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Dermal fibroblasts play a crucial role in the formation of granulation tissue in skin wounds. Consequently, the differentiation, migration, and proliferation of dermal fibroblasts are considered key factors in the skin wound healing process. However, in patients with diabetic foot ulcers, the proliferation and migration of fibroblasts are impaired by reactive oxygen species and inflammatory factors impair. Therefore, a novel magnetic gelatin-hesperidin microrobots drug delivery system was developed using microfluidics. The morphology, motility characteristics, and drug release of the microrobot were assessed, along with its impact on the proliferation and migration of human dermal fibroblasts under high-glucose conditions. Subjected to a rotating magnetic field, the microrobots exhibit precise, controllable, and flexible autonomous motion, achieving a maximum speed of 9.237 µm/s. In vitro drug release experiments revealed that approximately 78% of the drug was released within 30 min. It was demonstrated through cellular experiments that the proliferation of human dermal fibroblasts was actively promoted by the nanorobot, the migration ability of fibroblasts in a high-glucose state was enhanced, and good biocompatibility was exhibited. Hence, our study may provide a novel drug delivery system with significant potential for promoting the healing of diabetic foot wounds. [ABSTRACT FROM AUTHOR]

Maximizing materials utilization efficiency via enhancing their reconfigurability and multifunctionality offers a promising avenue in addressing the global challenges in sustainability. To this end, significant efforts have been made in developing reconfigurable multifunctional smart materials, which can exhibit remarkable behaviors such as morphing and self-healing. However, the difficulty in efficiently manipulating and controlling matter at the building block level with manageable cost and complexity, which is crucial to achieving superior responsiveness to environmental clues and stimuli, has significantly hindered the further development of such smart materials. Here we introduce a concept of Robo-Matter, which can be activated and controlled through external information exchange at the building block level, to enable a high-level of controllability, mutability and versatility for reconfigurable multifunctional smart materials. Using specially designed micro-robot building blocks with symmetry-breaking active motion modes, tunable anisotropic interactions, and interactive coupling with a programmable spatial-temporal dynamic light field, we demonstrate an emergent Robot-Matter duality, which enables a spectrum of desirable behaviors spanning from matter-like properties such as ultra-fast self-assembly and adaptivity, to robot-like properties including active force output, smart healing, smart morphing and infiltration. Our work demonstrates a promising direction for designing next-generation smart materials and large-scale robotic swarms. The authors introduce the concepts of Robo-Matter and Robot-Matter duality, using magnetic spinner micro-robots. A wide range of functionalities and applications beyond the capability of both traditional inert and active materials is enabled. [ABSTRACT FROM AUTHOR]

There has been significant interest in the field of bio-inspired robotics, particularly in the development of flapping-wing robots from micro to bird size. Most flapping robots use lever-crank mechanisms or servomotors as wing flapping mechanisms. Servomotor-based flapping has the advantage of being able to generate various flapping patterns according to amplitude, offset, frequency, waveform, and other factors. However, it is not clear how these factors affect thrust generation. Therefore, this study focuses on the force generation and power consumption in different flapping patterns as well as the wing deformation during the flapping motion to provide some insights into the performance improvement. The results showed that the response characteristics of the actuators caused the thrust to saturate at high frequencies, and that sinusoidal pattern could generally achieve good performance and efficiency. [ABSTRACT FROM AUTHOR]

Despite the recent wide investigation on active cancer drug delivery, there are still strong medical unmet needs for active tumor‐environment responsive cancer drug delivery in terms of spatiotemporal control. Herein, a biohybrid system of pH‐responsive peptide nanotubes (PNTs)‐coated microalgae for active cancer drug delivery in response to the tumor‐environment is developed. The amphiphilic PNTs are effectively used to encapsulate cancer drugs and coat the living microalgae of C. reinhardtii by electrostatic interactions. The drug‐loaded PNTs‐based biohybrid microalgae maintain agile movement with phototaxis behavior. After in vitro characterization and cytotoxicity assessment, it is shown that the biohybrid microalgae could be phototactically localized to the cancer cells and pH‐responsively disassembled to release cancer drugs in a controlled manner. Finally, with the encapsulation of paclitaxel, the statistically significant suppression of tumor growth in xenograft tumor model animals is successfully demonstrated. Taken together, the feasibility of the multifunctional microrobotic platform for advanced cancer therapy is confirmed. [ABSTRACT FROM AUTHOR]

Dynamic and agile locomotion in legged robots enables them to overcome obstacles and navigate complex and unstructured terrain. However, the leg mechanisms and actuators needed for versatile locomotion are much more challenging to manufacture and integrate in sub‐gram scale robots. Herein, Picotaur, a 15.4 mg hexapedal robot with legs that enable various locomotion tasks such as turning, climbing 3D‐printed stairs, and pushing loads for the first time at these size scales, is presented. 3D printing with two‐photon polymerization enables the manufacture of electrostatically driven 2 degrees of freedom legs on a robot body made from a flexible printed circuit board. Based on simple control inputs, Picotaur can achieve alternating tripod gaits, reaching speeds up to 57 mm (7.2 body lengths) per second, as well as pronking gaits to tackle a wider variety of terrain. This approach to manufacturing and controlling legged robots at smaller scales provides a path forward toward robots that can be used for practical applications ranging from inspection to exploration and rival the performance of insects at similar size scales. [ABSTRACT FROM AUTHOR]

Oral administration is the most simple, noninvasive, convenient treatment. With the increasing demands on the targeted drug delivery, the traditional oral treatment now is facing some challenges: 1) biologics how to implement the oral treatment and ensure the bioavailability is not lower than the subcutaneous injections; 2) How to achieve targeted therapy of some drugs in the gastrointestinal tract? Based on these two issues, drug delivery microrobots have shown great application prospect in oral drug delivery due to their characteristics of flexible locomotion or driven ability. Therefore, this paper summarizes various drug delivery microrobots developed in recent years and divides them into four categories according to different driving modes: magnetic-controlled drug delivery microrobots, anchored drug delivery microrobots, self-propelled drug delivery microrobots and biohybrid drug delivery microrobots. As oral drug delivery microrobots involve disciplines such as materials science, mechanical engineering, medicine, and control systems, this paper begins by introducing the gastrointestinal barriers that oral drug delivery must overcome. Subsequently, it provides an overview of typical materials involved in the design process of oral drug delivery microrobots. To enhance readers' understanding of the working principles and design process of oral drug delivery microrobots, we present a guideline for designing such microrobots. Furthermore, the current development status of various types of oral drug delivery microrobots is reviewed, summarizing their respective advantages and limitations. Finally, considering the significant concerns regarding safety and clinical translation, we discuss the challenges and prospections of clinical translation for various oral drug delivery microrobots presented in this paper, providing corresponding suggestions for addressing some existing challenges.

