CN117299017A - Microtubule robot and assembling, driving and radial extrusion method thereof - Google Patents
Microtubule robot and assembling, driving and radial extrusion method thereof Download PDFInfo
- Publication number
- CN117299017A CN117299017A CN202311016622.9A CN202311016622A CN117299017A CN 117299017 A CN117299017 A CN 117299017A CN 202311016622 A CN202311016622 A CN 202311016622A CN 117299017 A CN117299017 A CN 117299017A
- Authority
- CN
- China
- Prior art keywords
- magnetic field
- robot
- microtubule
- micro
- assembling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 102000029749 Microtubule Human genes 0.000 title claims abstract description 53
- 108091022875 Microtubule Proteins 0.000 title claims abstract description 53
- 210000004688 microtubule Anatomy 0.000 title claims abstract description 53
- 238000001125 extrusion Methods 0.000 title claims abstract description 16
- 230000005291 magnetic effect Effects 0.000 claims abstract description 165
- 239000002245 particle Substances 0.000 claims abstract description 37
- 239000000084 colloidal system Substances 0.000 claims abstract description 33
- 239000012530 fluid Substances 0.000 claims abstract description 25
- 239000002356 single layer Substances 0.000 claims abstract description 9
- 238000005452 bending Methods 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 31
- 238000007906 compression Methods 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 14
- 230000005298 paramagnetic effect Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- UQSXHKLRYXJYBZ-UHFFFAOYSA-N iron oxide Inorganic materials [Fe]=O UQSXHKLRYXJYBZ-UHFFFAOYSA-N 0.000 claims description 4
- 230000000844 anti-bacterial effect Effects 0.000 claims description 3
- 239000002246 antineoplastic agent Substances 0.000 claims description 3
- 229940041181 antineoplastic drug Drugs 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 230000002209 hydrophobic effect Effects 0.000 claims description 3
- 102000004169 proteins and genes Human genes 0.000 claims description 3
- 108090000623 proteins and genes Proteins 0.000 claims description 3
- 230000002596 correlated effect Effects 0.000 claims description 2
- SZVJSHCCFOBDDC-UHFFFAOYSA-N ferrosoferric oxide Chemical compound O=[Fe]O[Fe]O[Fe]=O SZVJSHCCFOBDDC-UHFFFAOYSA-N 0.000 claims description 2
- 229910052742 iron Inorganic materials 0.000 claims description 2
- NDLPOXTZKUMGOV-UHFFFAOYSA-N oxo(oxoferriooxy)iron hydrate Chemical compound O.O=[Fe]O[Fe]=O NDLPOXTZKUMGOV-UHFFFAOYSA-N 0.000 claims description 2
- 230000010100 anticoagulation Effects 0.000 claims 1
- 239000004005 microsphere Substances 0.000 abstract description 33
- 238000005336 cracking Methods 0.000 abstract 1
- 239000000725 suspension Substances 0.000 description 11
- 239000011521 glass Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 210000003743 erythrocyte Anatomy 0.000 description 5
- 238000013519 translation Methods 0.000 description 5
- DBMJMQXJHONAFJ-UHFFFAOYSA-M Sodium laurylsulphate Chemical compound [Na+].CCCCCCCCCCCCOS([O-])(=O)=O DBMJMQXJHONAFJ-UHFFFAOYSA-M 0.000 description 4
- 210000004027 cell Anatomy 0.000 description 4
- 239000003085 diluting agent Substances 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 239000004793 Polystyrene Substances 0.000 description 3
- 230000002776 aggregation Effects 0.000 description 3
- 238000004220 aggregation Methods 0.000 description 3
- 230000000737 periodic effect Effects 0.000 description 3
- 229920002223 polystyrene Polymers 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 241000894006 Bacteria Species 0.000 description 2
- 241001494479 Pecora Species 0.000 description 2
- PPBRXRYQALVLMV-UHFFFAOYSA-N Styrene Chemical compound C=CC1=CC=CC=C1 PPBRXRYQALVLMV-UHFFFAOYSA-N 0.000 description 2
- 239000003146 anticoagulant agent Substances 0.000 description 2
- 229940127219 anticoagulant drug Drugs 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910052709 silver Inorganic materials 0.000 description 2
- 239000004332 silver Substances 0.000 description 2
- 239000007901 soft capsule Substances 0.000 description 2
- BSYNRYMUTXBXSQ-UHFFFAOYSA-N Aspirin Chemical compound CC(=O)OC1=CC=CC=C1C(O)=O BSYNRYMUTXBXSQ-UHFFFAOYSA-N 0.000 description 1
- 239000005552 B01AC04 - Clopidogrel Substances 0.000 description 1
- 108091003079 Bovine Serum Albumin Proteins 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- UHDGCWIWMRVCDJ-CCXZUQQUSA-N Cytarabine Chemical compound O=C1N=C(N)C=CN1[C@H]1[C@@H](O)[C@H](O)[C@@H](CO)O1 UHDGCWIWMRVCDJ-CCXZUQQUSA-N 0.000 description 1
- 229920002307 Dextran Polymers 0.000 description 1
- 206010020843 Hyperthermia Diseases 0.000 description 1
- 239000013283 Janus particle Substances 0.000 description 1
- ZDZOTLJHXYCWBA-VCVYQWHSSA-N N-debenzoyl-N-(tert-butoxycarbonyl)-10-deacetyltaxol Chemical compound O([C@H]1[C@H]2[C@@](C([C@H](O)C3=C(C)[C@@H](OC(=O)[C@H](O)[C@@H](NC(=O)OC(C)(C)C)C=4C=CC=CC=4)C[C@]1(O)C3(C)C)=O)(C)[C@@H](O)C[C@H]1OC[C@]12OC(=O)C)C(=O)C1=CC=CC=C1 ZDZOTLJHXYCWBA-VCVYQWHSSA-N 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 229930012538 Paclitaxel Natural products 0.000 description 1
- 102000003800 Selectins Human genes 0.000 description 1
- 108090000184 Selectins Proteins 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 239000004098 Tetracycline Substances 0.000 description 1
- 229960001138 acetylsalicylic acid Drugs 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229940098773 bovine serum albumin Drugs 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- GKTWGGQPFAXNFI-HNNXBMFYSA-N clopidogrel Chemical compound C1([C@H](N2CC=3C=CSC=3CC2)C(=O)OC)=CC=CC=C1Cl GKTWGGQPFAXNFI-HNNXBMFYSA-N 0.000 description 1
- 229960003009 clopidogrel Drugs 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 229960000684 cytarabine Drugs 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000008367 deionised water Substances 0.000 description 1
