Science Robotics

Supplementary Materials

Supplementary Material for:

Multifunctional biohybrid magnetite microrobots for imaging-guided therapy

Xiaohui Yan, Qi Zhou, Melissa Vincent, Yan Deng, Jiangfan Yu, Jianbin Xu, Tiantian Xu, Tao Tang, Liming Bian, Yi-Xiang J. Wang, Kostas Kostarelos, Li Zhang*

*Corresponding author. Email: lizhang{at}mae.cuhk.edu.hk

Published 22 November 2017, Sci. Robot. 2, eaaq1155 (2017)
DOI: 10.1126/scirobotics.aaq1155

This PDF file includes:

  • Section S1. Autofluorescence of biological materials
  • Section S2. Dip-coating S. platensis with Fe3O4 NPs
  • Section S3. Magnetic actuation of BMRs
  • Section S4. Fluorescence properties and in vivo imaging
  • Section S5. MR imaging in vitro and in vivo
  • Section S6. Degradation of MSPs
  • Section S7. Cytotoxicity to SiHa and 3T3 cell lines
  • Fig. S1. Autofluorescence of biological materials with various structures.
  • Fig. S2. Characterizing the autofluorescence of S. platensis, pine pollen, and S. cerevisiae.
  • Fig. S3. Photostability tests in DI water for S. platensis (100 μg/ml), S. cerevisiae (1 mg/ml), and C. salina (100 μg/ml).
  • Fig. S4. Characterization of S. platensis (i.e., MSP-0h) and Fe3O4 NPs.
  • Fig. S5. ζ potential of S. platensis and Fe3O4 NP suspension at different pH.
  • Fig. S6. Characterization of the magnetized S. platensis.
  • Fig. S7. Magnetic hysteresis loops of MSP-6h/24h/72h (300 K, via VSM).
  • Fig. S8. FESEM images of MSP-72h that has undergone a 5-min sonication treatment.
  • Fig. S9. The periodically varying magnetic field for the actuation of MTS-24h.
  • Fig. S10. Strength of the magnetic field generated by the permanent magnet B versus the distance d to its rotation axis.
  • Fig. S11. Photostability test of MSP-72h.
  • Fig. S12. Supplementary data for fluorescence-based in vivo imaging.
  • Fig. S13. T2-weighted MR imaging of MSP samples in vitro and in vivo.
  • Fig. S14. Degradation of MSP in 37°C DPBS solution.
  • Fig. S15. Supplementary data for cytotoxicity evaluation.
  • Fig. S16. CLSM imaging for 3T3 and SiHa cells cocultured with MSP-24h samples (0, 100, and 400 μg/ml) for 24 and 48 hours.
  • Table S1. Quantitative measurement of Fe contents in MSP-6h/24h/72h samples.
  • Table S2. Main distribution of body length (in pitches) for MSP samples under different conditions.
  • Table S3. Viscosity of various fluids for in vitro/in vivo swimming experiments.
  • Table S4. Quantitative data of the emission peaks for MSP-0h/6h/24h/72h samples in Fig. 3A.
  • Table S5. Quantitative data of the emission peaks for MSP-0h/24h/72h samples before and after degradation.
  • References (7779)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.avi format). Magnetic actuation of three-pitch MSP-72h in DI water using a rotating magnetic field (7.5 mT and 10 Hz).
  • Movie S2 (.avi format). Magnetic actuation of MCR-24h (θ = 90�) in DI water using a rotating magnetic field (7.5 mT and 5 Hz).
  • Movie S3 (.avi format). Magnetic actuation of MCR-24h (θ = 0�) in DI water using a rotating magnetic field (7.5 mT and 3 Hz).
  • Movie S4 (.avi format). Magnetic actuation of MTS-24h in water using a periodically varying magnetic field described in fig. S9.
  • Movie S5 (.avi format). Magnetic actuation of three-pitch MSP-24h in diluted blood using a rotating magnetic field (7 mT and 6 Hz).
  • Movie S6 (.avi format). Magnetic actuation of three-pitch MSP-24h in gastric juice using a rotating magnetic field (7 mT and 8 Hz).
  • Movie S7 (.avi format). Magnetic actuation of three-pitch MSP-24h in urine using a rotating magnetic field (7 mT and 4 Hz).
  • Movie S8 (.avi format). In vitro magnetic actuation of a MSP-72h swarm in PO (first pressed).

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