The micro crawling robot exhibits significant potential applications in various fields such as fault detection, disaster relief, and environmental monitoring. This article introduces a high‐performance millimeter scale crawling robot driven by a miniature electromagnetic linear actuator (MELA) with a body length of 5–6 mm and a mass of 80 mg. In this article, the working principle of the micro robot is analyzed and validated, and the influence of current, frequency, and angle α between the direction of actuator's force and the crawling surface on the crawling speed are analyzed through experiments. Results show that the optimal α ranges from 50° to 55°, and a specific current and frequency are identified to achieve maximum crawling speed for robot with particular α. When α is 50°, with a current of 300 mA and a frequency of 200 Hz, the robot reached the maximum speed of 20.2 Body Length s−1(BL s−1). The proposed robot can crawl at 12 BL s−1 with a load of 110 mg, and support a maximum load of 400 mg. Additionally, the robot demonstrated diverse capabilities such as climbing on a 10° slope with a load of 110 mg, jumping on a 1 mm obstacle, and crawling on surfaces of various materials. [ABSTRACT FROM AUTHOR]

Highlights: A systematic review of recent advances of microrobots applied in the musculoskeletal system with an emphasis on design strategies of microrobotic systems for tissue regeneration. The fabrication, motion and control, and image-guided delivery of microrobots in the musculoskeletal system are reviewed based on the up-to-date works. Prospects and challenges for future clinical translation of microrobots in the musculoskeletal system and regenerative medicine are discussed. Disorders of the musculoskeletal system are the major contributors to the global burden of disease and current treatments show limited efficacy. Patients often suffer chronic pain and might eventually have to undergo end-stage surgery. Therefore, future treatments should focus on early detection and intervention of regional lesions. Microrobots have been gradually used in organisms due to their advantages of intelligent, precise and minimally invasive targeted delivery. Through the combination of control and imaging systems, microrobots with good biosafety can be delivered to the desired area for treatment. In the musculoskeletal system, microrobots are mainly utilized to transport stem cells/drugs or to remove hazardous substances from the body. Compared to traditional biomaterial and tissue engineering strategies, active motion improves the efficiency and penetration of local targeting of cells/drugs. This review discusses the frontier applications of microrobotic systems in different tissues of the musculoskeletal system. We summarize the challenges and barriers that hinder clinical translation by evaluating the characteristics of different microrobots and finally point out the future direction of microrobots in the musculoskeletal system. [ABSTRACT FROM AUTHOR]

As micron-sized objects, mobile microrobots have shown significant potential for future biomedical applications, such as targeted drug delivery and minimally invasive surgery. However, to make these microrobots viable for clinical applications, several crucial aspects should be implemented, including customizability, motion-controllability, imageability, biodegradability, and biocompatibility. Developing materials to meet these requirements is of utmost importance. Here, a gelatin methacryloyl (GelMA) and (2-(4-vinylphenyl)ethene-1,1,2-triyl)tribenzene (TPEMA)-based multifunctional hydrogel with 3D printability, fluorescence imageability, biodegradability, and biocompatibility is demonstrated. By using 3D direct laser writing method, the hydrogel exhibits its versatility in the customization and fabrication of 3D microstructures. Spherical hydrogel microrobots were fabricated and decorated with magnetic nanoparticles on their surface to render them magnetically responsive, and have demonstrated excellent movement performance and motion controllability. The hydrogel microstructures also represented excellent drug loading/release capacity and degradability by using collagenase, along with stable fluorescence properties. Moreover, cytotoxicity assays showed that the hydrogel was non-toxic, as well as able to support cell attachment and growth, indicating excellent biocompatibility of the hydrogel. The developed multifunctional hydrogel exhibits great potential for biomedical microrobots that are integrated with customizability, 3D printability, motion controllability, drug delivery capacity, fluorescence imageability, degradability, and biocompatibility, thus being able to realize the real in vivo biomedical applications of microrobots. [ABSTRACT FROM AUTHOR]

The urgent demand for addressing dye contaminants in water necessitates the development of microrobots that exhibit remote navigation, rapid removal, and molecular identification capabilities. The progress of microrobot development is currently hindered by the scarcity of multifunctional materials. In this study, a plasmonic MXene hydrogel (PM‐Gel) is synthesized by combining bimetallic nanocubes and Ti3C2Tx MXene through the rapid gelation of degradable alginate. The hydrogel can efficiently adsorb over 60% of dye contaminants within 2 min, ultimately achieving a removal rate of >90%. Meanwhile, the hydrogel exhibits excellent sensitivity in surface enhanced Raman scattering (SERS) detection, with a limit of detection (LOD) as low as 3.76 am. The properties of the plasmonic hydrogel can be further adjusted for various applications. As a proof‐of‐concept experiment, thermosensitive polymers and superparamagnetic particles are successfully integrated into this hydrogel to construct a versatile, light‐responsive microrobot for dye contaminants. With magnetic and optical actuation, the robot can remotely sample, identify, and remove pollutants in maze‐like channels. Moreover, light‐driven hydrophilic‐hydrophobic switch of the microrobots through photothermal effect can further enhance the adsorption capacity and reduced the dye residue by up to 58%. These findings indicate of a broad application potential in complex real‐world environments. [ABSTRACT FROM AUTHOR]

Magnetic microrobots and nanoparticles offer unique capabilities for medical applications by granting unprecedented access to intricate and delicate anatomical structures. Nevertheless, an intuitive manipulation approach remains a challenge due to their small size and limited feedback. This study presents a new method for magnetic microrobot and nanoparticle control that employs virtual reality (VR), creating an immersive and realistic view of the bodily anatomy and the microrobot within. This study compares three manipulation modes: a traditional mode using 2D displays, VR mode using a VR headset and touch controllers, and VR autonomous programmed maneuvering. It is shown that VR‐assisted modes reduce the manipulation time by improving spatial awareness. Nanoparticles in a VR environment are also manipulated. The proposed method will find applications in terms of intuitive, immersive microrobots or magnetic nanoparticle control in complex biological environments, thus in many medical procedures and for drug and cell delivery. The immersive nature of this approach enhances the ability of the user to perceive and understand complex anatomical structures, facilitating better navigation within delicate environments; both dexterity and spatial awareness are improved. Thus, it is shown how microrobots and magnetic nanoparticles can be controlled using immersive simulations to improve both visualization and manipulation. [ABSTRACT FROM AUTHOR]