- 229910021641 deionized water Inorganic materials 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 229960002086 dextran Drugs 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 229960003668 docetaxel Drugs 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229940124307 fluoroquinolone Drugs 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 230000036031 hyperthermia Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000029225 intracellular protein transport Effects 0.000 description 1
- FZWBNHMXJMCXLU-BLAUPYHCSA-N isomaltotriose Chemical compound O[C@@H]1[C@@H](O)[C@H](O)[C@@H](CO)O[C@@H]1OC[C@@H]1[C@@H](O)[C@H](O)[C@@H](O)[C@@H](OC[C@@H](O)[C@@H](O)[C@H](O)[C@@H](O)C=O)O1 FZWBNHMXJMCXLU-BLAUPYHCSA-N 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 239000011806 microball Substances 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 229960001592 paclitaxel Drugs 0.000 description 1
- 239000002907 paramagnetic material Substances 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 238000010587 phase diagram Methods 0.000 description 1
- 239000008055 phosphate buffer solution Substances 0.000 description 1
- 239000002504 physiological saline solution Substances 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 150000003242 quaternary ammonium salts Chemical class 0.000 description 1
- 238000001959 radiotherapy Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- -1 silver ions Chemical class 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 239000004094 surface-active agent Substances 0.000 description 1
- RCINICONZNJXQF-MZXODVADSA-N taxol Chemical compound O([C@@H]1[C@@]2(C[C@@H](C(C)=C(C2(C)C)[C@H](C([C@]2(C)[C@@H](O)C[C@H]3OC[C@]3([C@H]21)OC(C)=O)=O)OC(=O)C)OC(=O)[C@H](O)[C@@H](NC(=O)C=1C=CC=CC=1)C=1C=CC=CC=1)O)C(=O)C1=CC=CC=C1 RCINICONZNJXQF-MZXODVADSA-N 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 229960002180 tetracycline Drugs 0.000 description 1
- 229930101283 tetracycline Natural products 0.000 description 1
- 235000019364 tetracycline Nutrition 0.000 description 1
- 150000003522 tetracyclines Chemical class 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J13/00—Colloid chemistry, e.g. the production of colloidal materials or their solutions, not otherwise provided for; Making microcapsules or microballoons
- B01J13/02—Making microcapsules or microballoons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
- A61K41/00—Medicinal preparations obtained by treating materials with wave energy or particle radiation ; Therapies using these preparations
- A61K41/0052—Thermotherapy; Hyperthermia; Magnetic induction; Induction heating therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
- A61K47/00—Medicinal preparations characterised by the non-active ingredients used, e.g. carriers or inert additives; Targeting or modifying agents chemically bound to the active ingredient
- A61K47/02—Inorganic compounds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
- A61K9/00—Medicinal preparations characterised by special physical form
- A61K9/0002—Galenical forms characterised by the drug release technique; Application systems commanded by energy
- A61K9/0009—Galenical forms characterised by the drug release technique; Application systems commanded by energy involving or responsive to electricity, magnetism or acoustic waves; Galenical aspects of sonophoresis, iontophoresis, electroporation or electroosmosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
- A61K9/00—Medicinal preparations characterised by special physical form
- A61K9/48—Preparations in capsules, e.g. of gelatin, of chocolate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61P—SPECIFIC THERAPEUTIC ACTIVITY OF CHEMICAL COMPOUNDS OR MEDICINAL PREPARATIONS
- A61P35/00—Antineoplastic agents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J13/00—Colloid chemistry, e.g. the production of colloidal materials or their solutions, not otherwise provided for; Making microcapsules or microballoons
- B01J13/02—Making microcapsules or microballoons
- B01J13/04—Making microcapsules or microballoons by physical processes, e.g. drying, spraying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J19/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J19/08—Processes employing the direct application of electric or wave energy, or particle radiation; Apparatus therefor
- B01J19/087—Processes employing the direct application of electric or wave energy, or particle radiation; Apparatus therefor employing electric or magnetic energy
Landscapes
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medicinal Chemistry (AREA)
- Pharmacology & Pharmacy (AREA)
- Epidemiology (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Dispersion Chemistry (AREA)
- Inorganic Chemistry (AREA)
- Toxicology (AREA)
- Engineering & Computer Science (AREA)
- Bioinformatics & Cheminformatics (AREA)
- General Chemical & Material Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
The invention discloses an assembling, driving and radial extrusion method of a microtubule robot, wherein the assembling comprises the following steps: step one, 0.05 to 2wt.% of magnetic colloid particles are assembled into a two-dimensional single-layer colloid film under an xy plane oscillating magnetic field; step two, applying a direct current magnetic field in the z direction and gradually increasing the magnetic field intensity until the single-layer colloid film is broken into slices; thirdly, applying a precession magnetic field, and bending the thin sheet to form a compact microtube robot with a hollow tubular structure; and (3) driving: the microtube robot can accurately control the driving direction and speed through a three-dimensional magnetic field, and the hollow inner space is used for capturing and transporting microscopic cargoes; radial extrusion: the microtube robot assembled under the oscillating magnetic field can realize repeated extrusion in the radial direction without cracking. The invention realizes the metastable state assembly from the one-dimensional isotropic microsphere to the three-dimensional micropipe-shaped micro robot for the first time, is suitable for Newtonian fluid and non-Newtonian fluid, and can meet different application scenes.
