Magnetic soft robots have shown great potential for biomedical applications due to their high shape reconfigurability, motion agility, and multi-functionality in physiological environments. Magnetic soft robots with multi-layer structures can enhance the loading capacity and function complexity for targeted delivery. However, the interactions between soft entities have yet to be fully investigated, and thus the assembly of magnetic soft robots with on-demand motion modes from multiple film-like layers is still challenging. Herein, we model and tailor the magnetic interaction between soft film-like layers with distinct in-plane structures, and then realize multi-layer soft robots that are capable of performing agile motions and targeted adhesion. Each layer of the robot consists of a soft magnetic substrate and an adhesive film. The mechanical properties and adhesion performance of the adhesive films are systematically characterized. The robot is capable of performing two locomotion modes, i.e., translational motion and tumbling motion, and also the on-demand separation with one side layer adhered to tissues. Simulation results are presented, which have a good qualitative agreement with the experimental results. The feasibility of using the robot to perform multi-target adhesion in a stomach is validated in both ex-vivo and in-vivo experiments.

This article reports an automated optically-induced dielectrophoresis (ODEP) system for characterizing the specific membrane capacitance (SMC) of individual cells. The simulation of cell motion is conducted to analyze the electrokinetic forces acting on the cell. A self-developed visual tracking algorithm for multicells is used to realize an automated process for determining the frequency-sweeping range, crossover frequencies, and cell radii. The SMC values of malignant bladder cancer cells (T24 and RT4) and normal urothelial cells (SV-HUC-1) were quantified using the automated system, demonstrating that the system has a measurement speed of ~ 1 cell/s, an accuracy of 1 kHz for the crossover frequency determination, and an accuracy of 0.2 μm for the cell radius measurement.

The evolution of nature created delicate structures and organisms. With the advancement of technology, especially the rise of additive manufacturing, bionics has gradually become a popular research field. Recently, researchers have concentrated on soft robotics, which can mimic the complex movements of animals by allowing continuous and often responsive local deformations. These properties give soft robots advantages in terms of integration and control with human tissue. The rise of additive manufacturing technologies and soft matters makes the fabrication of soft robots with complex functions such as bending, twisting, intricate 3D motion, grasping, and stretching possible. In this paper, the advantages and disadvantages of the additive manufacturing process, including fused deposition modeling, direct ink writing, inkjet printing, stereolithography, and selective laser sintering, are discussed. The applications of 3D printed soft matter in bionics, soft robotics, flexible electronics, and biomedical engineering are reviewed.

Cellular physical properties have been identified to reflect cell states. Existing techniques are able to characterize either mechanical or electrical properties of a cell. This paper presents a micropipette aspiration technique that enables the characterization of both mechanical (instantaneous elastic modulus, equilibrium elastic modulus, and viscosity), and electrical (specific membrane capacitance) properties of the same single cell. Two bladder cancer cell lines (RT4 and T24) with different metastatic potential were used to evaluate the technique. The results showed that high-grade bladder cancer cells (T24, grade III) possess lower viscosity, lower elastic modulus, and larger SMC than the low-grade cancer cells (RT4, grade I). The Naive Bayes classifier was utilized to assess the classification accuracy using single-physical and multi-physical parameters. The classification results confirmed that the use of multi-biophysical parameters resulted in higher accuracy (97.5%), sensitivity (100%), and specificity (95.2%) than the use of a single-physical parameter for distinguishing T24 and RT4 cells.

Tissues larger than 400 μm in size lacking microvascular networks cannot survive for long periods of time in vitro. The development of microfluidic technology provides an efficient research tool for constructing microvascular models in vitro. However, traditional single-layer microfluidic chips faced the limitation of spatial layout and could not provide diverse fluidic environments within a single chip. In this paper, we present a novel microfluidic chip design with a 3-layer configuration that utilizes a polycarbonate (PC) porous membrane to separate the culture fluid channels from the tissue chambers, featuring flexibly designable multitissue chambers. PC porous membranes act as the capillary in the vertical direction, enabling precise hydrogel patterning and successfully constructing a microfluidic environment suitable for microvascular tissue growth. The chip demonstrates the ability to build microvascular networks of different shapes such as triangle, rectangle, and inverted triangle on a single chip for more than 10 days. The microvascular networks cultured for 12 days were successfully perfused with 70-kDa fluorescein isothiocyanate, which indicated that the generated networks had good barrier properties. A correlation between tissue chamber shape and shear stress was demonstrated using COMSOL, and a preliminary validation of the flow direction of interstitial flow and the important effect of shear stress on microvascular growth was demonstrated by vascularization experiments. This flexible and scalable design is ideal for culturing multiple vascularized organ tissues on a single microfluidic chip, as well as for studying the effects of different fluidic factors on microvascular growth.

During cardiac development, mechanotransduction from the in vivo microenvironment modulates cardiomyocyte growth in terms of the number, area, and arrangement heterogeneity. However, the response of cells to different degrees of mechanical stimuli is unclear. Organ-on-a-chip, as a platform for investigating mechanical stress stimuli in cellular mimicry of the in vivo microenvironment, is limited by the lack of ability to accurately quantify externally induced stimuli. However, previous technology lacks the integration of external stimuli and feedback sensors in microfluidic platforms to obtain and apply precise amounts of external stimuli. Here, we designed a cell stretching platform with an in-situ sensor. The in-situ liquid metal sensors can accurately measure the mechanical stimulation caused by the deformation of the vacuum cavity exerted on cells. The platform was applied to human cardiomyocytes (AC16) under cyclic strain (5%, 10%, 15%, 20 and 25%), and we found that cyclic strain promoted cell growth induced the arrangement of cells on the membrane to gradually unify, and stabilized the cells at 15% amplitude, which was even more effective after 3 days of culture. The platform’s precise control and measurement of mechanical forces can be used to establish more accurate in vitro microenvironmental models for disease modeling and therapeutic research.