Lung metastasis poses a formidable challenge in the realm of cancer treatment, with conventional chemotherapy often falling short due to limited targeting and low accumulation in the lungs. Here, we show a microrobot approach using motile algae for localized delivery of drug-loaded nanoparticles to address lung metastasis challenges. The biohybrid microrobot [denoted "algae-NP(DOX)-robot"] combines green microalgae with red blood cell membrane-coated nanoparticles containing doxorubicin, a representative chemotherapeutic drug. Microalgae provide autonomous propulsion in the lungs, leveraging controlled drug release and enhanced drug dispersion to exert antimetastatic effects. Upon intratracheal administration, algae-NP(DOX)-robots efficiently transport their drug payload deep into the lungs while maintaining continuous motility. This strategy leads to rapid drug distribution, improved tissue accumulation, and prolonged retention compared to passive drug-loaded nanoparticles and free drug controls. In a melanoma lung metastasis model, algae-NP(DOX)-robots exhibit substantial improvement in therapeutic efficacy, reducing metastatic burden and extending survival compared to control groups. [ABSTRACT FROM AUTHOR]

The field of synthetic active matter has, thus far, been led by efforts to create point-like, isolated (yet interacting) self-propelled objects (e.g. colloids, droplets, microrobots) and understanding their collective dynamics. The design of flexible, freely jointed active assemblies from autonomously powered sub-components remains a challenge. Here, we report freely-jointed active polymers created using self-propelled droplets as monomeric units. Our experiments reveal that the self-shaping chemo-hydrodynamic interactions between the monomeric droplets give rise to an emergent rigidity (the acquisition of a stereotypical asymmetric C-shape) and associated ballistic propulsion of the active polymers. The rigidity and propulsion of the chains vary systematically with their lengths. Using simulations of a minimal model, we establish that the emergent polymer dynamics are a generic consequence of quasi two-dimensional confinement and auto-repulsive trail-mediated chemical interactions between the freely jointed active droplets. Finally, we tune the interplay between the chemical and hydrodynamic fields to experimentally demonstrate oscillatory dynamics of the rigid polymer propulsion. Altogether, our work highlights the possible first steps towards synthetic self-morphic active matter. While synthetic active matter research has concentrated on developing point-like, interacting entities, designing freely jointed active assemblies from autonomously powered components has remained a challenge. Here, the authors introduce freely jointed active polymers created from self-propelled droplets, uncovering emergent rigidity and propulsion, thereby advancing towards self-morphic synthetic materials. [ABSTRACT FROM AUTHOR]

Recent years have witnessed a surge in the application of microrobots within the medical sector, with hydrogel microrobots standing out due to their distinctive advantages. These microrobots, characterized by their exceptional biocompatibility, adjustable physico-mechanical attributes, and acute sensitivity to biological environments, have emerged as pivotal tools in advancing medical applications such as targeted drug delivery, wound healing enhancement, bio-imaging, and precise surgical interventions. The capability of hydrogel microrobots to navigate and perform tasks within complex biological systems significantly enhances the precision, efficiency, and safety of therapeutic procedures. Firstly, this paper delves into the material classification and properties of hydrogel microrobots and compares the advantages of different hydrogel materials. Furthermore, it offers a comprehensive review of the principal categories and recent innovations in the synthesis, actuation mechanisms, and biomedical application of hydrogel-based microrobots. Finally, the manuscript identifies prevailing obstacles and future directions in hydrogel microrobot research, aiming to furnish insights that could propel advancements in this field. [ABSTRACT FROM AUTHOR]

Recent technological advances have made it possible to produce tiny robots equipped with simple sensors and effectors. Micro-robots are particularly suitable for scenarios such as exploration of hostile environments, and emergency intervention, e.g., in areas subject to earthquakes or fires. A crucial desirable feature of such a robot is the capability of adapting to the specific environment in which it has to operate. Given the limited computational capabilities of a micro-robot, this property cannot be achieved by complicated software but it rather should come from the flexibility of simple control mechanisms, such as the sensory–motor loop. In this work, we explore the possibility of equipping simple robots controlled by Boolean networks with the capability of modulating their sensory–motor loop such that their behavior adapts to the incumbent environmental conditions. This study builds upon the cybernetic concept of homeostasis, which is the property of maintaining essential parameters inside vital ranges, and analyzes the performance of adaptive mechanisms intervening in the sensory–motor loop. In particular, we focus on the possibility of maneuvering the robot's effectors such that both their connections to network nodes and environmental features can be adapted. As the actions the robot takes have a feedback effect to its sensors mediated by the environment, this mechanism makes it possible to tune the sensory–motor loop, which, in turn, determines the robot's behavior. We study this general setting in simulation and assess to what extent this mechanism can sustain the homeostasis of the robot. Our results show that controllers made of random Boolean networks in critical and chaotic regimes can be tuned such that their homeostasis in different environments is kept. This outcome is a step towards the design and deployment of controllers for micro-robots able to adapt to different environments. [ABSTRACT FROM AUTHOR]

Multimodal motion capability is an emerging topic in the robotics field, and this paper presents a hybrid robot system maneuvering in both terrestrial and aerial environments. Firstly, a micro quadruped–quadrotor robot with onboard sensing and computing is developed. This robot incorporates both the high mobility of unmanned aerial vehicles and the long endurance of mobile robots on the ground. A coordinated motion control scheme is then exploited for adaptive terrestrial–aerial motion transition. In this scheme, a bio-inspired terrestrial locomotion controller is proposed to generate various quadruped locomotions, and a model-based aerial locomotion controller is proposed to generate various quadrotor configurations. Then, an unified motion controller for the two subsystems which dynamically adjusts crawling and flying motion in a complicated environment is presented. Consequently, several practical trials are conducted to demonstrate the adaptability and the robustness of the proposed system. [ABSTRACT FROM AUTHOR]

In recent years, the field of microrobots has exploded, yielding many exciting new functions and applications, from object grasping and release to in vivo drug transport. Smart responsive materials have had a profound impact on the field of microrobots and have given them unique functions and structures. We analyze three aspects of microrobots, in which the future development of microrobots requires more efforts to be invested, and in which smart materials play a significant role in the development of microrobots. These three aspects are smart materials for building microrobots, manufacturing methods, and the functions and applications they achieve. In this review, we discuss the deformation mechanism of materials in response to external stimuli, starting from smart materials, and discuss fabrication methods to realize microrobots, laying the theoretical foundation for future smart material-based microrobots to realize their intelligence and programmability. [ABSTRACT FROM AUTHOR]