Description
Technical Field
The invention relates to an assembling and operating method of a micro-pipe robot, in particular to a micro-pipe robot and an assembling, driving and radial extrusion method thereof.
Background
The complex assembly and disassembly processes of the individual can perform advanced functions such as microtubules in biological membranes, can act as a pathway for intracellular protein transport, and regulate the dynamic migration of cells. Colloid is an ideal artificial assembly unit, but the microtubule structure formed in the current research does not have the complex functions of natural microtubules. Particularly for aggregates formed by isotropic assembled units (spheres), complex structures such as microtubes have not been reported.
Currently, there are available artificially prepared microtubule structures such as closed loops formed by DNA modified Janus particles (j.s.oh et al, nat.commun.10,3936 (2019)), bipolar loops and ribbon structures formed by magnetic Janus rods (j.yan et al, nat.commun.4,1516 (2013)), and tubular microstructures assembled by oval particles under the action of an electric field (j.j.crassous et al, nat.commun.5,5516 (2014)), which are simple and single in function, do not have radial repeated extrusion effect, and are only suitable for newton fluids, and have limited application range.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention aims to provide an assembling method which can be used for reversible repeated assembly, is suitable for Newtonian or non-Newtonian fluid and has a large diameter regulation range, and a further aim of the invention is to provide a driving method of a microtube robot which can accurately control the driving direction and speed.
The technical scheme is as follows: the invention relates to an assembly method of a microtubule robot, which comprises the following steps:
in Newtonian fluid or non-Newtonian fluid, the mass percentage is 0.05-2wt.%, and dispersed paramagnetic colloid particles are aggregated under the action of an oscillating magnetic field to form a two-dimensional single-layer colloid film;
step two, applying a direct current magnetic field and gradually increasing the magnetic field intensity, wherein the direct current magnetic field is perpendicular to the oscillating magnetic field, and the single-layer colloid film is broken into thin slices along with the increase of the in-plane repulsive force, and the thin slices are converted into a perpendicular xy plane from a parallel xy plane;
and thirdly, applying a precession magnetic field, bending and folding the thin sheet to form the microtube robot with the compact hollow tubular structure.
Further, the magnetic colloid particles are one or more of ferric oxide, ferroferric oxide, iron and composite materials thereof. The composite material may be a substrate of non-magnetic material, which is then coated, doped, implanted or otherwise treated with paramagnetic material, preferably polystyrene colloidal particles doped with iron oxide.
Further, the magnetic colloidal particles have a particle diameter of 200nm to 30. Mu.m. The larger the diameter of the magnetic colloid particles, the smaller the number of magnetic colloid particles required to compose the microtube robot. The concentration of the magnetic colloid particle dispersion liquid also affects the diameter and the length of the microtube robot assembled, and the larger the concentration of the magnetic colloid particles is, the larger the area of the formed colloid film is, and the larger the size of the microtube robot is finally assembled. The micro-tube robot has a large application range because of a large number of adjustable factors of the size of the micro-tube robot. For example, the 200nm microsphere can be assembled into a microtube with a diameter of a few micrometers, and can be suitable for physiological systems; and the colloidal microspheres with larger sizes can be assembled into a micro-pipe robot with the size of hundreds of micrometers for capturing and transporting cargoes with larger diameters.
Further, the magnetic colloidal particles may be surface-modified, such as by coating with one or more of hydrophilic and hydrophobic materials, positively and negatively charged molecules, antibacterial materials, anticoagulant materials, proteinaceous materials, and anticancer drugs. Hydrophilic and hydrophobic materials or materials with positive and negative charges can change the action effect of the microsphere and the surface of the substrate. The antibacterial material is one or more of silver or silver ions, quaternary ammonium salts, tetracycline and fluoroquinolones. The anticoagulant material is dextran, cytarabine, clopidogrel, aspirin or other platelet-resistant materials. The protein material connects the surface containing the protein coating with the surface of the substrate by physical adsorption or covalent coupling, including selectins. The anticancer drugs including taxol, docetaxel, etc. can be connected through the surface of the functionalized colloid microsphere without any adverse effect on the magnetism of the colloid particle. The magnetic colloid particles of the micro-tube robot can be used to provide radiation therapy to a location within the patient. For example, the magnetic field is changed to heat the micro-robot, so that local hyperthermia is caused, and the effects of treating tumor diseases and the like are realized.
Further, the surface of the magnetic colloid particles can be smooth, and other materials can be polymerized for modification, such as gold plating thorns, so that the surface roughness of the micro-robot is increased, and the rotation translation efficiency of the micro-robot is increased.
Further, in the first step, the newtonian fluid comprises deionized water containing a surfactant, the non-newtonian fluid comprises sheep whole blood, and the factors influencing the assembly process are mainly fluid viscosity. The application range depends on the response degree of paramagnetic microspheres to magnetic fields. The paramagnetic microsphere with weak response is suitable for fluid with low viscosity, and conversely, the response degree of the paramagnetic microsphere can be followed to enhance the viscosity of the fluid.
