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The efficiency and repeatability of capacitively coupled plasma (CCP) processes are highly dependent on achieving precise impedance matching between the plasma load and the RF power supply. This paper presents a numerical investigation of the role of frequency modulation in enhancing impedance matching of RF CCPs, a technique that can be critical to maintaining operational efficiency and plasma stability. Through a detailed simulation approach, the research explores how variations in the driving frequency impact plasma characteristics and electrical parameters, particularly focusing on the CCP's impedance behavior. The simulations demonstrate that when impedance matching is achieved at a fixed fundamental frequency of 13.56 MHz, changes in driving frequency will lead to reduced power coupling efficiency and increased reflection. The study introduces a frequency modulation strategy that allows us to re-establish high-quality impedance matching after changes of the plasma impedance occur, e.g., due to changes of the variable capacitor settings inside the matchbox or gas pressure, thereby improving the CCP's performance. As the driving frequency can be adjusted electrically, adjusting the impedance matching by frequency modulation is much faster than based on mechanical adjustments of variable capacitors inside the matching and could, thus, allows quicker matching. The findings underscore the impact of frequency modulation on power absorption efficiency and highlight the sensitivity of impedance matching to driving frequency fluctuations. This study provides a foundation for further exploration into the optimization of RF CCP systems with the potential to enhance process control and plasma performance across a range of industrial applications, especially pulsed CCPs. [ABSTRACT FROM AUTHOR]

Objectives: To reveal the force profiles recorded by haptic autonomous robotic force feedback during the transcrestal sinus floor elevation (TSFE) process, providing a reference for the surgery strategy during TSFE. Materials and methods: A total of 42 maxillary sinus models with different angles of the sinus floor (30°, 40°, 50°, 60°, 70°, 80°, and 90°, compared to vertical plane) were 3D printed. Implant site preparation was performed using a robotic system, and the total force (Ft) and axial force along the drill (Fz) during the surgery were recorded by the haptic robotic arm. The actual initial breakthrough point (drill contacting sinus floor) and complete breakthrough point (drill penetrating the sinus floor) were defined visually (the actual IBP and the actual CBP). The theoretical initial breakthrough point (the theoretical IBP) and the theoretical complete breakthrough point (the theoretical CBP) defined by the robot‐guided system and the CBCT were determined by real‐time force feedback and imaging distance measurement, respectively. The distance from the bottom of the resin model to the actual IBP and the actual CBP was defined as Di and Dt, respectively. Results: The difference in Fz began to increase significantly at 70°, while the difference in Ft became significant at 60°. When the angle was greater than 70°, there was no significant difference in the discrepancy between the actual and theoretical perforation points. Compared to judging the breakthrough point by CBCT, real‐time force feedback TSFE under robotic surgery achieved more accurate initial breakthrough point detection. Conclusions: The smaller the angle, the larger the breakthrough force for the drill. The real‐time force feedback of haptic robotic system during TSFE could provide reliable reference for dentists. More clinical studies are needed to further validate the application of robotic surgery assisted TSFE. [ABSTRACT FROM AUTHOR]

Capacitively coupled plasmas (CCPs) are widely used in plasma processing applications, where efficient power coupling between the radio frequency (RF) source and the plasma is crucial. In practical CCP systems, impedance matching networks (IMNs) are employed to minimize power reflection. However, the presence of coaxial cables can significantly impact plasma impedance and matching performance. We develop a comprehensive simulation framework for the IMN design of CCPs, fully considering the effects of RF coaxial cables. The model self-consistently couples a distributed transmission line (TL) model, a lumped-element circuit model, and an electrostatic particle-in-cell model. This coupled model is used to investigate the impact of coaxial cables on matching performance under various discharge conditions and cable configurations. The simulation results indicate that the optimal power transmission efficiency was achieved after 6 matching iterations. The power coupled to the CCP increased from 2.7 W before matching to 180.9 W, and the reflection coefficient ultimately decreased to 0.003. The results also reveal that neglecting the cables will lead to a decrease in the power dissipated in the CCP. The proposed method demonstrates effectiveness in achieving impedance matching for different gas pressures (75–300 mTorr) and cable lengths. It can be concluded that the matching speed is faster for an appropriate cable length. This work provides valuable insights into the role of TLs in CCP impedance matching and offers a practical tool for optimizing power delivery in realistic CCP systems with RF coaxial cables. [ABSTRACT FROM AUTHOR]