As one of the most significant research topics in robotics, microrobots hold great promise in biomedicine for applications such as targeted diagnosis, targeted drug delivery, and minimally invasive treatment. This paper proposes an enhanced YOLOv5 (You Only Look Once version 5) microrobot detection and tracking system (MDTS), incorporating a visual tracking algorithm to elevate the precision of small-target detection and tracking. The improved YOLOv5 network structure is used to take magnetic bodies with sizes of 3 mm and 1 mm and a magnetic microrobot with a length of 2 mm as the pretraining targets, and the training weight model is used to obtain the position information and motion information of the microrobot in real time. The experimental results show that the accuracy of the improved network model for magnetic bodies with a size of 3 mm is 95.81%, representing an increase of 2.1%; for magnetic bodies with a size of 1 mm, the accuracy is 91.03%, representing an increase of 1.33%; and for microrobots with a length of 2 mm, the accuracy is 91.7%, representing an increase of 1.5%. The combination of the improved YOLOv5 network model and the vision algorithm can effectively realize the real-time detection and tracking of magnetically controlled microrobots. Finally, 2D and 3D detection and tracking experiments relating to microrobots are designed to verify the robustness and effectiveness of the system, which provides strong support for the operation and control of microrobots in an in vivo environment. [ABSTRACT FROM AUTHOR]

Magnetic soft microrobots have a wide range of applications in targeted drug therapy, cell manipulation, and other aspects. Currently, the research on magnetic soft microrobots is still in the exploratory stage, and most of the research focuses on a single helical structure, which has limited space to perform drug-carrying tasks efficiently and cannot satisfy specific medical goals in terms of propulsion speed. Therefore, balancing the motion speed and drug-carrying performance is a current challenge to overcome. In this paper, a magnetically controlled cone-helix soft microrobot structure with a drug-carrying function is proposed, its helical propulsion mechanism is deduced, a dynamical model is constructed, and the microrobot structure is prepared using femtosecond laser two-photon polymerization three-dimensional printing technology for magnetic drive control experiments. The results show that under the premise of ensuring sufficient drug-carrying space, the microrobot structure proposed in this paper can realize helical propulsion quickly and stably, and the speed of motion increases with increases in the frequency of the rotating magnetic field. The microrobot with a larger cavity diameter and a larger helical pitch exhibits faster rotary advancement speed, while the microrobot with a smaller helical height and a smaller helical cone angle outperforms other structures with the same feature sizes. The microrobot with a cone angle of 0.2 rad, a helical pitch of 100 µm, a helical height of 220 µm, and a cavity diameter of 80 µm achieves a maximum longitudinal motion speed of 390 µm/s. [ABSTRACT FROM AUTHOR]

Dynamic and agile locomotion in legged robots enables them to overcome obstacles and navigate complex and unstructured terrain. However, the leg mechanisms and actuators needed for versatile locomotion are much more challenging to manufacture and integrate in sub‐gram scale robots. Herein, Picotaur, a 15.4 mg hexapedal robot with legs that enable various locomotion tasks such as turning, climbing 3D‐printed stairs, and pushing loads for the first time at these size scales, is presented. 3D printing with two‐photon polymerization enables the manufacture of electrostatically driven 2 degrees of freedom legs on a robot body made from a flexible printed circuit board. Based on simple control inputs, Picotaur can achieve alternating tripod gaits, reaching speeds up to 57 mm (7.2 body lengths) per second, as well as pronking gaits to tackle a wider variety of terrain. This approach to manufacturing and controlling legged robots at smaller scales provides a path forward toward robots that can be used for practical applications ranging from inspection to exploration and rival the performance of insects at similar size scales.

Despite the recent wide investigation on active cancer drug delivery, there are still strong medical unmet needs for active tumor‐environment responsive cancer drug delivery in terms of spatiotemporal control. Herein, a biohybrid system of pH‐responsive peptide nanotubes (PNTs)‐coated microalgae for active cancer drug delivery in response to the tumor‐environment is developed. The amphiphilic PNTs are effectively used to encapsulate cancer drugs and coat the living microalgae of C. reinhardtii by electrostatic interactions. The drug‐loaded PNTs‐based biohybrid microalgae maintain agile movement with phototaxis behavior. After in vitro characterization and cytotoxicity assessment, it is shown that the biohybrid microalgae could be phototactically localized to the cancer cells and pH‐responsively disassembled to release cancer drugs in a controlled manner. Finally, with the encapsulation of paclitaxel, the statistically significant suppression of tumor growth in xenograft tumor model animals is successfully demonstrated. Taken together, the feasibility of the multifunctional microrobotic platform for advanced cancer therapy is confirmed.

Lactic acid (LA) accumulation in the tumor microenvironment poses notable challenges to effective tumor immunotherapy. Here, an intelligent tumor treatment microrobot based on the unique physiological structure and metabolic characteristics of Veillonella atypica (VA) is proposed by loading Staphylococcus aureus cell membrane-coating BaTiO3 nanocubes (SAM@BTO) on the surface of VA cells (VA-SAM@ BTO) via click chemical reaction. Following oral administration, VA-SAM@ BTO accurately targeted orthotopic colorectal cancer through inflammatory targeting of SAM and hypoxic targeting of VA. Under in vitro ultrasonic stimulation, BTO catalyzed two reduction reactions (O2 → •O2- and CO2 → CO) and three oxidation reactions (H2O → •OH, GSH → GSSG, and LA → PA) simultaneously, effectively inducing immunogenic death of tumor cells. BTO catalyzed the oxidative coupling of VA cells metabolized LA, effectively disrupting the immunosuppressive microenvironment, improving dendritic cell maturation and macrophage M1 polarization, and increasing effector T cell proportions while decreasing regulatory T cell numbers, which facilitates synergetic catalysis and immunotherapy. [ABSTRACT FROM AUTHOR]

Magnetic microrobots, with their small size and agile maneuverability, are well-suited for navigating the intricate and confined spaces within the human body. In vivo cargo delivery within the context of microrobotics involves the use of microrobots to transport and administer drugs and cells directly to the targeted regions within a living organism. The principal aim is to enhance the precision, efficiency, and safety of therapeutic interventions. Despite their potential, there is a shortage of comprehensive reviews on the use of magnetic microrobots for in vivo cargo delivery from both research and engineering perspectives, particularly those published after 2019. This review addresses this gap by disentangling recent advancements in magnetic microrobots for in vivo cargo delivery. It summarizes their actuation platforms, structural designs, cargo loading and release methods, tracking methods, navigation algorithms, and degradation and retrieval methods. Finally, it highlights potential research directions. This review aims to provide a comprehensive summary of the current landscape of magnetic microrobot technologies for in vivo cargo delivery. It highlights their present implementation methods, capabilities, and prospective research directions. The review also examines significant innovations and inherent challenges in biomedical applications. [ABSTRACT FROM AUTHOR]