Further, in the first step, the oscillating magnetic field isWherein B is ost For oscillating magnetic field, B xy For xy plane AC magnetic field strength, ω M ＝2πf M For the rotation angular velocity, f M =50hz is the magnetic field frequency,is the direction of the magnetic field vector.
Further, in the second step, the direct current magnetic fieldWherein B is z Is the intensity of direct current magnetic field in the z direction, +.>Is the direction of the magnetic field vector.
Further, in step three, the precession magnetic fieldWherein B is prec B is a precessional magnetic field xy For xy plane AC magnetic field strength, B z Is the intensity of direct current magnetic field in the z direction omega M ＝2πf M For the rotation angular velocity, f M =20-50 Hz is the magnetic field frequency, +.>For the direction of the magnetic field vector, arctan (B xy /B z ) 8-20 degrees.
The microtubule robot obtained by the assembly method is a metastable hollow tubular structure assembled by paramagnetic colloid particles under the action of a magnetic field, and after all the magnetic fields are removed, the microtubule robot is disintegrated into paramagnetic colloid particles, and repeated assembly can be realized by the assembly method again.
The invention relates to a driving method of a microtubule robot, which comprises the following steps: applying a driving magnetic field B prec ' as driving magnetic field, B yz For yz plane AC magnetic field strength, B x ，B y ，B z Is the direct current magnetic field intensity in the x direction, the y direction or the z direction. Omega M ＝2πf M For the rotation angular velocity, f M =10-40 Hz is the magnetic field frequency, +.>Is the direction of the magnetic field vector. B (B) z And (B) x +B y ) The inclination degree theta of the proportional control microtube relative to the z axis is linear relationMicrotubule driving direction and DC magnetic field->And->The magnetic field vector is perpendicular to the projection direction on the xy plane; driving magnetic field B prec The' magnetic field strength adjusts the angular velocity ω of the inclined microtubule rotation. The relation between the displacement velocity V and the rotation angular velocity omega of the microtubule with the diameter R is V-omega Rsin theta.
The invention relates to a radial extrusion method of a microtubule robot, which comprises the following steps: in a direct current magnetic fieldApplying an oscillating magnetic field B to the micro-pipe robot in the presence of ost The micropipe robot is rapidly compressed along the radial direction, and the compression degree and the oscillating magnetic field B ost The magnetic field intensity is positively correlated, and the oscillating magnetic field B is removed ost Microtubules slowly recover. Repeatedly applying oscillating magnetic field B ost The microtubule can be circularly extruded.
Further, the strength of the applied magnetic field component depends on the magnetic responsiveness of the magnetic colloid particles used. If the colloidal particles have a strong magnetic response, a lower magnetic field strength will have an effect on them. The assembly time is mainly dependent on the initial concentration of colloidal particles, and high concentrations of colloidal particles help to quickly form a sufficiently large colloidal film structure that assembly will be completed more quickly.
Further, the means for generating a magnetic field includes a magnet in a large-sized apparatus such as CT or NMR, a plurality of electromagnetic coils of a small-sized magnetic field apparatus, a means for generating a magnetic field by applying a current or a charge to a conductive material, a plurality of magnets, and the like. The magnetic field can be controlled in three-dimensional directions (namely x, y and z), so that the inclination degree, the rotation direction, the rotation speed and the displacement direction of the micro-tube robot can be flexibly controlled by adjusting the components of the magnetic field.
The preparation principle is as follows: superparamagnetic microspheres may exhibit different modes of aggregation under the actuation of specific magnetic fields. When different magnetic field components are applied by the program, the superparamagnetism microsphere and the monodisperse superparamagnetism microsphere in the assembled state can have different aggregation forms, so that the preparation mode of the hollow tubular metastable state structure with non-minimum energy state is assembled by the application of the magnetic field by the program.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable characteristics:
1. the metastable state assembly from one-dimensional isotropic microspheres to the complex three-dimensional microtubule-shaped micro-robot is realized for the first time, and the assembly method is suitable for Newtonian fluid and non-Newtonian fluid, and can meet different application scenes;
2. the method is suitable for paramagnetic or superparamagnetic colloid particles with different sizes, and the diameter of the microtubule robot obtained by assembly has a larger regulation range;
3. the motion mode of the micropipe robot can be accurately regulated and controlled by a magnetic field, and the magnetic field component relates to the combination of a direct current field and a specific proportion range of an alternating current field; the microtubule-shaped hollow robot rolls on the near wall surface under the drive of a magnetic field to realize the cargo transportation capture and the accurate control of a set route, and the magnetic field can regulate and control the inclination angle, the rotation angular speed, the moving direction, the moving speed and the like of the microtubule robot, compared with other micro robots which move in a rotating mode (the rotation-translation efficiency is more than 3% -10%), the microtubule robot has higher rotation-translation efficiency which is about 50%;
4. the microtubule robot can realize two cargo carrying modes, one is a contactless cargo carrying mode, and the microtubules form vortex in the rolling process to drive cargoes to move; the other is to roll to the vicinity of the target goods through the magnetic field control microtubule, and adjust the magnetic field control microtubule to erect again so as to capture the target goods;
5. when an oscillating magnetic field is applied, the micropipe robot can realize a reciprocating compression function in the radial direction, when soft objects such as red blood cells are trapped in the micropipe, observable deformation can occur in the compression process due to compression force from forces between a plurality of adjacent particles, so that the micropipe robot can serve as a movable micropunching and becomes a potential tool for releasing medicines by the soft capsule.
