Nano/micromotors are artificial robots at the nano/microscale that are capable of transforming energy into mechanical movement. In cancer diagnosis or therapy, such “tiny robots” show great promise for targeted drug delivery, cell removal/killing, and even related biomarker sensing. Yet biocompatibility is still the most critical challenge that restricts such techniques from transitioning from the laboratory to clinical applications. In this review, we emphasize the biocompatibility aspect of nano/micromotors to show the great efforts made by researchers to promote their clinical application, mainly including non-toxic fuel propulsion (inorganic catalysts, enzyme, etc.), bio-hybrid designs, ultrasound propulsion, light-triggered propulsion, magnetic propulsion, dual propulsion, and, in particular, the cooperative swarm-based strategy for increasing therapeutic effects. Future challenges in translating nano/micromotors into real applications and the potential directions for increasing biocompatibility are also described.

Real-time pH measurement and regulation of microliter-scale liquid samples are critical for microfluidic biochemical applications. However, traditional magnetic stirring for macroscopic systems is not applicable under such microscale conditions. This work develops an ultrasound-assisted screen-printed electrode (SPE) pH sensor integrated with a 3D-printed ultrasonic reflection cell and piezoelectric excitation unit. Ultrasound-induced acoustic streaming accelerates mass transfer inside microliter-scale samples. Upon acid addition, the ultrasonic-assisted system reaches potentiometric equilibrium far more rapidly than the static non-ultrasonic control. Optimized parameters are 30 s ultrasonic duration and 5 Vpp input amplitude. The sensor shows linearity from pH 3.04 to 4.15 with R² = 0.9919. Phenolphthalein visualization directly confirms ultrasound-enhanced molecular diffusion. Its mass transfer efficiency matches traditional magnetic stirring, and stable fast equilibrium is realized in complex cell culture medium. This acoustofluidic micromixing strategy offers a simple integrated route for pH monitoring and the regulation of micro-volume biological samples.