Oral administration is a convenient drug delivery method in our daily lives. However, it remains a challenge to achieve precise target delivery and ensure the efficacy of medications in extreme environments within the digestive system with complex environments. This paper proposes an oral multilayer magnetic hydrogel microrobot for targeted delivery and on-demand release driven by a gradient magnetic field. The inner hydrogel shells enclose designated drugs and magnetic microparticles. The outer hydrogel shells enclose the inner hydrogel shells, magnetic microparticles, and pH neutralizers. The drug release procedure is remotely implemented layer-by-layer. When the required gradient magnetic field is applied, the outer hydrogel shells are destroyed to release their inclusions. The enclosed pH neutralizers scour the surrounding environment to avoid damaging drugs by the pH environment. Subsequently, the inner hydrogel shells are destroyed to release the drugs. A set of experiments are conducted to demonstrate the wirelessly controllable target delivery and release in a Petri dish and biological tissues. The results demonstrated attractive advantages of the reported microrobot in microcargo delivery with almost no loss, remote controllable release, and drug protection by the pH neutralizers. It is a promising approach to advance next-generation precision oral therapies in the digestive system. [ABSTRACT FROM AUTHOR]

The advancements in the field of micro-robots for drug delivery systems have garnered considerable attention. In contrast to traditional drug delivery systems, which are dependent on blood circulation to reach their target, these engineered micro/nano robots possess the unique ability to navigate autonomously, thereby enabling the delivery of drugs to otherwise inaccessible regions. Precise drug delivery systems can improve the effectiveness and safety of synthetic lethality strategies, which are used for targeted therapy of solid tumors. MYCoverexpressing tumors show sensitivity to CDK1 inhibition. This study delves into the potential of Ro-3306 loaded magnetic-driven hydrogel micro-robots in the treatment of MYC-dependent osteosarcoma. Ro-3306, a specific inhibitor of CDK1, has been demonstrated to suppress tumor growth across various types of cancer. We have designed and fabricated this micro-robot, capable of delivering Ro-3306 precisely to tumor cells under the influence of a magnetic field, and evaluated its chemosensitizing effects, thereby augmenting the therapeutic efficacy and introducing a novel possibility for osteosarcoma treatment. The clinical translation of this method necessitates further investigation and validation. In summary, the Ro-3306-loaded magnetic-driven hydrogel microrobots present a novel strategy for enhancing the chemosensitivity of MYCdependent osteosarcoma, paving the way for new possibilities in future clinical applications. [ABSTRACT FROM AUTHOR]

Achieving selective-individual and collective control over multiple magnetic microrobots remains a formidable challenge. Existing techniques for controlling identical magnetic swimmers are often limited to two-dimensional, small working spaces, while heterogeneous swimmers can only be controlled in small numbers without the option for collective control. In this study, we present a purely magnetic control methodology for the selective-scalable locomotion of helical magnetic swimmers within confined channels. By employing a unique gradient field distribution, referred to as the "selection field," along with space-uniform rotating fields, we establish a "selection volume" that allows swimmers within it to fully rotate, while those outside remain stationary. We explore various conditions of the selection volume to analyze the locomotion dynamics of the swimmers in relation to the position of the selection volume. Experimental results demonstrate the selective-scalable locomotion of identical robots, ranging from one to an arbitrary number (N) of robots, as well as their selective-individual manipulation for multitasking applications. Furthermore, compatibility of the proposed method with different magnetic torque-driven robots is exemplified through the selective control of rolling robots. Moreover, three-dimensional selective-scalable control is also demonstrated for four swimmers in a quasi-three-dimensional channel, as well as for two swimmers within a true three-dimensional channel. [ABSTRACT FROM AUTHOR]

It is beneficial for collective structures to simultaneously have high persistence to environmental noise and high responsivity to nontrivial external stimuli. However, without the ability to differentiate useful information from noise, there is always a tradeoff between persistence and responsivity within the collective structures. To address this, we propose adaptive time delay inspired by the adaptive behavior observed in the school of fish. This strategy is tested using particles powered by optothermal fields coupled with an optical feedback-control system. By applying the adaptive time delay with a proper threshold, we experimentally observe the responsivity of the collective structures enhanced by approximately 1.6 times without sacrificing persistence. Furthermore, we integrate adaptive time delay with long-distance transportation and obstacle-avoidance capabilities to prototype adaptive swarm microrobots. This research demonstrates the potential of adaptive time delay to address the persistence-responsivity tradeoff and lays the foundation for intelligent swarm micro/nanorobots operating in complex environments. [ABSTRACT FROM AUTHOR]

Pollination is a crucial ecological process with far-reaching impacts on natural and agricultural systems. Approximately 85% of flowering plants depend on animal pollinators for successful reproduction. Over 75% of global food crops rely on pollinators, making them indispensable for sustaining human populations. Wind, water, insects, birds, bats, mammals, amphibians, and mollusks accomplish the pollination process. The design features of flowers and pollinators in angiosperms make the pollination process functionally effective and efficient. In this paper, we analyze the design aspects of the honeybee-enabled flower pollination process using the axiomatic design methodology. We tabulate functional requirements (FRs) of flower and honeybee components and map them onto nature-chosen design parameters (DPs). We apply the "independence axiom" of the axiomatic design methodology to identify couplings and to evaluate if the features of a flower and a honeybee form a good design (i.e., uncoupled design) or an underperforming design (i.e., coupled design). We also apply the axiomatic design methodology's "information axiom" to assess the pollination process's robustness and reliability. Through this exploration, we observed that the pollination process is not only a good design but also a robust design. This approach to assessing whether nature's processes are good or bad designs can be valuable for biomimicry studies. This approach can also inform design considerations for bio-inspired innovations such as microrobots. [ABSTRACT FROM AUTHOR]

In this work, a closed loop control system is developed to optically localize and track micro-robots with high precision. These micro-robots (i.e., micro-conveyors) are in motion simultaneously across a smart surface.The developed method's primary objectives are to optimize their trajectories, avoid collisions between them, and control their position with micrometric resolution. This article presents and characterizes the tracking of a single micro-conveyor, and the method works similarly when multiple micro-robots move over the surface. Our tracking method starts with a scanning phase, where a 2D steering mirror, placed above the smart surface, reflects a laser beam toward the conveying surface seeking for the target. Localization occurs when this light beam reaches the micro-conveyor. By adding a retro-reflective element, that reflects the light in the same direction of the the incident light, onto the surface of the micro-conveyor, the light will be reflected towards a photodetector. Depending on the feedback from the photodetector, the steering mirror rotates to track the trajectory of the micro-conveyor. The tip-tilt angular values of the steering mirror allows the micro-conveyor position to be obtained via calibrated localization system. The aim of this work is to regulate the micro-conveyor, within a closed-loop control system, to reduce the positional error between the actual and desired position. The actual position value is measured in real-time application using our developed optical sensor. Results for tracking in the x-and y-axis have validated the proposed method, with an average tracking error less than 30 µm within a range 150 mm × 150 mm. [ABSTRACT FROM AUTHOR]