Drawings
FIG. 1 is a diagram of a magnetic field apparatus of the present invention;
fig. 2 is a schematic diagram of an assembly process of a microtube robot according to embodiment 1 of the present invention, wherein a is a single-layer colloid film broken into a ribbon-like structure, and b is a ribbon-like structure folded into a microtube;
FIG. 3 is a schematic diagram of a microtubule robot at B according to embodiment 1 of the present invention xy /B z Final structure phase diagrams formed under different proportion conditions;
FIG. 4 is a hysteresis graph of superparamagnetic microspheres of example 2 of the present invention, wherein A is 30 μm microsphere, B is 200nm microsphere, C is hollow microtube robot formed by 30 μm microsphere assembly, and D is hollow microtube robot formed by 200nm microsphere assembly;
FIG. 5 is a pictorial view of the micropipe robot assembled in Newtonian fluid of the present invention;
FIG. 6 is a pictorial view of the microtube robot of the present invention assembled in a non-Newtonian fluid;
FIG. 7 is a graph showing the relationship between the degree of inclination of the micro-pipe robot and the vector and direction of the magnetic field in example 4 of the present invention;
FIG. 8 is a graph showing the comparison of the rotational translational efficiencies of the micro-pipe robot according to example 4 of the present invention and other micro-robots;
fig. 9 is a diagram showing the rotation and translation efficiency of the micropipe robot of embodiment 4 of the present invention;
FIG. 10 is a schematic diagram of the motion trace of the micro-pipe robot according to embodiment 4 of the present invention under the action of a magnetic field;
FIG. 11 is a schematic view of a non-contact cargo carrying system of a micro-pipe robot according to embodiment 4 of the present invention;
FIG. 12 is a graph showing the linear relationship between the angular velocity ω of the micro-tube robot and the displacement velocity V of the polystyrene microsphere driven by the eddy current in example 4 of the present invention;
FIG. 13 is a schematic view of an actively capturing cargo with a micro-pipe robot of example 4 of the present invention;
FIG. 14 is a reversible radial compression schematic diagram of a microtube robot according to embodiment 4 of the present invention, wherein A is a structural change diagram of an extrusion cycle microtube, and B is a relationship between a ratio of a length to a short axis of the microtube and the number of extrusion times in a multi-cycle extrusion process;
FIG. 15 is a schematic diagram showing compression deformation of the micro-pipe robot of example 4 of the present invention under different magnetic field strengths;
FIG. 16 is a schematic diagram showing a micropipe robot of example 5 of the present invention deforming and squeezing red blood cells under the action of an oscillating magnetic field.
Detailed Description
In the following embodiments, as shown in fig. 1, a double-layer hollow copper coil 1 is stacked by sleeving a doll to realize the stacking of direct current and alternating current fields in the three-dimensional (x, y, z) direction. The sample is placed at the cavity 2.
Example 1
A method of assembling a microtubule robot comprising the steps of:
(1) The superparamagnetic colloidal particle suspension was diluted with 0.5wt.% sodium dodecyl sulfate as a diluent and 10 μl of the suspension was sandwiched between two transparent glass plates. The glass sheet was placed in the magnetic field generating device shown in fig. 1.
(2) The dispersed superparamagnetic colloidal particles (mass fraction 0.2 wt.%) are in an oscillating magnetic field Under the action of aggregation, a two-dimensional single-layer colloid film is formed, as shown in figure 2Ai, wherein B ost For oscillating magnetic field, B xy For xy plane AC magnetic field strength, ω M ＝2πf M For the rotation angular velocity, f M =50hz is the magnetic field frequency,is the direction of the magnetic field vector. The strength of the magnetic field applied in this example: b (B) xy ＝3.62mT,ω M ＝100πrad s -1 。
(3) Applying a magnetic fieldAnd gradually increasing the magnetic field strength, the whole single-layer colloid film is broken into a flake structure due to the increased in-plane repulsive force. Wherein the DC magnetic field->Wherein B is z Is the intensity of direct current magnetic field in the z direction, +.>Is the direction of the magnetic field vector. The lamellae are inclined upwards with respect to the xy-plane. Removing oscillating magnetic field B ost The lamellae are perpendicular to the xy plane and only in B z The structure of the vertical slice is kept intact under the action of the air, and the stability of the vertical slice structure is verified, as shown in the Aii-iv of FIG. 2. The magnetic field strength B applied in the embodiment z ＝2.76mT。
(4) Applying a precessional magnetic fieldThe sheet will bend and fold. Wherein B is prec B is a precessional magnetic field xy For xy plane AC magnetic field strength, B z Is the direct current magnetic field intensity in the z direction. Omega M ＝2πf M For the rotation angular velocity, f M =20-50 Hz is the magnetic field frequency, +.>Is the direction of the magnetic field vector. The strength of the magnetic field applied in this example: b (B) xy ＝1.09mT,B z ＝2.76mT,ω M ＝60πrad s -1 . Due to the difference in rotational mobility, one end of the sheet continues to curl after contact with the body until a dense hollow tubular structure is formed, as shown in fig. 2 Bi-vi. The components of the rotating field are different and the resulting stable structure is not identical. Forming microtubule robot B xy And B is connected with z The scale of (a) is the range marked by dots in FIG. 3, arctanB xy /B z ＝8～20°。
(5) Once the microtubes are formed, only the direct current component B in the z-axis is retained z Microtubes remain stable, which confirms the stability of the tubular assemblyQualitatively, as in FIG. 2Bvii, the applied magnetic field strength B z ＝2.76mT。
This example demonstrates the assembly process of a microtubule robot, stability of the microtubule. The simple isotropic superparamagnetic colloid particles are assembled into a hollow structure in a micro-tube shape through a designed assembly path, and it is to be noted that a plurality of micro-tubes can be formed in each assembly, and the number of micro-balls assembled into the micro-tubes is different, so that the diameters and the lengths of the micro-tubes are also different.
Example 2
The present example shows that superparamagnetic microspheres of different sizes are assembled into a microtubule robot in the same assembly path.
