Science Robotics

Supplementary Materials

The PDF file includes:

  • Note S1. The basic principle of rolling
  • Note S2. Inclined wall analysis
  • Fig. S1. Fabrication steps of the Janus microrollers.
  • Fig. S2. Confocal microscopy images of streptavidin-functionalized (green, top image) and DOX-functionalized (red, bottom image) microrollers with 3D reconstruction of the z-stack planes.
  • Fig. S3. Loading amount of DOX and streptavidin onto Janus microrollers.
  • Fig. S4. HER2 expression on SKBR3 breast cancer cells and HUVECs.
  • Fig. S5. Binding of bare and anti-HER2 modified microrollers to cancer cells.
  • Fig. S6. Confocal microscopy images showing the Janus microrollers attached to the breast cancer cells with 3D reconstruction of the z-stack planes.
  • Fig. S7. Magnetic properties of the sputtered Ni films.
  • Fig. S8. Magnetic rotation of a Janus microroller under an applied uniform rotating magnetic field.
  • Fig. S9. Rolling propulsion mechanism.
  • Fig. S10. The force balance on a rolling sphere rotating near a wall.
  • Fig. S11. Theoretical and experimental speeds of microrollers.
  • Fig. S12. Effect of density on separation distance and translational velocity according to the theoretical calculations for f = 100 Hz.
  • Fig. S13. Active locomotion and controlled steering of a microroller in whole blood under static conditions (120 Hz rolling frequency).
  • Fig. S14. Upstream rolling of microrollers in blood flow.
  • Fig. S15. Navigation snapshots in bifurcating blood flow conditions.
  • Fig. S16. The force balance on a rolling sphere on an inclined wall.
  • Fig. S17. The relation between FP/FGsinθ with respect to rolling frequency and wall angle.
  • Fig. S18. Percent decrease in translational velocity (U) relative to the translational velocity on a flat wall with respect to rolling frequency and wall angle.
  • Fig. S19. Propulsion of microrollers made out of 3-μm silica particles in flow.
  • Fig. S20. Photo of the magnetic field generation setup composed of five electromagnetic coils placed on an inverted optical microscope.
  • Table S1. Parameters used in the theoretical calculations.
  • Legends for movies S1 to S6
  • References (4648)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Magnetic actuation and control of Janus microrollers.
  • Movie S2 (.mp4 format). Selective binding of multifunctional microrollers to cancer cells.
  • Movie S3 (.mp4 format). Propulsion of the microrollers in physiologically relevant flow conditions in PBS.
  • Movie S4 (.mp4 format). Upstream propulsion and controlled navigation in physiologically relevant blood flow.
  • Movie S5 (.mp4 format). Locomotion of microrollers on 3D surfaces.
  • Movie S6 (.mp4 format). Navigation of 3-μm-sized microrollers in blood flow.

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