Microrobots powered by multi-physics fields are becoming a hotspot for micro–nano manufacturing. Due to the small size of microrobots, they can easily enter small spaces that are difficult for ordinary robots to reach and perform a variety of special tasks. This gives microrobots a broad application prospect in many fields. This paper describes the materials, structures, and driving principles of microrobots in detail and analyzes the advantages and limitations of their driving methods in depth. In addition, the paper discusses the detailed categorization of the action forms of microrobots and explores their diversified motion modes and their applicable scenarios. Finally, the article highlights the wide range of applications of microrobots in the fields of biomedicine and environmental protection, emphasizing their great potential for solving real-world problems and advancing scientific progress. [ABSTRACT FROM AUTHOR]

Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields. [ABSTRACT FROM AUTHOR]

Achieving precise control over the motion position and attitude direction of magnetic microrobots remains a challenging task in the realm of microrobotics. To address this challenge, our research team has successfully implemented synchronized control of a microrobot's motion position and attitude direction through the integration of electromagnetic coils and permanent magnets. The whole drive system consists of two components. Firstly, a stepper motor propels the delta structure, altering the position of the end-mounted permanent magnet to induce microrobot movement. Secondly, a programmable DC power supply regulates the current strength in the electromagnetic coil, thereby manipulating the magnetic field direction at the end and influencing the permanent magnet's attitude, guiding the microrobot in attitude adjustments. The microrobot used for performance testing in this study was fabricated by blending E-dent400 photosensitive resin and NdFeB particles, employing a Single-Layer 4D Printing System Using Focused Light. To address the microrobot drive system's capabilities, experiments were conducted in a two-dimensional and three-dimensional track, simulating the morphology of human liver veins. The microrobot exhibited an average speed of 1.3 mm/s (movement error ± 0.5 mm). Experimental results validated the drive system's ability to achieve more precise control over the microrobot's movement position and attitude rotation. The outcomes of this study offer valuable insights for future electromagnetic drive designs and the application of microrobots in the medical field. [ABSTRACT FROM AUTHOR]

The purpose of this paper is to propose a novel technique for extracting the position signal from an inductive displacement transducer named a linear variable differential transformer (LVDT). In general, the movement of the LVDT core causes its primary inductance change in linear form. The primary winding of the LVDT is used as a time-dependent element for the triangular and square wave generator, which can be called self-oscillation, to generate frequency. The advantage of the proposed technique is that it can measure the displacement using the LVDT without an external oscillator. The change in primary inductance causes the frequency deviation generated by the oscillator. The deviated frequency is captured and converted into a voltage signal using the principle of the phase-locked loop. All the components used in this study are commercially available. The merits of this proposed technique are simple configuration, small size, and low cost. Moreover, the operating range of the LVDT can be extended without the limitation of the nonlinear transfer characteristic. The performance of the proposed technique is discussed in detail and confirmed by experimental implementation. Experimental results show that the maximum error from the proposed technique is about 0.42% and the operating range of the LVDT can be extended to more than 200%. It can be seen that the proposed technique is suitable for embedded measurement in small or micro robots. [ABSTRACT FROM AUTHOR]

Rotating magnetic fields enable biomedical microrobots to overcome physiological barriers and promote extravasation and accumulation in tumors. Nevertheless, targeting deeply situated tumors requires suppression of off-target actuation in healthy tissue. Here, we investigate a control strategy for applying spatially selective torque density to microrobots by combining rotating fields with magnetostatic selection fields. Taking magnetotactic bacteria as diffuse torque-based actuators, we numerically model off-target torque suppression, indicating the feasibility of centimeter to millimeter resolution for human applications. We study focal torque application in vitro, observing off-target suppression of actuation-dependent effects such as colonization of bacteria in tumor spheroids. We then design and construct a mouse-scale torque-focusing apparatus capable of maneuvering the focal point. Applying this system to a mouse tumor model increased accumulation of intravenously injected bacteria within tumors receiving focused actuation compared to non-actuated or globally actuated groups. This control scheme combines the advantages of torque-based actuation with spatial targeting. The delivery of therapeutic payloads and living vectors to tumors remains a clinical challenge. Here the authors explore a spatially targeted control strategy applying torque density to magnetotactic bacteria, demonstrating feasibility in vitro and in vivo. [ABSTRACT FROM AUTHOR]

Magnetic microrobots and nanoparticles offer unique capabilities for medical applications by granting unprecedented access to intricate and delicate anatomical structures. Nevertheless, an intuitive manipulation approach remains a challenge due to their small size and limited feedback. This study presents a new method for magnetic microrobot and nanoparticle control that employs virtual reality (VR), creating an immersive and realistic view of the bodily anatomy and the microrobot within. This study compares three manipulation modes: a traditional mode using 2D displays, VR mode using a VR headset and touch controllers, and VR autonomous programmed maneuvering. It is shown that VR‐assisted modes reduce the manipulation time by improving spatial awareness. Nanoparticles in a VR environment are also manipulated. The proposed method will find applications in terms of intuitive, immersive microrobots or magnetic nanoparticle control in complex biological environments, thus in many medical procedures and for drug and cell delivery. The immersive nature of this approach enhances the ability of the user to perceive and understand complex anatomical structures, facilitating better navigation within delicate environments; both dexterity and spatial awareness are improved. Thus, it is shown how microrobots and magnetic nanoparticles can be controlled using immersive simulations to improve both visualization and manipulation.

Abstract The urgent demand for addressing dye contaminants in water necessitates the development of microrobots that exhibit remote navigation, rapid removal, and molecular identification capabilities. The progress of microrobot development is currently hindered by the scarcity of multifunctional materials. In this study, a plasmonic MXene hydrogel (PM‐Gel) is synthesized by combining bimetallic nanocubes and Ti3C2Tx MXene through the rapid gelation of degradable alginate. The hydrogel can efficiently adsorb over 60% of dye contaminants within 2 min, ultimately achieving a removal rate of >90%. Meanwhile, the hydrogel exhibits excellent sensitivity in surface enhanced Raman scattering (SERS) detection, with a limit of detection (LOD) as low as 3.76 am. The properties of the plasmonic hydrogel can be further adjusted for various applications. As a proof‐of‐concept experiment, thermosensitive polymers and superparamagnetic particles are successfully integrated into this hydrogel to construct a versatile, light‐responsive microrobot for dye contaminants. With magnetic and optical actuation, the robot can remotely sample, identify, and remove pollutants in maze‐like channels. Moreover, light‐driven hydrophilic‐hydrophobic switch of the microrobots through photothermal effect can further enhance the adsorption capacity and reduced the dye residue by up to 58%. These findings indicate of a broad application potential in complex real‐world environments.

