biodegradability, have already been utilised in in situ diagnosis, precise therapy and other biomedical applications. In this review, through a thorough summary of recent advances of cyborg microrobots, the authors categorise the cyborg microrobots into four major classes according to the configuration between biomaterials and artefact materials, i.e. microrobots integrated inside living cell, microrobots modified with biological debris, microrobots integrated with single cell and microrobots incorporated with multiple cells. Cyborg microrobots with the four types of configurations are introduced and summarised with the combination approaches, actuation mechanisms, applications and challenges one by one. Moreover, they conduct a comparison among the four different cyborg microrobots to guide the actuation force promotion, locomotion control refinement and future applications. Finally, conclusions and future outlook of the development and potential applications of the cyborg microrobots are discussed.

Untethered microgripper-the dexterous hand at microscale.

Untethered microgrippers that can navigate in hard-to-reach and unpredictable environments are significantly important for biomedical applications such as targeted drug delivery, micromanipulation, minimally invasive surgery and in vivo biopsy. Compared with the traditional tethered microgrippers, the wireless microgrippers, due to the exceptional characteristics such as miniaturized size, untethered actuation, dexterous and autonomous motion, are projected to be promising microtools in various future applications. In this review, we categorize the untethered microgrippers into five major classes, i.e. microgrippers responsive to thermal, microgrippers actuated by magnetic fields, microgrippers responsive to chemicals, light-driven microgrippers and hybrid actuated microgrippers. Firstly, the actuation mechanisms of these microgrippers are introduced. The challenges faced by these microgrippers are also covered in this part. With that, the fabrication methods of these microgrippers are summarized. Subsequently, the applications of microgrippers are presented. Additionally, we conduct a comparison among different actuation mechanisms to explore the advantages and potential challenges of various types of microgrippers. In the end of this review, conclusions and outlook of the development and potential applications of the microgrippers are discussed.

Mask-free fabrication of a versatile microwell chip for multidimensional cellular analysis and drug screening.

Cells are frequently studied because they are basic structural, functional, and biological units of living organisms. Extracting features from cellular behaviors can facilitate decision making in medical diagnoses and represents an important aspect in the development of biomedical engineering. Previous studies have just focused on either the individual cell or cell clusters separately, which leads to a great lack of information. Microwell technologies could address the challenges of in vitro cellular studies, from individual cell studies to 3D functional assays, by providing more information from smaller sample volumes and enabling the incorporation of low-cost high-throughput assays in the drug discovery process. To this end, the present study describes an easy-to-use method for fabricating a versatile microwell chip that utilizes a digital micro-mirror device printing system, and the chip can be employed in multidimensional cellular analysis, ranging from the single cell to the 3D spheroid level. The microwell manufacturing process, using a digital mask in place of a conventional physical mask, is based on shadowed light and is full of flexibility. Three different dimensions (single cell (1D), cell monolayer (2D) and cell spheroid (3D)) of one cell type can be formed using a microwell array and the analyses of biological characteristics are achieved separately. Single cells and cell clusters can be controlled via customized geometries of microfabricated selectively adhesive poly(ethylene glycol) diacrylate (PEGDA) wells. The effects of shape on cellular growth and hybrid tissue layers were investigated by peeling off the microwells. Furthermore, 3D multicellular spheroids were successfully established in a controllable and high-throughput format. Preclinical drug screening was investigated and distinct differences were observed in the tolerance response to drug testing between the 2D and 3D conditions. The study results further demonstrate that the high-density microwell chip is an easy-to-use multidimensional cellular analysis and rapid drug screening technique, and it could be easily adapted for a wide range of biological research applications.

Reconstruction of Kelvin probe force microscopy image with experimentally calibrated point spread function.

A Kelvin probe force microscopy (KPFM) image is sometimes difficult to interpret because it is a blurred representation of the true surface potential (SP) distribution of the materials under test. The reason for the blurring is that KPFM relies on the detection of electrostatic force, which is a long-range force compared to other surface forces. Usually, KPFM imaging model is described as the convolution of the true SP distribution of the sample with an intrinsic point spread function (PSF) of the measurement system. To restore the true SP signals from the blurred ones, the intrinsic PSF of the system is needed. In this work, we present a way to experimentally calibrate the PSF of the KPFM system. Taking the actual probe shape and experimental parameters into consideration, this calibration method leads to a more accurate PSF than the ones obtained from simulations. Moreover, a nonlinear reconstruction algorithm based on total variation (TV) regularization is applied to KPFM measurement to reverse the blurring caused by PSF during KPFM imaging process; as a result, noises are reduced and the fidelity of SP signals is improved.