Superparamagnetic microspheres of different sizes were diluted with 0.5wt.% sodium dodecyl sulfate as diluent and 10 μl of the suspension was sandwiched between two transparent glass plates. The glass sheet was placed in the magnetic field apparatus shown in fig. 1.
The assembly procedure was the same as in example 1.
The field intensity applied by the 200nm superparamagnetic microsphere in the assembly process is B ost ：B xy ＝3.62mT,B z ＝2.76mT,ω M ＝100πrad s -1 。B prec ：B xy ＝1.09mT,B z ＝2.76mT,ω M ＝60πrad s -1 . The field intensity applied by the 30 mu m superparamagnetic microsphere in the assembly process is B ost ：B xy ＝3.62～5.43mT,B z ＝2.76～4.6mT,ω M ＝100πrad s -1 。B prec ：B xy ＝1.09mT,B z ＝2.76～4.6mT,ω M ＝60πrad s -1 。
As shown in FIG. 4, the hollow microtube structure was successfully assembled by the superparamagnetic microspheres of 30 μm and 200 nm.
Example 3
This example shows the assembly of superparamagnetic microspheres into a microtubule robot in newtonian or non-newtonian fluids.
Superparamagnetic microsphere suspension (final concentration 0.2 wt.%) of 4.5 μm diameter was diluted with 0.5wt.% sodium dodecyl sulfate as diluent (newtonian fluid) or sheep whole blood (non-newtonian fluid) and 10 μl of the suspension was sandwiched between two transparent glass plates. The glass sheet was placed in the magnetic field apparatus shown in fig. 1.
The assembly procedure was the same as in example 1.
In newtonian fluids, the applied magnetic field strength is the same as in example 1.
In a non-Newtonian fluid, the applied magnetic field strength is B ost ：B xy ＝5.43mT,B z ＝4.6mT,ω M ＝100πrad s -1 。B prec ：B xy ＝1.09～1.45mT,B z ＝4.6mT,ω M ＝60πrad s -1 。
Final assembly effect: in both newtonian (fig. 5) and non-newtonian (fig. 6) fluids, the assembly of superparamagnetic microspheres into hollow microtube structures is achieved.
Example 4
This example demonstrates the functional roles of a micropipe robot such as motion control, loading, radial dynamic compression, etc.
To demonstrate the cargo effect of the microspheres, a suspension of superparamagnetic microspheres of diameter 4.5 μm (final concentration 0.2 wt.%) was diluted with 0.5wt.% sodium dodecyl sulfate as a diluent, and polystyrene microspheres of diameter 10 μm (final concentration 0.001 wt.%) were added to the above suspension as cargo. 10. Mu.L of the suspension was sandwiched between two transparent glass plates. The glass sheet was placed in the magnetic field generating device shown in fig. 1.
The assembly procedure was the same as in example 1.
The strength of the magnetic field applied in this example: b (B) ost ：B xy ＝3.62mT,B z ＝2.76mT,ω M ＝100πrad s -1 。B prec ：B xy ＝1.09mT,B z ＝2.76mT,ω M ＝60πrad s -1 。
The microtubule robot formed by the embodiment can precisely control the direction and the speed of the movement through an external magnetic field. The external magnetic field isB prec ' as driving magnetic field, B yz For yz plane AC magnetic field strength, B x ，B y ，B z Is the direct current magnetic field intensity in the x direction, the y direction or the z direction. Omega M ＝2πf M For the rotation angular velocity, f M =10-40 Hz is the magnetic field frequency, +.>Is the direction of the magnetic field vector. The applied magnetic field strength in this embodiment is: b (B) yz ＝1.81～2.71mT,B x ＝0～1.8mT,B y ＝0～1.8mT,B z ＝1.38mT,ω M ＝60πrad s -1 . Unlike the magnetoelastic film, the micropipe robot is propelled as a rigid whole due to the restriction of movement between particles, avoiding severe fluid resistance and improving the driving efficiency.
The microtubule robot mainly adopts a rolling mode to move. B (B) z And (B) x +B y ) The inclination degree theta of the proportional control microtube relative to the z axis is linear relationThe θ range may be between about 0 ° (i.e., upright orientation relative to the surface) and 90 ° (i.e., lying flat on the surface), as shown in fig. 7. A greater degree of tilting will result in greater transmission efficiency and a faster forward speed at the same drive strength. Compared with other rotationally driven micro robots, the micro robot in this embodiment has higher conversion efficiency of rotational translation, as shown in fig. 8.
The important parameters in the motion process of the microtubule robot are microtubule displacement speed V, microtubule diameter R, microtubule rotation angular speed omega, and translational-rotational speed relation V-omega Rsin theta, as shown in figure 9. Compared with other micro robots (1.Tierno, et al, phys. Rev. Lett.101,218304 (2008); 2.Zhang, et al, appl. Phys. Lett.94,064107 (2009); 3.Martinez-Pedro, et al, phys. Rev. Appl.3,051003 (2015); 4.yang, et al, proc. Natl. Acad. Sci.117,18186-18193 (2020); 5.Tottori, et al, adv. Mat.24,811-816 (2012); 6.Ghosh, et al, nano Lett.9,2243-2245 (2009); 7.Yat, et al, sci. Robot.4, eaaw9525 (2019); 8.Zhang, et al, ACS, na4, 6228-6234 (2012)), the efficiency of rotation is increased by 3%, the present embodiment is significantly improved by about 50% in the order of the machine.
In addition to the displacement speed, the driving direction can also be manipulated by varying the combination of magnetic field components. Microtubule driving direction and DC magnetic fieldAnd->The magnetic field vector is perpendicular to the projection direction on the xy plane. In this example, to demonstrate the ability to control the direction of microtubule drive, microtubules are maneuvered to advance in a closed trajectory, as shown in FIG. 10.