This paper establishes a fully self‐consistent coupled model of fluid and external circuits. The Kirchhoff equation, the charge conservation equation, and Poisson equation are coupled via boundary conditions and integrated into the fluid model for iterative parameter solution. On the basis of this model, we investigate the influence of impedance matching on single‐frequency capacitively coupled plasma characteristics under different parameters and topological structures. The findings suggest that after several iterations the matching parameters converge. Using different initial circuit parameters, the adjustable capacitance and inductance are eventually adjusted to approximately equal values, resulting in the same optimal matching state, whereas diverse discharge parameters led to different outcomes. Under fixed parameters for two topologies, the power absorption efficiency increases, and the reflection coefficient approaches zero, and the best matching is found. This model can be extended to different fluid programs to investigate the impact of complex external circuits with impedance matching network on plasma discharge while simultaneously seeking best impedance matching. [ABSTRACT FROM AUTHOR]

Recent years have witnessed a surge in the application of microrobots within the medical sector, with hydrogel microrobots standing out due to their distinctive advantages. These microrobots, characterized by their exceptional biocompatibility, adjustable physico-mechanical attributes, and acute sensitivity to biological environments, have emerged as pivotal tools in advancing medical applications such as targeted drug delivery, wound healing enhancement, bio-imaging, and precise surgical interventions. The capability of hydrogel microrobots to navigate and perform tasks within complex biological systems significantly enhances the precision, efficiency, and safety of therapeutic procedures. Firstly, this paper delves into the material classification and properties of hydrogel microrobots and compares the advantages of different hydrogel materials. Furthermore, it offers a comprehensive review of the principal categories and recent innovations in the synthesis, actuation mechanisms, and biomedical application of hydrogel-based microrobots. Finally, the manuscript identifies prevailing obstacles and future directions in hydrogel microrobot research, aiming to furnish insights that could propel advancements in this field. [ABSTRACT FROM AUTHOR]

Impedance matching can maximize the absorbed power transferred to the plasma load and minimize the reflected power, making it critical and indispensable for capacitively coupled plasmas (CCPs). The external circuit usually interacts with the plasma nonlinearly, so the global simulation of the external circuit and plasma and the matching design is very challenging. In this work, an a priori model was proposed to match the plasma impedance and the external circuit impedance for single-frequency CCPs. By calculating the plasma impedance and the matching network, the matching parameters were iteratively updated to find the best matching parameters. By adjusting the capacitance and the inductance of the circuit by numerical simulations, the reflection coefficient can be significantly reduced. At the same time, the plasma power absorption efficiency will be significantly improved. The universality of the method was demonstrated by choosing different initial circuit, discharge, and plasma parameters. The proposed method provides an effective matching design reference for CCPs. [ABSTRACT FROM AUTHOR]

The breakdown process of capacitively coupled plasma (CCP) in the presence of a matching network is rarely studied, even though it is the indispensable part of the most laboratory and industrial devices of CCP. Based on the method of Verboncoeur, the solution method of the general "L"-type match circuit coupled with a particle-in-cell/Monte Carlo code is deduced self-consistently. Based on this method, the electrical breakdown process of CCP is studied. Both the plasma parameters and the electric parameters of the matching network during the breakdown are given and analyzed. In the pre-breakdown phase, the entire circuit can be considered as a linear system. However, the formation of the sheath during breakdown significantly enhanced the capacitance of the discharge chamber, which changed the electric signal amplitude of the external circuit. With the stabilization of plasma, the equivalent capacitance of CCP increases, which continues to change the electrical signal until the steady-state is reached. Accompanied by plasma stabilization is the appearance of high-order harmonics of discharge current caused by the gradually oscillating CCP capacitance. The breakdown characteristics can be obviously affected by the capacitance of the matching network. In the case of a breakdown zone, some breakdowns with special characteristics can be obtained by choosing the different capacitors. These works might be a reference for understanding the interaction between the plasma and the external circuit during the breakdown process and how to modulate the gas breakdown by controlling the external circuit. [ABSTRACT FROM AUTHOR]

The electrical characteristics of the Gaseous Electronics Conference reference cell at low pressures are investigated using a two-dimensional electrostatic implicit particle-in-cell/Monte Carlo collision model in cylindrical coordinates. The coupling between the complex reactor geometry and the external circuit is included via an equivalent capacitance calculated from the electric energy density and the charge conservation equation. The results of this model are compared with experimental measurements and other model calculations and show agreement. The plasma series resonance effect, closely related to electron heating, is observed in this numerical simulation of a strongly asymmetric reactor at low pressures. The plasma kinetics of the capacitively coupled discharge and details of the external circuit response, including electrical waveforms and higher-order harmonics, are discussed at different pressures, which provides important insights for understanding the power coupling mechanisms in capacitively coupled discharges. [ABSTRACT FROM AUTHOR]

