Microrobots have the potential to revolutionize many aspects of medicine. These untethered, wirelessly controlled and powered devices will make existing therapeutic and diagnostic procedures less invasive and will enable new procedures never before possible. The aim of this review is threefold: first, to provide a comprehensive survey of the technological state of the art in medical microrobots; second, to explore the potential impact of medical microrobots and inspire future research in this field; and third, to provide a collection of valuable information and engineering tools for the design of medical microrobots.

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Microrobots for Minimally Invasive Medicine

The common ferromagnetic minerals have distinctive, characteristic coercivities and thermomagnetic properties. The analysis of the acquisition curve of isothermal remanent magnetization (IRM) is a useful but often ambiguous diagnostic technique. For a more conclusive interpretation, IRM acquisition must be combined with subsequent thermal demagnetization of the IRM. A modification of this method is proposed as a more powerful analytical technique. Different coercivity fractions of IRM are remagnetized in successively smaller fields along three orthogonal directions. The thermal demagnetization of each orthogonal component of the composite IRM is then plotted separately. This method often gives a clearer interpretation of the ferromagnetic mineral content of a rock. Examples are described for limestone and sandstone samples.

https://agupubs.onlinelibrary.wiley.com/doi/pdf/10.1029/GL017i002p00159%4010.1002/%28ISSN%291944-8007.GRL40

Identification of ferromagnetic minerals in a rock by coercivity and unblocking temperature properties

Nanostructures have attracted huge interest as a rapidly growing class of materials for many applications. Several techniques have been used to characterize the size, crystal structure, elemental composition and a variety of other physical properties of nanoparticles. In several cases, there are physical properties that can be evaluated by more than one technique. Different strengths and limitations of each technique complicate the choice of the most suitable method, while often a combinatorial characterization approach is needed. In addition, given that the significance of nanoparticles in basic research and applications is constantly increasing, it is necessary that researchers from separate fields overcome the challenges in the reproducible and reliable characterization of nanomaterials, after their synthesis and further process (e.g. annealing) stages. The principal objective of this review is to summarize the present knowledge on the use, advances, advantages and weaknesses of a large number of experimental techniques that are available for the characterization of nanoparticles. Different characterization techniques are classified according to the concept/group of the technique used, the information they can provide, or the materials that they are destined for. We describe the main characteristics of the techniques and their operation principles and we give various examples of their use, presenting them in a comparative mode, when possible, in relation to the property studied in each case.

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Characterization techniques for nanoparticles: comparison and complementarity upon studying nanoparticle properties

Hybrid nanostructures composed of semiconductor and plasmonic metal components are receiving extensive attention. They display extraordinary optical characteristics that are derived from the simultaneous existence and close conjunction of localized surface plasmon resonance and semiconduction, as well as the synergistic interactions between the two components. They have been widely studied for photocatalysis, plasmon-enhanced spectroscopy, biotechnology, and solar cells. In this review, the developments in the field of (plasmonic metal)/semiconductor hybrid nanostructures are comprehensively described. The preparation of the hybrid nanostructures is first presented according to the semiconductor type, as well as the nanostructure morphology. The plasmonic properties and the enabled applications of the hybrid nanostructures are then elucidated. Lastly, possible future research in this burgeoning field is discussed.

Metal/Semiconductor Hybrid Nanostructures for Plasmon-Enhanced Applications

The conventional rules, derived from empirical and theoretical considerations, for the interpretation of anisotropy of magnetic susceptibility (AMS) in terms of microstructure and deformation are subject to numerous exceptions as a result of particular rock magnetic effects. Unusual relationships between structural and magnetic axes (so-called inverse or intermediate magnetic fabrics) can occur because of the presence of certain magnetic minerals, either single domain magnetite or various paramagnetic minerals. When more than one mineral is responsible for magnetic susceptibility, various problems appear, in particular the impossibility of using anisotropy to make quantitative inferences on the intensity of the preferred orientation and consequently on strain. In ferromagnetic grains, AMS may also be influenced by the magnetic memory of the grains (including natural remanence). The effect of alternating field or thermal demagnetization on AMS is briefly discussed. As discussed in this article, various rock magnetic techniques, specific to AMS interpretation, have to be developed for a better assessment of the geological significance of AMS data. These techniques mainly rely on measurements of susceptibility versus magnetic field and temperature, together with anisotropy of remanence. 93 refs., 11 figs., 1 tab.

