Immune Cell-Based Microrobots for Remote Magnetic Actuation, Antitumor Activity, and Medical Imaging.

Translating medical microrobots into clinics requires tracking, localization, and performing assigned medical tasks at target locations, which can only happen when appropriate design, actuation mechanisms, and medical imaging systems are integrated into a single microrobot. Despite this, these parameters are not fully considered when designing macrophage-based microrobots. This study presents living macrophage-based microrobots that combine macrophages with magnetic Janus particles coated with FePt nanofilm for magnetic steering and medical imaging and bacterial lipopolysaccharides for stimulating macrophages in a tumor-killing state. The macrophage-based microrobots combine wireless magnetic actuation, tracking with medical imaging techniques, and antitumor abilities. These microrobots are imaged under magnetic resonance imaging and optoacoustic imaging in soft-tissue-mimicking phantoms and ex vivo conditions. Magnetic actuation and real-time imaging of microrobots are demonstrated under static and physiologically relevant flow conditions using optoacoustic imaging. Further, macrophage-based microrobots are magnetically steered toward urinary bladder tumor spheroids and imaged with a handheld optoacoustic device, where the microrobots significantly reduce the viability of tumor spheroids. The proposed approach demonstrates the proof-of-concept feasibility of integrating macrophage-based microrobots into clinic imaging modalities for cancer targeting and intervention, and can also be implemented for various other medical applications.

Machine Learning-Based Shear Optimal Adhesive Microstructures with Experimental Validation.

Bioinspired fibrillar structures are promising for a wide range of disruptive adhesive applications. Especially micro/nanofibrillar structures on gecko toes can have strong and controllable adhesion and shear on a wide range of surfaces with residual-free, repeatable, self-cleaning, and other unique features. Synthetic dry fibrillar adhesives inspired by such biological fibrils are optimized in different aspects to increase their performance. Previous fibril designs for shear optimization are limited by predefined standard shapes in a narrow range primarily based on human intuition, which restricts their maximum performance. This study combines the machine learning-based optimization and finite-element-method-based shear mechanics simulations to find shear-optimized fibril designs automatically. In addition, fabrication limitations are integrated into the simulations to have more experimentally relevant results. The computationally discovered shear-optimized structures are fabricated, experimentally validated, and compared with the simulations. The results show that the computed shear-optimized fibrils perform better than the predefined standard fibril designs. This design optimization method can be used in future real-world shear-based gripping or nonslip surface applications, such as robotic pick-and-place grippers, climbing robots, gloves, electronic devices, and medical and wearable devices.

3D Printing of Elastomeric Bioinspired Complex Adhesive Microstructures.

Bioinspired elastomeric structural adhesives can provide reversible and controllable adhesion on dry/wet and synthetic/biological surfaces for a broad range of commercial applications. Shape complexity and performance of the existing structural adhesives are limited by the used specific fabrication technique, such as molding. To overcome these limitations by proposing complex 3D microstructured adhesive designs, a 3D elastomeric microstructure fabrication approach is implemented using two-photon-polymerization-based 3D printing. A custom aliphatic urethane-acrylate-based elastomer is used as the 3D printing material. Two designs are demonstrated with two combined biological inspirations to show the advanced capabilities enabled by the proposed fabrication approach and custom elastomer. The first design focuses on springtail- and gecko-inspired hybrid microfiber adhesive, which has the multifunctionalities of side-surface liquid super-repellency, top-surface liquid super-repellency, and strong reversible adhesion features in a single fiber array. The second design primarily centers on octopus- and gecko-inspired hybrid adhesive, which exhibits the benefits of both octopus- and gecko-inspired microstructured adhesives for strong reversible adhesion on both wet and dry surfaces, such as skin. This fabrication approach could be used to produce many other 3D complex elastomeric structural adhesives for future real-world applications.

The effect of substrate wettability and modulus on gecko and gecko-inspired synthetic adhesion in variable temperature and humidity.

Gecko adhesive performance increases as relative humidity increases. Two primary mechanisms can explain this result: capillary adhesion and increased contact area via material softening. Both hypotheses consider variable relative humidity, but neither fully explains the interactive effects of temperature and relative humidity on live gecko adhesion. In this study, we used live tokay geckos (Gekko gecko) and a gecko-inspired synthetic adhesive to investigate the roles of capillary adhesion and material softening on gecko adhesive performance. The results of our study suggest that both capillary adhesion and material softening contribute to overall gecko adhesion, but the relative contribution of each depends on the environmental context. Specifically, capillary adhesion dominates on hydrophilic substrates, and material softening dominates on hydrophobic substrates. At low temperature (12 °C), both capillary adhesion and material softening likely produce high adhesion across a range of relative humidity values. At high temperature (32 °C), material softening plays a dominant role in adhesive performance at an intermediate relative humidity (i.e., 70% RH).

Multifunctional magnetic hairbot for untethered osteogenesis, ultrasound contrast imaging and drug delivery.

To explore novel materials graded for biological functions is one of the grand challenges and ambitions of robotics. In this study, the design, development, and external guidance of micron-sized hair-derived robots (hairbots) are shown as autologous cargo carriers for guided drug delivery, untethered osteogenesis, and sonographic contrast agents. Having biogenic origin, the hairbots show excellent biocompatibility, as demonstrated with cell adhesion, spreading and proliferation. External magnetic fields are used to enhance differentiation of mesenchymal stem cells (MSCs) into bone like cells, which can be used as magnetic therapy for bone healing. Effect of external magnetic forces was simulated by COMSOL Multiphysics® modelling software. The action of hairbots as osteoconductive material triggering osteogenic differentiations of MSCs is studied via calcium signaling by fluorescence microscopy. Further, by exploiting the hollow medullary region, the proposed hairbots are designed to perform theranostic dual functions (therapy + diagnostic) - as Doxorubicin drug delivery vehicle, and for Ultrasound contrast imaging. Harnessing sensing and actuation due to magnetic capabilities of hairbots, for enhanced biological functionality shown herein, provides a novel material in the search of new multifunctional microrobots.