Objectives: To compare the accuracy of immediate implant placement of cylindrical implants (CI) and tapered implants (TI) of different lengths using a robotic dental implant system. Materials and Methods: CI and TI of three lengths (8, 10, and 12 mm) each were digitally planned and placed in a three‐dimensional printed extraction socket model under robotic guidance. There were six groups with three samples in each group, resulting in a total of 18 samples. Implant angular deviation, platform point deviation (total, lateral, depth), and implant apical point deviation (total, lateral, depth) were recorded and compared between the different groups. Results: The angular deviations for CI 8 mm, CI 10 mm, CI 12 mm, TI 8 mm, TI 10 mm, and TI 12 mm were 1.32° ± 0.19°, 1.03° ± 0.56°, 1.31° ± 0.38°, 1.27° ± 0.64°, 1.10° ± 0.43° and 1.05° ± 0.45°, respectively. The total deviations of platform and apical points for CI 8 mm, CI 10 mm, CI 12 mm, TI 8 mm, TI 10 mm, and TI 12 mm were 0.79 ± 0.18 mm, 0.77 ± 0.33 mm; 0.64 ± 0.21 mm, 0.55 ± 0.17 mm; 0.64 ± 0.37 mm, 0.65 ± 0.34 mm; 0.68 ± 0.26 mm, 0.71 ± 0.20 mm; 0.70 ± 0.12 mm, 0.66 ± 0.23 mm; and 0.71 ± 0.15 mm, 0.77 ± 0.29 mm, respectively, and had no significant differences. Conclusions: Within the limitation of this study, acceptable accuracy can be achieved for both TI and CI using robotic systems. Our study demonstrated that the implant shape and length did not affect the accuracy of immediate implant placement under robotic guidance in vitro. However, further trials are required to confirm their efficacy in clinical practice. [ABSTRACT FROM AUTHOR]

Impedance matching plays a critical role in achieving stable and controllable plasma conditions in capacitive coupled plasma (CCP) systems. However, due to the complex circuit system, the nonlinear relationships between components, and the extensive parameter space of the matching network, finding optimal component values pose significant challenges. To address this, we employ an artificial neural network as a surrogate model for the matching system, leveraging its powerful pattern learning capability for a reliable and efficient search for matching parameters. In this paper, we designed four different parameters as optimization objectives and took the modulus of the reflection coefficient as an example to demonstrate the impedance matching optimization process of a CCP in detail using a particle-in-cell/Monte Carlo collision model. Our approach not only provides an effective optimization direction but also furnishes an entire parameter space that aligns with expectations, rather than just a single point. Moreover, the method presented in this paper is applicable to both numerical simulations and experimental matching parameter optimization. [ABSTRACT FROM AUTHOR]

Due to their enormous potential to be navigated through complex biological media or narrow capillaries, microrobots have demonstrated their potential in a variety of biomedical applications, such as assisted fertilization, targeted drug delivery, tissue repair, and regeneration. Numerous initial studies have been conducted to demonstrate the biomedical applications in test tubes and in vitro environments. Microrobots can reach human areas that are difficult to reach by existing medical devices through precise navigation. Medical imaging technology is essential for locating and tracking this small treatment machine for evaluation. This article discusses the progress of imaging in tracking the imaging of micro and nano robots in vivo and analyzes the current status of imaging technology for microrobots. The working principle and imaging parameters (temporal resolution, spatial resolution, and penetration depth) of each imaging technology are discussed in depth. [ABSTRACT FROM AUTHOR]

Swarming magnetic micro/nanorobots hold great promise for biomedical applications, but at present suffer from inferior capabilities to perceive and respond to chemical signals in local microenvironments. Here we demonstrate swarming magnetic photonic‐crystal microrobots (PC‐bots) capable of spontaneously performing on‐the‐fly visual pH detection and self‐regulated drug delivery by perceiving local pH changes. The magnetic PC‐bots consist of pH‐responsive hydrogel microspheres with encapsulated one‐dimensional periodic assemblies of Fe3O4 nanoparticles. By programming external rotating magnetic fields, they can self‐organize into large swarms with much‐enhanced collective velocity to actively find targets while shining bright "blinking" structural colors. When approaching the target with abnormal pH conditions (e.g., an ulcerated superficial tumor lesion), the PC‐bots can visualize local pH changes on the fly via pH‐responsive structural colors, and realize self‐regulated release of the loaded drugs by recognizing local pH. This work facilitates the development of intelligent micro/nanorobots for active "motile‐targeting" tumor diagnosis and treatment. [ABSTRACT FROM AUTHOR]

