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journal article·2025-01-28Open access

Robotic Microcapsule Assemblies with Adaptive Mobility for Targeted Treatment of Rugged Biological Microenvironments

Hong Huy Tran, Zhenting Xiang, Min Jun Oh, Yuan Liu, Zhi Ren, Chider Chen, Nadasinee Jaruchotiratanasakul, James M. Kikkawa, Daeyeon Lee, Hyun Koo, Edward Steager

ACS Nano· Volume 19· Issue 3
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Source abstract

Abstract

High Resolution Image Download MS PowerPoint Slide Microrobots are poised to transform biomedicine by enabling precise, noninvasive procedures. However, current magnetic microrobots, composed of solid monolithic particles, present fundamental challenges in engineering intersubunit interactions, limiting their collective effectiveness in navigating irregular biological terrains and confined spaces. To address this, we design hierarchically assembled microrobots with multiaxis mobility and collective adaptability by engineering the potential magnetic interaction energy between subunits to create stable, self-reconfigurable structures capable of carrying and protecting cargo internally. Using double emulsion templates and magnetic control techniques, we confine 10 nm iron oxide and 15 nm silica nanoparticles within the shell of 100 μm microcapsules that form multiunit robotic collectives. Unexpectedly, we find that asymmetric localization of iron oxide nanoparticles in the microcapsules enhances the intercapsule potential energy, creating stable connections under rotating magnetic fields without altering the magnetic susceptibility. These robotic microcapsule collectives exhibit emergent behaviors, self-reconfiguring into kinematic chain-like structures to traverse complex obstacles, arched confinements, and adhesive, rugged biological tissues that typically impede microscale systems. By harnessing these functions, we demonstrate targeted antifungal delivery using a localized biofilm model on mucosal tissues, showing effective killing of Candida without binding or causing physical damage to host cells. Our findings show how hierarchical assembly can produce cargo-carrying microrobots with collective, self-adaptive mobility for traversing complex biological environments, advancing targeted delivery for biomedical applications.
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Research context

Nanomaterials

OpenAlex topics: Micro and Nano Robotics · Modular Robots and Swarm Intelligence · 3D Printing in Biomedical Research

SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.

Affiliations

Center for Innovation & Precision Dentistry, School of Dental Medicine, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Biofilm Research Laboratories, Levy Center for Oral Health, School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Department of Chemical and Biomolecular Engineering, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Department of Orthodontics, School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Department of Preventive and Restorative Sciences, School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Department of Oral and Maxillofacial Surgery and Pharmacology, School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Department of Endodontics, School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Department of Operative Dentistry and Endodontics, Faculty of Dentistry, Mahidol University, Bangkok 10400, Thailand

Department of Physics and Astronomy, School of Arts and Sciences, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Department of Bioengineering, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

GRASP Laboratory, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States

Funding

National Institute of Dental and Craniofacial Research

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