Nanorobotics is the field of inventing machines or robots at or close to the scale of a nanometer ( $10^{-9}$ m). Advances in medical robots promise to improve modern medicine and the quality of life. Miniaturization of these machines has led to numerous applications including precision medicine. These devices find a wide spectrum of applications ranging from environmental remediation to health care. The materials used, the fabrication methods and their widespread adoption will influence the futuristic application of nanorobotics. The novel materials and fabrication techniques used to create nanorobots have been discussed in this review. In this research area, we have described the dependable fabrication methods that are applied. Significant emphasis is devoted to nanorobot design, going beyond materials and construction. Mechanical structure modeling, bionics, and bio-syncretic design modeling are all influences on this design. As such, we now understand many approaches to the design and construction of nanorobots as well as the fundamentals of how they work. It also discusses the structural characteristics and working principles of the aforementioned nanorobots. Furthermore, we investigated into several biomedical applications for nanorobots.

For the problems of small device size and visual occlusion during the micro flexible flat able assembly operations, an assembly state sensing technology of micro flexible flat cables was proposed based on capacitive array tactile sensors herein. Firstly, the mechanism of capacitive three-dimensional tactile sensing was analyzed, and a highly sensitive array tactile sensor based on vertical topological mesh dielectric layer was designed to realize highly sensitive sensing of the assembly state of he micro flexible flat cables. Secondly, in order to overcome the limitation of wiring complexity and array scanning cycle, based on the expansion of capacitive digital chip, the highly dynamic three-dimensional array information scanning system was designed and the highly dynamic sensing for assembly states of micro flexible flat cables was realized, and the miniaturized capacitive array tactile seniors were fabricated integrally. Finally, the robot micro flexible flat cable assembly operating system was built and the array tactile information features were collected and analyzed in real time during the assembly processes, so as to verify the accuracy and effectiveness of the proposed technology. [ABSTRACT FROM AUTHOR]

Ultrasound is a powerful and versatile technology that has been applied extensively in medicine and scientific research. The development of miniature underwater robots focuses on achieving specific tasks, such as surveys and inspections in confined spaces. However, traditional sonar has limited use in micro underwater robots due to its large size and heavy power demands. Conversely, capacitive micromechanical ultrasonic transducers (CMUTs) offer various advantages, including a wide bandwidth, compact size, and integration feasibility. These attributes make CMUTs a candidate for obstacle avoidance in micro underwater robots. Hence, a novel CMUT structure using Si-Si bonding is proposed. In this design, a membrane isolation layer replaces the cavity bottom isolation layer, simplifying the process and improving bond reliability. A finite element model of the CMUT was constructed in COMSOL and numerically assessed for the CMUT's operating frequency, collapse voltage, and submerged depth. The CMUT, manufactured using micro-electro-mechanical system (MEMS) technology, undergoes waterproofing with PDMS—A material with similar acoustic impedance to water and corrosion resistance. Underwater tests reveal the CMUT's resonant frequency in water as approximately 2 MHz, with a −3 dB bandwidth of 108.7%, a transmit/receive beam width of 7.3°, and a standard deviation of measured distance from the true distance of less than 0.05. These outcomes suggest that CMUTs hold promise in obstacle avoidance applications for fish-shaped underwater robots. [ABSTRACT FROM AUTHOR]

The development of functional microsystems and microrobots that have characterized the last decade is the result of a synergistic and effective interaction between the progress of fabrication techniques and the increased availability of smart and responsive materials to be employed in the latter. Functional structures on the microscale have been relevant for a vast plethora of technologies that find application in different sectors including automotive, sensing devices, and consumer electronics, but are now also entering medical clinics. Working on or inside the human body requires increasing complexity and functionality on an ever-smaller scale, which is becoming possible as a result of emerging technology and smart materials over the past decades. In recent years, additive manufacturing has risen to the forefront of this evolution as the most prominent method to fabricate complex 3D structures. In this review, we discuss the rapid 3D manufacturing techniques that have emerged and how they have enabled a great leap in microrobotic applications. The arrival of smart materials with inherent functionalities has propelled microrobots to great complexity and complex applications. We focus on which materials are important for actuation and what the possibilities are for supplying the required energy. Furthermore, we provide an updated view of a new generation of microrobots in terms of both materials and fabrication technology. While two-photon lithography may be the state-of-the-art technology at the moment, in terms of resolution and design freedom, new methods such as two-step are on the horizon. In the more distant future, innovations like molecular motors could make microscale robots redundant and bring about nanofabrication. [ABSTRACT FROM AUTHOR]

Compared to other actuating methods, acoustic actuators offer the distinctive capability of the contactless manipulation of small objects, such as microscale and nanoscale robots. Furthermore, they have the ability to penetrate the skin, allowing for the trapping and manipulation of micro/nanorobots that carry therapeutic agents in diverse media. In this review, we summarize the current progress in using acoustic actuators for the manipulation of micro/nanorobots used in various biomedical applications. First, we introduce the actuating method of using acoustic waves to manipulate objects, including the principle of operation and different types of acoustic actuators that are usually employed. Then, applications involving manipulating different types of devices are reviewed, including bubble-based microrobots, bubble-free robots, biohybrid microrobots, and nanorobots. Finally, we discuss the challenges and future perspectives for the development of the field. [ABSTRACT FROM AUTHOR]

Soft bio‐microrobots have the potential to execute complex tasks in unexpected and harsh environments of the human body due to their dexterity and flexibility. The architectural designs of soft bio‐microrobots either replicate the motion of natural creatures or capitalize on their motility. Based on this design principle, biologically inspired microrobots that imitate the movements and functions of biological systems, such as starfish, bacteria, and sperm cells, as well as biohybrid microrobots that combine motile micro‐organisms or cells with functional components have been developed. Herein, an overview of the design principles, energy sources, and biomedical applications of existing soft bio‐microrobots is presented. It is shown that the incorporation of externally responsive material enables biologically inspired microrobots to change their shapes and imitate the motion of living organisms under external stimuli, and it is interpreted how biohybrid microrobots are guided through the tactic behavior of microorganisms or cells. Finally, perspectives on key challenges that soft bio‐microrobots must overcome to achieve in vivo biomedical applications are given. [ABSTRACT FROM AUTHOR]