/pdf/rock-magnetism-and-the-interpretation-of-anisotropy-of-1384bopptq.pdf

Rock magnetism and the interpretation of anisotropy of magnetic susceptibility

We calculate the torque and force generated by an arbitrary magnetic field on an axially symmetric soft-magnetic body. We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force follow. The model is verified experimentally, and captures the often neglected region between weak and saturating fields, where interesting behavior is observed. We provide the field direction to maximize torque for a given field magnitude. We also find an absolute maximum torque, for a given body geometry and material, which can be generated with relatively weak applied fields. This paper is aimed at those interested in systems-level analysis, simulation, and real-time control of soft-magnetic bodies.

/pdf/modeling-magnetic-torque-and-force-for-controlled-2h8ym8nr6m.pdf

Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies

Hybrid plasmonic-magnetic nanoparticles possess properties that are attractive in bioimaging, targeted drug delivery, in vivo diagnosis and therapy. The stability and toxicity, however, of such nanoparticles challenge their safe use today. Here, biocompatible, SiO2-coated, Janus-like Ag/Fe2O3 nanoparticles are prepared by one-step, scalable flame aerosol technology. A nanothin SiO2 shell around these multifunctional nanoparticles leaves intact their morphology, magnetic and plasmonic properties but minimizes the release of toxic Ag+ ions from the nanosilver surface and its direct contact with live cells. Furthermore, this silica shell hinders flocculation and allows for easy dispersion of such nanoparticles in aqueous and biological buffer (PBS) solutions without any extra functionalization step. As a result, these hybrid particles exhibited no cytotoxicity during bioimaging and remained stable in suspension with no signs of agglomeration and sedimentation or settling. Their performance as biomarkers was explored by selectively binding them with live tagged Raji and HeLa cells enabling their detection under dark-filed illumination. Therefore, these SiO2-coated Ag/Fe2O3 nanoparticles do not exhibit the limiting physical properties of each individual component but retain their desired functionalities facilitating thus, the safe use of such hybrid nanoparticles in bio-applications.

/pdf/hybrid-silica-coated-janus-like-plasmonic-magnetic-2vai72bbt4.pdf

Hybrid, silica-coated, Janus-like plasmonic-magnetic nanoparticles.

Metachronal waves commonly exist in natural cilia carpets. These emergent phenomena, which originate from phase differences between neighbouring self-beating cilia, are essential for biological transport processes including locomotion, liquid pumping, feeding, and cell delivery. However, studies of such complex active systems are limited, particularly from the experimental side. Here we report magnetically actuated, soft, artificial cilia carpets. By stretching and folding onto curved templates, programmable magnetization patterns can be encoded into artificial cilia carpets, which exhibit metachronal waves in dynamic magnetic fields. We have tested both the transport capabilities in a fluid environment and the locomotion capabilities on a solid surface. This robotic system provides a highly customizable experimental platform that not only assists in understanding fundamental rules of natural cilia carpets, but also paves a path to cilia-inspired soft robots for future biomedical applications.

/pdf/magnetic-cilia-carpets-with-programmable-metachronal-waves-4s3ch5wjwr.pdf

Ann M. Hirt

Papers

Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies

Hybrid, silica-coated, Janus-like plasmonic-magnetic nanoparticles.

Magnetic cilia carpets with programmable metachronal waves

The anisotropy of magnetic susceptibility in biotite, muscovite and chlorite single crystals

Magnetic anisotropy, rock fabrics and finite strain in deformed sediments of SW Sardinia (Italy)