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Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

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Nano-Micro Letters 2024年第2期16卷 450-483页

作者： Qianqian Wang Shihao Yang Li Zhang Jiangsu Key Laboratory for Design and Manufacture of Micro‑Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211189People’s Republic of China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China chow yuk ho technology Centre for innovative medicine The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China T Stone Robotics Institute The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Department of Surgery The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse *** are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to *** the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing *** review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment *** recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.

关键词： Micro/nanorobot Remote sensing Wireless control Self-propulsion Actuation at small scales

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Light-Triggered Catalytic Performance Enhancement Using Magnetic Nanomotor Ensembles

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Research 2020年第1期2020卷 986-996页

作者： Fengtong Ji Ben Wang Li Zhang Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatin N.T.Hong KongChina chow yuk ho technology Centre for innovative medicine The Chinese University of Hong KongShatin N.T.Hong KongChina

Micro/nanomachines have attracted extensive attention in the biomedical and environmental fields for realizing functionalities at small ***,they have been rarely investigated as active *** nanocatalysts have exceptional reusability and recyclability,and integration with magnetic materials enables their recovery with minimum ***,we propose a model active nanocatalyst using magnetic nanomotor ensembles(MNEs)that can degrade contaminants in an aqueous solution with high catalytic *** composed of a magnetite core coated with gold nanoparticles as the nanocatalyst can rotate under the action of a programmable external field and carry out rapid reduction of 4-nitrophenol(4-NP).The hydrogen bubbles generated in the catalytic reaction provide random perturbations for the MNEs to travel in the reaction solution,resulting in uniform *** reduction can be further boosted by irradiation with near-infrared(NIR)*** field induces the rotation of the MNEs and provides microstirring in the *** enhances the catalytic activity via the photothermal *** MNEs are also capable of moving to the targeted region through the application of a programmable magnetic field and then process the contaminant in the targeted *** expect that such magnetic MNEs may help better in applying active heterogeneous nanocatalysts with magnetic field and light-enhanced performance in industrial applications due to their advantages of low material cost and short reaction time.

关键词： effect catalyst stirring

A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

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Engineering 2015年第1期1卷 73-78页

作者： Zheng Li Jan Feiling hongliang Ren Haoyong Yu Department of Biomedical Engineering National University of Singapore Institute of Digestive Disease the Chinese University of Hong Kong chow yuk ho technology Centre for innovative medicine the Chinese University of Hong Kong Faculty of Design Production Engineeringand Automotive EngineeringUniversity of Stuttgart

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

关键词： surgical robot flexible manipulator tendon-driven minimally invasive robotic surgery

Central Pattern Generator(CPG)Control of a Biomimetic Robot Fish for Multimodal Swimming

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Journal of Bionic Engineering 2019年第2期16卷 222-234页

作者： Fengran Xie Yong Zhong Ruxu Du Zheng Li Department of Mechanical and Automation Engineering Chinese University of Hong KongHong Kong SARChina S.M.Wu School of Intelligent Engineering South China University of TechnologyGuangzhou 510640GuangdongChina Department of Surgery and the chow yuk ho technology Centre for innovative medicine Chinese University of Hong KongHong Kong SARChina

This paper introduces the design and control of a biomimetic robot fish for multimodal *** biomimetic design consists of three parts:the rigid head,the wire-driven body and the compliant *** control is an improved Central Pattern Generator(CPG)with the high-level control command:(M,co,B,R),where M is the amplitude,co is the angular velocity,B is the offtet and R is the time ratio between two phases forming one flapping *** method differs from previous research in two aspects:(1)The CPG control is firstly implemented on the wire-driven robot fish.(2)The improved CPG model synthesizes symmetrical flapping in cruising and asymmetrical flapping in turning for the robot *** asymmetrical flapping refers to the asymmetry of the offset and the time *** combination of the design and the control has several advantages over the existing multimodal swimming robot ***,it uses just one driving motor for undulatory oscillation while the others need to use two or more ***,with just one motor,the CPG control can be easily ***,the use of the time ratio,R,makes the robot fish turn more naturally and *** results show the robot fish achieved the maximum speed of 1.37 Body Length/Second(BL.s-1)and the largest turning rate of ***,in many swimming conditions,its Strouhal Number falls in the range from 0.2 to 0.4,which implies the robot fish is efficient.

关键词： biomimetics robot fish Central Pattern Generator(CPG) multimodal swimming

Magnetic swarming microrobots: from fundamentals to applications

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Magnetic swarming microrobots: from fundamentals to applicat...

Neurovascular ageing:transcriptomic readout and implications on therapeutic targeting in Alzheimer’s disease

中国化学会第十七届全国胶体与界面化学学术会议

作者：张立 Department of Mechanical and Automation Engineering The Chinese University of Hong Kong chow yuk ho technology Centre for innovative medicine The Chinese University of Hong Kong CUHK T Stone Robotics Institute The Chinese University of Hong Kong

People have envisioned tiny machines and robots that can explore the human body, find and treat diseases since Richard Feynman’s famous speech, "There’s plenty of room at the bottom," in which the idea of a "swallowable surgeon" was proposed in the 1950 s. Even though we are at a state of infancy to achieve this vision, recent intense progress on nanotechnology, MEMS/NEMS technology and micro-/nanorobotics has accelerated the pace toward the goal. A number of research efforts have been recently published regarding the development of tiny swimming machines/robots from the basic principles and fabrication methods to practical applications. I will present the recent research progress in my lab on using a large number of microrobots [1-6], from the design, magnetic actuation, to perspective of using these small agents for varied potential applications.

关键词： Colloidal motors self-propulsion Swarm dynamic self-assembly non-equilibrium

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Neural Regeneration Research 2021年第12期16卷 2411-2412页

作者： Zhongqi Li Bonaventure Ip Vincent C.T.Mok ho Ko Division of Neurology Department of Medicine and TherapeuticsThe Chinese University of Hong KongHong Kong Special Administrative RegionChina Li Ka Shing Institute of Health Sciences The Chinese University of Hong KongHong Kong Special Administrative RegionChina(Li ZKo H)Margaret K.L.Cheung Research Centre for Management of ParkinsonismThe Chinese University of Hong KongHong Kong Special Administrative RegionChina chow yuk ho technology Centre for innovative medicine The Chinese University of Hong KongHong Kong Special Administrative RegionChina Gerald Choa Neuroscience Centre School of Biomedical SciencesDepartment of PsychiatryPeter Hung Pain Research InstituteFaculty of MedicineThe Chinese University of Hong KongHong Kong Special Administrative RegionChina

Ageing is one of the greatest risk factors for neurodegenerative *** the complex biological changes in ageing increase the brain’s susceptibility to neurodegeneration remains incompletely *** into neurodegenerative disorders has shifted from a neuron-centric approach,to the contributing roles of age-related neurovascular and glial cell dysfunction.

关键词： incomplete susceptibility ageing

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面向机器人微创手术的新型遥控柔性机器人

Engineering 2015年第1期 151-162页

作者：李峥 Jan Feiling 任洪亮 Haoyong Yu Department of Biomedical Engineering National University of Singapore Institute of Digestive Disease the Chinese University of Hong Kong chow yuk ho technology Centre for innovative medicine the Chinese University of Hong Kong

本文介绍了基于约束型蛇形拉线机构(CTSM)的新型柔性机器人系统。与达芬奇外科手术机器人和传统柔性机器人相比,基于CTSM的机器人具有更大的工作空间,更高的灵巧度以及刚度可控的优点。该机器人采用Novint Falcon触觉设备进行远程操控,... 详细信息

本文介绍了基于约束型蛇形拉线机构(CTSM)的新型柔性机器人系统。与达芬奇外科手术机器人和传统柔性机器人相比,基于CTSM的机器人具有更大的工作空间,更高的灵巧度以及刚度可控的优点。该机器人采用Novint Falcon触觉设备进行远程操控,包括两种操作模式——直接映射模式和增量模式。在每一种模式下,该机器人都可以采用"最大刚度"方案或"最小运动"方案来操控。CTSM的以上优点在仿真模拟和实验中均得以验证。

关键词：外科手术机器人柔性机械臂拉线机构机器人微创手术

Enhancing cartilage repair with optimized supramolecular hydrogel-based scaffold and pulsed electromagnetic field

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Bioactive Materials 2023年第4期22卷 312-324页

作者： Yucong Li Linlong Li Ye Li Lu Feng Bin Wang Ming Wang Haixing Wang Meiling Zhu Yongkang Yang Erik IWaldorff Nianli Zhang Ingmar Viohl Sien Lin Liming Bian Wayne yuk-Wai Lee Gang Li Department of Orthopaedics&Traumatology Stem Cells and Regenerative Medicine LaboratoryLi Ka Shing Institute of Health SciencesThe Chinese University of Hong KongPrince of Wales HospitalShatinHong Kong Special Administrative Region Research&Clinical Affairs Orthofix Medical Inc.LewisvilleTXUSA Department of Rehabilitation Sciences Hong Kong Polytechnic UniversityHong Kong Special Administrative Region Innovation Centre for Advanced Interdisciplinary medicine Key Laboratory of Biological Targeting DiagnosisTherapy and Rehabilitation of Guangdong Higher Education InstitutesThe Fifth Affiliated Hospital of Guangzhou Medical UniversityGuangzhouChina The Eighth Affiliated hospital Sun Yat-Sen UniversityShenzhenPR China School of Biomedical Sciences and Engineering National Engineering Research Center for Tissue Restoration and ReconstructionKey Laboratory of Biomedical Materials and Engineering of the Ministry of EducationSouth China University of TechnologyGuangzhouPR China Department of Orthopaedics and Traumatology SH Ho Scoliosis Research LaboratoryJoint Scoliosis Research Center of the Chinese University of Hong Kong and Nanjing UniversityThe Chinese University of Hong KongHong Kong Special Administrative Region

Functional tissue engineering strategies provide innovative approach for the repair and regeneration of damaged *** is widely used because it could provide rapid defect filling and proper structure support,and is biocompatible for cell aggregation and matrix *** have been made to seek suitable scaffolds for cartilage tissue *** Alg-DA/Ac-β-CD/gelatin hydrogel was designed with the features of physical and chemical multiple crosslinking and self-healing *** time,swelling ratio,biodegradability and biocompatibility of the hydrogels were systematically characterized,and the injectable self-healing adhesive hydrogel were demonstrated to exhibit ideal properties for cartilage ***,the new hydrogel design introduces a pre-gel state before photo-crosslinking,where increased viscosity and decreased fluidity allow the gel to remain in a semi-solid *** granted multiple administration routes to the hydrogels,which brings hydrogels the ability to adapt to complex clinical *** electromagnetic fields(PEMF)have been recognized as a promising solution to various health problems owing to their noninvasive properties and therapeutic *** treatment offers a better clinical outcome with fewer,if any,side effects,and wildly used in musculoskeletal tissue *** we propose PEMF as an effective biophysical stimulation to be 4th key element in cartilage tissue *** this study,the as-prepared Alg-DA/Ac-β-CD/gelatin hydrogels were utilized in the rat osteochondral defect model,and the potential application of PEMF in cartilage tissue engineering were *** treatment were proven to enhance the quality of engineered chondrogenic constructs in vitro,and facilitate chondrogenesis and cartilage repair in *** of the results suggested that with the injectable self-healing adhesive hydrogel and PEMF treatment,this newly proposed tissue engineering strategy r

关键词： Supramolecular hydrogels Pulsed electromagnetic field Cartilage tissue engineering Mesenchymal stem cells Chondrogenesis