The hollow structure of micropipe robots makes them well suited for the capture and transport of cargo. Two capture modes were explored in this example: contactless vortex capture and active proximity cargo capture. In mode 1, a fast rotating microtube creates eddy currents and the fluid creates a force trap to capture cargo. Thus, the captured cargo can move without contact with the microtubes, as in fig. 11. The angular velocity ω of the microtubes is linearly related to the displacement velocity of the styrene microspheres driven by the microtube vortex, as shown in fig. 12, the shape represents different samples, the hollow represents microtubes, and the solid represents microspheres. In mode 2, the microtube direction is adjusted, moving to the top of the cargo to capture it, since the magnetic field can exert precise drive direction control (fig. 10). Once trapped inside, the cargo can move with the microtubes as shown in fig. 13. The diameter of the micropipe robot can be controlled by the volume of colloidal particles constituting the micropipe, and the concentration of the colloidal particle suspension. The volume of the capturable goods ranges from a few micrometers to hundreds of micrometers, and the range comprises various cells, bacteria and the like in the physiological environment, so that the capturable goods can be used for capturing and separating the cells, the bacteria and the like in the physiological environment, and testing the mechanical properties such as extrusion and the like. Compared to other micro-robots lasso (t.yang et al, langmuir 33,5932-5937 (2017)), the larger hollow structure of microtubes is more suitable for capturing cargo.
The micro-pipe robot has a unique radial dynamic periodic compression function, as shown in fig. 14A. Since microtubules are assembled by dipole interactions between microspheresAssembled so that the structure is highly reconfigurable under the influence of an external field. At B z Applying an oscillating field while maintaining the stable existence of the micro-pipe robot B ost ：B xy ＝0～3.15mT,B z ＝2.76mT,ω M ＝100πrad s -1 . Microtubes can undergo dynamic, periodic compression without fracturing fig. 14A for one compression cycle. The microtubules in this example can withstand at least 90 compressions and decompressions without any structural disruption, as shown in fig. 14B, further confirming the stability of the microtubule structure. During compression, the cross-section of the microtube is deformed into an ellipse and the axial ratio between the minor axis and the major axis is decreased by increasing the field strength. At the highest field strength in the experiment, the microtubes in this example have been compressed into almost two parallel layers (see FIG. 15, B ost =3.15 mT), but still not ruptured.
Example 5
The present example demonstrates the effect of a microtubule robot on cell extrusion. Superparamagnetic microspheres with a diameter of 2.7 μm were chosen, and the assembled microtube diameter was close to the human red blood cell diameter to demonstrate a more pronounced extrusion effect.
Superparamagnetic microsphere suspension (final concentration 0.2 wt.%) with 2.7 μm diameter diluted with physiological saline or phosphate buffer solution containing 1wt.% bovine serum albumin was added to human erythrocytes (0.01 wt.%). 10. Mu.L of the suspension was sandwiched between two transparent glass plates. The glass sheet was placed in the magnetic field generating device shown in fig. 1.
The assembly procedure was the same as in example 1. The applied magnetic field strength is B ost ：B xy ＝3.6mT,B z ＝2.76mT,ω M ＝100πrad s -1 。B prec ：B xy ＝1.45mT,B z ＝2.76mT,ω M ＝60πrad s -1 . In the extrusion process, the applied magnetic field strength is B ost :B xy ＝3.15mT,B z ＝2.76mT，ω M ＝100πrad s -1 。
The micro-pipe robot in the embodiment can serve as movable micro tweezers by virtue of the unique radial dynamic periodic compression non-breaking function. In this embodiment, when soft objects such as red blood cells are trapped in the microtube, observable deformation occurs during compression due to compressive forces from forces between adjacent particles, as shown in FIG. 16. Thus, our microtubules can act as mobile micro tweezers, which is a potential tool for soft capsules to release drugs.
Claims (10)
1. A method of assembling a microtubule robot, comprising the steps of:
in Newtonian fluid or non-Newtonian fluid, the mass percentage is 0.05-2wt.%, and dispersed paramagnetic colloid particles are aggregated under the action of an oscillating magnetic field to form a two-dimensional single-layer colloid film;
step two, applying a direct current magnetic field and gradually increasing the magnetic field intensity, wherein the direct current magnetic field is perpendicular to the oscillating magnetic field, and the single-layer colloid film is broken into thin slices along with the increase of the in-plane repulsive force, and the thin slices are converted into a perpendicular xy plane from a parallel xy plane;
and thirdly, applying a precession magnetic field, bending and folding the thin sheet to form the microtube robot with the compact hollow tubular structure.
2. The method of assembling a micro-pipe robot according to claim 1, wherein: in the first step, the paramagnetic colloid particles are one or more of ferric oxide, ferroferric oxide, iron and a composite material thereof.
3. The method of assembling a micro-pipe robot according to claim 1, wherein: in the first step, the particle size of the magnetic colloid particles is 200 nm-30 μm.
4. The method of assembling a micro-pipe robot according to claim 1, wherein: in the first step, the magnetic colloid particles are coated with one or more of hydrophilic and hydrophobic materials, molecules with positive and negative charges, antibacterial materials, anticoagulation materials, protein materials and anticancer drugs.
5. The method of assembling a micro-pipe robot according to claim 1, wherein: in the first step, the oscillating magnetic field isWherein B is ost For oscillating magnetic field, B xy For xy plane AC magnetic field strength, ω M ＝2πf M For the rotation angular velocity, f M =50hz is the magnetic field frequency, +.>Is the direction of the magnetic field vector.