Tandem polymer solar cells: simulation and optimization through a multiscale scheme.

In this paper, polymer solar cells with a tandem structure were investigated and optimized using a multiscale simulation scheme. In the proposed multiscale simulation, multiple aspects - optical calculation, mesoscale simulation, device scale simulation and optimal power conversion efficiency searching modules - were studied together to give an optimal result. Through the simulation work, dependencies of device performance on the tandem structures were clarified by tuning the thickness, donor/acceptor weight ratio as well as the donor-acceptor distribution in both active layers of the two sub-cells. Finally, employing searching algorithms, we optimized the power conversion efficiency of the tandem polymer solar cells and located the optimal device structure parameters. With the proposed multiscale simulation strategy, poly(3-hexylthiophene)/phenyl-C61-butyric acid methyl ester and (poly[2,6-(4,4-bis-(2-ethylhexyl)-4H-cyclopenta[2,1-b;3,4-b]dithiophene)-alt-4,7-(2,1,3-benzothiadiazole)])/phenyl-C61-butyric acid methyl ester based tandem solar cells were simulated and optimized as an example. Two configurations with different sub-cell sequences in the tandem photovoltaic device were tested and compared. The comparison of the simulation results between the two configurations demonstrated that the balance between the two sub-cells is of critical importance for tandem organic photovoltaics to achieve high performance. Consistency between the optimization results and the reported experimental results proved the effectiveness of the proposed simulation scheme.

A novel approach for extracting viscoelastic parameters of living cells through combination of inverse finite element simulation and Atomic Force Microscopy.

Dynamic mechanical behaviour of living cells has been described by viscoelasticity. However, quantitation of the viscoelastic parameters for living cells is far from sophisticated. In this paper, combining inverse finite element (FE) simulation with Atomic Force Microscope characterization, we attempt to develop a new method to evaluate and acquire trustworthy viscoelastic index of living cells. First, influence of the experiment parameters on stress relaxation process is assessed using FE simulation. As suggested by the simulations, cell height has negligible impact on shape of the force-time curve, i.e. the characteristic relaxation time; and the effect originates from substrate can be totally eliminated when stiff substrate (Young's modulus larger than 3 GPa) is used. Then, so as to develop an effective optimization strategy for the inverse FE simulation, the parameters sensitivity evaluation is performed for Young's modulus, Poisson's ratio, and characteristic relaxation time. With the experiment data obtained through typical stress relaxation measurement, viscoelastic parameters are extracted through the inverse FE simulation by comparing the simulation results and experimental measurements. Finally, reliability of the acquired mechanical parameters is verified with different load experiments performed on the same cell.

Selective pattern of cancer cell accumulation and growth using UV modulating printing of hydrogels.

Fabrication of extracellular microenvironment for cancer cell growth in vitro is an indispensable technique to precisely control the cell spatial arrangement and proliferation for cell-behavior research. Current micropatterning methods usually require relatively complicated operations, which makes it difficult to investigate the effects of different cell growth patterns. This manuscript proposes a DMD-based projection technique to quickly pattern a poly(ethylene) glycol diacrylate (PEGDA)-based hydrogel on a common glass substrate. Using this method, we can effectively control the growth patterns of cells. Compared with these traditional methods which employ digital dynamic mask, polymerization of PEGDA solution can be used to create arbitrary shaped microstructures with high efficiency, flexibility and repeatability. The duration of UV exposure is less than 10 s through controlling the projected illumination pattern. The ability of patterned PEGDA-coated film to hinder cell adhesion makes it possible to control area over which cells attach. In our experiments, we take advantage of the blank area to pattern cells, which allows cells to grow in various pre-designed shapes and sizes. And the patterning cells have a high viability after culturing for several days. Interestingly, we found that the restricted space could stiffen and strengthen the cells. These results indicate that cells and extracellular microenvironment can influence each other.