面向细胞三维操控的光致水分解微纳米机器人驱动控制研究

Tissue engineering research has an urgent demand of 3D cell manipulation. And, Micro&nano robot is a powerful tool for 3D cell manipulation. So far, chemical energy, magnetic fields, light field etc. are the major actuation methods adopted in micro&nano robot for living cell manipulation. However, these actuation approaches are faced with the contradiction among weak actuation force, controllability and biocompatibility. In order to fix this problem, we propose a type of micro&nano robot based on a novel actuation mechanism- propelled by bubbles generated from light driven water splitting, and focus on the investigations of mechanism of charge carrier recombination and motion control of this type of micro&nano robot. Firstly, structure parameters of the micro&nano robot will be optimized with the maximum actuation force as the objective function. Subsequently, the dynamics model of the robot moving in liquid will be established. Then, 3D motion co-control strategy will be studied for micro&nano robot actuated by both light and magnetic fields. Finally, the experiment work will be conducted to acquire the motion behavior of light driven water splitting actuated micro&nano-robot. With the real-time control system using vision feedback, effectiveness of the co-control strategy will be checked. Through this work, it is probably to clarify the loss mechanism of water splitting membranes, and therefore optimize the actuation force. This novel micro&nano robot will not only enable 3D targeted cell manipulation, but also offer a quantification tool for various fundamental cell biology research areas, such as interactions between living cells and cell response to micro-environment.

组织工程研究对细胞三维操控提出了迫切需求。而微纳米机器人为近生理环境下的细胞三维操控提供了有效工具。目前面向细胞操控的微纳米机器人多采用化学能、磁场和光场等驱动方式。这些驱动方式存在驱动力、可控性和生物兼容性三者间的矛盾。对此，本申请拟提出一种基于全新驱动机制-光致水分解产生气泡驱动的微纳米机器人，并聚焦该光致水分解微纳米机器人的载流子损耗机制和运动控制开展深入研究。拟以驱动力为目标优化光致水分解微纳米机器人的结构参数；构建机器人在多相流体中的动力学模型；探索非对称负载条件下微纳米机器人的光场与磁场联合控制策略；实验分析光致水分解微纳米机器人的运动规律，搭建基于视觉反馈的实时控制系统，验证控制策略的有效性。项目可望揭示光致水分解薄膜载流子复合机制，优化驱动力，实现对活体细胞的三维定点操控，有望为细胞间作用机理、细胞对微环境的响应等细胞生物学基础科学研究提供定量化手段。

本项目针对当前细胞操控研究中存在的驱动力、可控性和生物兼容性之间的矛盾，研究可见光驱动的微纳米机器人在流体中的三维运动控制方法，解决组织工程研究中的细胞定点种植问题。本研究开展实施的主要内容包括：基于BiOI的可回收式可见光驱动微纳米机器人运动规律研究及其在有机污染物降解中的应用；可见光驱动的微型软体机器人运动控制研究；仿洋葱结构的气泡驱动微纳米机器人在杀菌中的应用。已取得的重要结果包括：基于Fe3O4实现了一种用于光催化污染物降解的可见光驱动微纳米机器人，分析了其驱动机理，并验证了回收后微纳米机器人的光催化性能稳定性；基于水凝胶设计制备了一种可见光驱动的微型游动软体机器人，分析了其在液体中的多种运动方式，并实现了可控运动；基于镁微球制备了一种仿洋葱结构微纳米机器人，并成功将其应用于胃部细菌杀灭。