Fabrication and magnetic control of alginate-based rolling microrobots

Advances in microrobotics for biological applications are often limited due to their complex manufacturing processes, which often utilize cytotoxic materials, as well as limitations in the ability to manipulate these small devices wirelessly. In an effort to overcome these challenges, we investigated a facile method for generating biocompatible hydrogel based robots that are capable of being manipulated using an externally generated magnetic field. Here, we experimentally demonstrate the fabrication and autonomous control of loaded-alginate microspheres, which we term artificial cells. In order to generate these microparticles, we employed a centrifuge-based method in which microspheres were rapidly ejected from a nozzle tip. Specifically, we used two mixtures of sodium alginate; one containing iron oxide nanoparticles and the other containing mammalian cells. This mixture was loaded into a needle that was fixed on top of a microtube containing calcium chloride, and then briefly centrifuged to generate hundreds of Janus microspheres. The fabricated microparticles were then magnetically actuated with a rotating magnetic field, generated using electromagnetic coils, prompting the particles to roll across a glass substrate. Also, using vision-based feedback control, a single artificial cell was manipulated to autonomously move in a programmed pattern