Magnetic microrobots have gained significant attention in the biomedical field due to their wireless actuation, strong controllability, fast response, and minimal impact on the environment. As the task complexity keeps increasing in the clinical applications of magnetic microrobots, more geometric structures and magnetization profiles have been included in the designs of magnetic microrobots, posing significant challenges to the fabrication of magnetic microrobots. Microassembly is a fabrication method that can create convoluted structures with small‐scale modules. It can accurately control the position and orientation of each magnetic module, resulting in a magnetic microrobot with arbitrary 3D geometries and magnetization profiles. This article reviews recent advanced assembly‐based fabrication methods of magnetic microrobots, including microassembly driven by contact mechanical forces and noncontact field forces. The principles, fabrication processes, and the advantages and disadvantages of each assembly‐based fabrication method are summarized. The existing challenges and future development of fabricating magnetic microrobots by assembly are discussed in detail. It is believed that this review will provide a methodological reference and inspire new ideas for manufacturing powerful magnetic microrobots in future biomedical applications. [ABSTRACT FROM AUTHOR]

Acoustically‐driven bubbles at the micron scale can generate strong microstreaming flows in its surrounding fluidic medium. The tunable acoustic streaming strength of oscillating microbubbles and the diversity of the generated flow patterns enable the design of fast‐moving microrobots with multimodal locomotion suitable for biomedical applications. The acoustic microrobots holding two coupled microbubbles inside a rigid body are presented; trapped bubbles inside the L‐shaped structure with different orifices generate various streaming flows, thus allowing multiple degrees of freedom in locomotion. The streaming pattern and mean streaming speed depend on the intensity and frequency of the acoustic wave, which can trigger four dominant locomotion modes in the microrobot, denoted as translational and rotational, spinning, rotational, and translational modes. Next, the effect of various geometrical and actuation parameters on the control and navigation of the microrobot is investigated. Furthermore, the surface‐slipping multimodal locomotion, flow mixing, particle manipulation capabilities, the effective interaction of high flow rates with cells, and subsequent cancerous cell lysing abilities of the proposed microrobot are demonstrated. Overall, these results introduce a design toolbox for the next generation of acoustic microrobots with higher degrees of freedom with multimodal locomotion in biomedical applications. [ABSTRACT FROM AUTHOR]

[Display omitted] • Spirulina -based photocatalytic microrobots with decreased band gap is reported. • The microrobots can swarm in controllable manner to perform selective catalysis. • Catalysis can be activated by light whereas inhibited by magneto-optical stimuli. Highly persistent and toxic organic pollutants increasingly accumulate in freshwater resources, exacerbating the human water scarcity crisis. Developing novel microrobots with high catalytic performance, high mobility, and recycling capability integrated to harness energy from the surrounding environment to degrade pollutants effectively remains a challenge. Here, we report a kind of Spirulina (SP) -based magnetic photocatalytic microrobots with a substantially decreased band gap than that of pure photocatalysts, facilitating the generation of stable holes and electrons. Under sunlight irradiation, the degradation rate of rhodamine B (RhB) by the microrobots could be increased by 7.85 times compared with that of pure BiOCl, indicating its excellent photocatalytic performance. In addition, the microrobots can swarm in a highly controllable manner to the targeted regions and perform selective catalytic degradation of organic pollutants in specific areas by coupling effect of light and magnetic field. Importantly, the catalytic capability of the swarming microrobots can be activated by light stimulus whereas inhibited by magneto-optical stimuli, with a rate constant 2.15 times lower than that of pure light stimulation. The biohybrid and magneto-optical responsive microrobots offer a potential platform for selective pollutants catalysis at assigned regions in wastewater treatment plants. [ABSTRACT FROM AUTHOR]

Semantic segmentation can address the perceived needs of autonomous driving and micro-robots and is one of the challenging tasks in computer vision. From the application point of view, the difficulty faced by semantic segmentation is how to satisfy inference speed, network parameters, and segmentation accuracy at the same time. This paper proposes a lightweight multi-dimensional dynamic convolutional network (LMDCNet) for real-time semantic segmentation to address this problem. At the core of our architecture is Multidimensional Dynamic Convolution (MDy-Conv), which uses an attention mechanism and factorial convolution to remain efficient while maintaining remarkable accuracy. Specifically, LMDCNet belongs to an asymmetric network architecture. Therefore, we design an encoder module containing MDy-Conv convolution: MS-DAB. The success of this module is attributed to the use ofMDy-Conv convolution, which increases the utilization of local and contextual information of features. Furthermore, we design a decoder module containing a feature pyramid and attention: SC-FP, which performs a multi-scale fusion of features accompanied by feature selection. On the Cityscapes and CamVid datasets, LMDCNet achieves accuracies of 73.8 mIoU and 69.6 mIoU at 71.2 FPS and 92.4 FPS, respectively, without pre-training or post-processing. Our designed LMDCNet is trained and inferred only on one 1080Ti GPU. Our experiments show that LMDCNet achieves a good balance between segmentation accuracy and network parameters with only 1.05 M. [ABSTRACT FROM AUTHOR]

Micro-robots (MRs) are miniature machines with dimensions smaller than 1 mm and have semi- or fullyautonomous capabilities, including sensing, decision-making, and performing operations. These MRs have garnered significant attention in the precision medicine and personalized treatment field due to their ability to navigate narrow areas of the human body with non-desirable fluid flow. Specifically, MRs are actuated by a mechanism that generates propulsive force through the interaction between MRs' actuation modules and external energy sources in a specific direction. This driving mechanism enables the precise execution of medical treatment such as targeted drug delivery and minimally invasive surgeries. Nonetheless, MRs currently encounter certain challenges in clinical practice, including reliance on external energy sources, short lifespan, and difficulties in degradation or recovery within the human body. This article aims to review the common components and characteristics of driving mechanism for MRs' actuation modules, propose possible solutions to address current clinical challenges, and ultimately, explore the desirable structural and functional composition for the future development of MRs. Through these efforts, this review hopes to provide guidance for the future development of MRs in the field of precision medicine. [ABSTRACT FROM AUTHOR]

Micro- and nanorobots are highly intelligent and efficient. They can perform various complex tasks as per the external stimuli. These robots can adapt to the required functional form, depending on the different stimuli, thus being able to meet the requirements of various application scenarios. So far, microrobots have been widely used in the fields of targeted therapy, drug delivery, tissue engineering, environmental remediation and so on. Although microbots are promising in some fields, few reviews have yet focused on them. It is therefore necessary to outline the current status of these microbots' development to provide some new insights into the further evolution of this field. This paper critically assesses the research progress of microbots with respect to their preparation methods, stimulus–response mechanisms and applications. It highlights the suitability of different preparation methods and stimulus types, while outlining the challenges experienced by microbots. Viable solutions are also proposed for the promotion of their practical use. [ABSTRACT FROM AUTHOR]