6. The method of assembling a micro-pipe robot according to claim 1, wherein: in the second step, a direct current magnetic field is generatedWherein B is z Is the intensity of direct current magnetic field in the z direction, +.>Is the direction of the magnetic field vector.
7. The method of assembling a micro-pipe robot according to claim 1, wherein: in the third step, the precession magnetic fieldWherein B is prec B is a precessional magnetic field xy For xy plane AC magnetic field strength, B z Is the intensity of direct current magnetic field in the z direction omega M ＝2πf M For the rotation angular velocity, f M =20-50 Hz is the magnetic field frequency,for the direction of the magnetic field vector, arctan (B xy /B z ) 8-20 degrees.
8. A microtubule robot obtained by the assembling method of a microtubule robot as claimed in any one of claims 1 to 7, wherein: the paramagnetic colloid particles are assembled into a metastable hollow tubular structure under the action of a magnetic field, and after all the magnetic fields are removed, the microtubule robot is disintegrated into the paramagnetic colloid particles.
9. The driving method of a micro-pipe robot according to claim 8, wherein: applying a driving magnetic fieldB prec ' as driving magnetic field, B yz For yz plane AC magnetic field strength, B x ，B y ，B z Is the direct current magnetic field intensity in the x direction, the y direction or the z direction. Omega M ＝2πf M For the rotation angular velocity, f M =10-40 Hz is the magnetic field frequency, +.>Is the direction of the magnetic field vector. B (B) z And (B) x +B y ) The inclination degree theta of the proportional control microtube relative to the z-axis is linearly related to +.>Microtubule driving direction and DC magnetic field->And->The magnetic field vector is perpendicular to the projection direction on the xy plane; driving magnetic field B prec The' magnetic field strength adjusts the angular velocity ω of the inclined microtubule rotation. Diameter ofThe relation between the displacement velocity V and the rotation angular velocity omega of the microtubule of R is V-omega Rsin theta.
10. The radial extrusion method of a micro-pipe robot according to claim 8, wherein: in a direct current magnetic fieldApplying an oscillating magnetic field B to the micro-pipe robot in the presence of ost The micropipe robot is rapidly compressed along the radial direction, and the compression degree and the oscillating magnetic field B ost The magnetic field intensity is positively correlated, and the oscillating magnetic field B is removed ost Slowly recovering the microtubule robot, repeatedly applying oscillating magnetic field B ost The microtubule can be circularly extruded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311016622.9A CN117299017A (en) | 2023-08-14 | 2023-08-14 | Microtubule robot and assembling, driving and radial extrusion method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311016622.9A CN117299017A (en) | 2023-08-14 | 2023-08-14 | Microtubule robot and assembling, driving and radial extrusion method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117299017A true CN117299017A (en) | 2023-12-29 |
Family
ID=89272638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311016622.9A Pending CN117299017A (en) | 2023-08-14 | 2023-08-14 | Microtubule robot and assembling, driving and radial extrusion method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117299017A (en) |
-
2023
- 2023-08-14 CN CN202311016622.9A patent/CN117299017A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Cao et al. | Recent advances in manipulation of micro-and nano-objects with magnetic fields at small scales | |
| Zhang et al. | Artificial bacterial flagella for micromanipulation | |
| Schmauch et al. | Chained iron microparticles for directionally controlled actuation of soft robots | |
| Rikken et al. | Manipulation of micro-and nanostructure motion with magnetic fields | |
| Rao et al. | A force to be reckoned with: a review of synthetic microswimmers powered by ultrasound | |
| Kim et al. | Magnetoresponsive microparticles with nanoscopic surface structures for remote-controlled locomotion | |
| Benkoski et al. | Dipolar organization and magnetic actuation of flagella-like nanoparticle assemblies | |
| US20090092509A1 (en) | Apparatus and method for magnetic-based manipulation of microscopic particles | |
| Gabayno et al. | Controlled manipulation of Fe 3 O 4 nanoparticles in an oscillating magnetic field for fast ablation of microchannel occlusion | |
| Mair et al. | Magnetic microkayaks: propulsion of microrods precessing near a surface by kilohertz frequency, rotating magnetic fields | |
| Peyer et al. | Magnetic polymer composite artificial bacterial flagella | |
| Mair et al. | Highly controllable near-surface swimming of magnetic Janus nanorods: application to payload capture and manipulation | |
| Martínez-Pedrero | Static and dynamic behavior of magnetic particles at fluid interfaces | |
| JP5867920B2 (en) | Transport of micro-sized objects and extraction of mechanical work by constant electric field | |
| WO2009103938A1 (en) | Controllable magnetic systems | |
| Geng et al. | Microfluidic preparation of flexible micro-grippers with precise delivery function | |
| Wang et al. | Selective and Independent Control of Microrobots in a Magnetic Field: A Review | |
| Zhu et al. | Synthesis and propulsion of magnetic dimers under orthogonally applied electric and magnetic fields | |
| Chen et al. | Voltage manipulation of magnetic particles using multiferroics | |
| Li et al. | An automated device for layer-by-layer coating of dispersed superparamagnetic nanoparticle templates | |
| Bonilla-Brunner et al. | Polymeric microellipsoids with programmed magnetic anisotropy for controlled rotation using low (≈ 10 mT) magnetic fields | |
| Ergeneman et al. | Inkjet printed superparamagnetic polymer composite hemispheres with programmed magnetic anisotropy | |
| CN117299017A (en) | Microtubule robot and assembling, driving and radial extrusion method thereof | |
| Peyer et al. | Bacteria-inspired magnetic polymer composite microrobots | |
| WO2021108778A1 (en) | Method and apparatus for mixing magnetic particles in liquid medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |