Nanoparticle delivery systems have good application prospects in the treatment of various diseases, especially in cancer treatment. The effect of drug delivery is regulated by the properties of nanoparticles. There have been many studies focusing on optimizing the structure of nanoparticles in recent years, and a series of achievements have been made. This review summarizes the optimization strategies of nanoparticles from three aspects—improving biocompatibility, increasing the targeting efficiency of nanoparticles, and improving the drug loading rate of nanoparticles—aiming to provide some theoretical reference for the subsequent drug delivery of nanoparticles.

Soft-bodied robots driven by external fields have better environmental adaptability, extending their applications. Nature also provides lots of inspiration for shape-morphing robot development, for example, larvae and jellyfish. This paper presents magnetically propelled hydrogel-based millirobots with volume changeability. The millirobot can be imaged in real time in a completely enclosed space with an ultrasound imaging system. Firstly, a custom-designed magnetic generating system with six square coils was introduced to generate a uniform field to propel the robot. The robot was fabricated using hydrogel with a thickness of around 300 μm. After programmable magnetization, the robot could change its shape and move using the rotating magnetic field. With the near-infrared illumination, the robot could shrink and could recover when the illumination stopped. Even when the robot shrank, it could be propelled by the external field, showing its potential usage in complex environments. Moreover, the posture information of the robot including the position and shape could be obtained in real time using ultrasound image technology.