Background: While suggested to be effective in tissue regeneration, the effects of horizontal platelet‐rich fibrin (H‐PRF) bone block in sinus augmentation have not been verified in an animal model. Methods: A total of 12 male New Zealand white rabbits that underwent sinus augmentation were divided into two groups: deproteinized bovine bone mineral (DBBM) only and H‐PRF bone block. H‐PRF was prepared at 700 × g for 8 min using a horizontal centrifuge. The H‐PRF bone block was prepared by mixing 0.1 g DBBM with H‐PRF fragments and then adding liquid H‐PRF. Samples were collected after 4 and 8 weeks and analyzed using microcomputed tomography (micro‐CT) for vertical bone gain of the sinus, bone volume/total volume (BV/TV) percentage, trabecular number (Tb.N), trabecular thickness (Tb.Th) and trabecular separation (Tb.Sp). Then, histological analyses were performed to investigate new blood vessels, material residue, bone formation and osteoclasts. Results: Higher vertical bone gain of the sinus floor, BV/TV percentage, Tb.Th, and Tb.N and lower Tb.Sp were found in the H‐PRF bone block group at both time points compared with the DBBM group. Higher amounts of new blood vessels and more osteoclasts were found in the H‐PRF bone block group than in the DBBM group at both time points, especially in the regions close to the bone plate. More new bone formation and less material residue were observed in the H‐PRF bone block group at 8 weeks. Conclusions: H‐PRF bone block showed greater potential for sinus augmentation by promoting angiogenesis, bone formation and bone remodeling in a rabbit model. [ABSTRACT FROM AUTHOR]

Although the solar-thermal technology has opened up a potential green energy harvesting method, it is challenging to suppress the non-negligible energy dissipation while maintaining a high absorbance. Most disordered organic polymers are almost incapable of limiting the absorption in the desired cutoff wavelength range, which is detrimental to the design of selective absorbers. Moreover, the development of absorbers with a periodic plasmonic nanostructure is always lacking in cost-effective scalability. Herein, we report a scalable selective absorber with a quasiperiodic nanostructure composed by an economical widespread surface self-assembly of densely arranged Fe3O4 nano-particles, possessing a high-performance energy conversion for low-grade solar energy. By investigating the scale effect of the quasiperiodic densely arranged plasmonic nanostructure, a significant solar absorption >94% and ideal passive suppression of thermal emissivity <0.2 can be obtained simultaneously. With the synergy of material properties, thermal management, and environmental effect, a flexible planar solar thermoelectric harvester is demonstrated under natural sunlight (AM1.5G), reaching a significant sustaining open-circuit voltage of >20 mV/cm2, without a heat sink. This highly versatile strategy is expected to lead the exploration of energy evolution in fundamental research and pioneer next-generation, high-performance, economical, and practical solar co-harvesting systems. [ABSTRACT FROM AUTHOR]

Radiofrequency (RF) coaxial cables are one of the vital components for the power sources of capacitively coupled plasmas (CCPs), by which the RF power is transferred to excite the plasma. Usually, the cables can be treated as transmission lines (TLs). However, few studies of TLs in CCP power sources were conducted due to the nonlinear coupling between TLs and the plasma. In this work, we developed a numerical scheme of TLs based on the Lax–Wendroff method and realized the nonlinear bidirectional coupling among the lumped-element model, transmission line model, and electrostatic particle-in-cell model. Based on the combined model, three discharge patterns were found, including weak matching state, normal state, and over matching state. The great differences among the three patterns indicated that the TLs could change the impedance matching of the device and significantly affect the plasma properties. [ABSTRACT FROM AUTHOR]

Highly effective contrast enhancer that processes targeting ability and maneuverability is in great demand in clinics for accurate diagnosis. Here a new strategy using deformable and manipulatable magnetic microswarm as MRI contrast enhancer is developed. Magnetic microswarm aggregated from nanoparticles is inherently deformable and they can be controlled with multiple programmable deform abilities. It is demonstrated that spatiotemporal programming magnetic field enables the magnetic microswarm not only to exhibit both ribbon‐like and round‐like behaviours but also to adaptively navigate multiple terrains. Intestinal model is conducted to explore the effect of magnetic microswarm as MRI enhancer, indicating the obvious enhancement of T2‐weighted MRI sequences. This magnetic microswarm holds great promise for highly sensitive and accurate intestinal MRI in the clinic. [ABSTRACT FROM AUTHOR]

Swimming micro/nanorobots attract considerable attention due to their considerable promises in various fields ranging from environmental remediation to biomedicine. However, the control system for optimal trajectory and precise localization is an exciting yet challenging for the existing swimming micro/nanorobots. Researchers have used different actuation systems allowing multiple degrees of freedom to actuate swimming microrobots with various motion control methods from well‐controlled physicochemical processes to achieve autonomous movement along the gradient of various chemical or physical fields. Furthermore, with the advance of intelligent technology, machine learning strategies have been considered for intelligent control of swimming microrobots. In this paper, we summarized directly manual control and autonomous tactic motion of swimming micro/nanorobots. The application of reinforcement learning in controllable motions of swimming microrobots was also elaborated. [ABSTRACT FROM AUTHOR]

The wake structure behind a porous square cylinder is numerically investigated by using both pore-scale and macroscopic approaches. The pore-scale simulations (PSSs) concern about the steady flow through and around square arrays of multiple circular cylinders with a wide range of solid fraction. The macroscopic porous media model (PMM) employed is the generalized equation, where the dimensionless permeability Dam is assigned based on the macroscopic permeability Das estimated from PSS via Darcy's law. The connection between pore-scale and macroscopic flow properties is studied in terms of the flow pattern, the geometric parameters, and the occurrence of the recirculating wake behind the array. It is found that the consistency between PSS and PMM is highly dependent on the ratio of Das and Dam. Discussions in terms of the scale analysis of PMM, the discrepancy between Dam and Das, and the effects of stress-jump parameters are also provided. [ABSTRACT FROM AUTHOR]

The influence of cross buoyancy on the steady flow and mixed convective heat transfer around and through a porous cylinder with internal heat generation is investigated numerically. Based on the Darcy–Brinkman–Forchheimer extended porous medium model, the finite volume method is applied to investigate the wake structure and thermal characteristics in terms of the streamlines, asymmetry of recirculating wakes, temperature distribution, and average Nusselt number. The ranges chosen for the Reynolds number (Re), Darcy number (Da), and Richardson number (Ri) are 5 ≤ Re ≤ 40, 10−6 ≤ Da ≤ 10−2, and 0 ≤ Ri ≤ 1, respectively. For certain ranges above, a pair of asymmetric recirculating wakes is observed, with the upper recirculating wake detached from and the lower one partially penetrating or also detached from the cylinder. The asymmetry of the recirculating wake increases with Ri but decreases with Re. Two or three regimes with the distinct asymmetric characteristics are identified over the range of Da investigated, depending on Re. For the heat transfer performance, cross buoyancy is found to have a certain impeditive impact on the average Nusselt number. [ABSTRACT FROM AUTHOR]

We numerically investigated the transitional behavior of two-dimensional laminar flows through and around a square array of 100 circular cylinders. The solid fraction of the array ϕ ranged from 0.007 85 to 0.661 and the Reynolds number Re (based on the free-stream velocity and the side length of the array) varied from 40 to 200. Globally, the first transition appears at the onset of vortex shedding, where the critical Reynolds number Recr is estimated from the Stuart-Landau equation. The results show that Recr ranges from 40 to ∼45 for the investigated range of ϕ. It is found that Recr increases quadratically with ϕ and the critical Reynolds number for an individual cylinder (Rdcr) increases linearly with ϕ . The subsequent transitions largely depend on ϕ, as revealed from the total drag and lift coefficients, Strouhal number, and the instantaneous vorticity field. For sufficiently small ϕ at high Re, the global vortex shedding is suppressed due to the weakened interaction between cylinders in the array. Several more cases with ϕ of 0.007 85 for Re between 400 and 4000 are also calculated to visualize the suppression behavior. The global transition behaviors are closely related to the secondary frequency (SF) observed from the power spectra of the local velocity. It is highly possible that the SF results from the cylinder interaction in the array. The local instabilities induced by cylinder interactions would promote the onset of global vortex shedding at small Re. Also, the local instabilities still exist even though the global vortex shedding is suppressed at large Re. [ABSTRACT FROM AUTHOR]

The effect of the Prandtl number (Pr) on the flow and heat transfer from a porous circular cylinder with internal heat generation in the mixed convection regime is numerically investigated. The steady flow regime is considered over the ranges of the Reynolds number (Re), Darcy number (Da), and Richardson number (Ri), varying from 5 to 40, 10−6 to 10−2, and 0 to 2, respectively. The wake structure, the temperature distribution, and the heat transfer rate are discussed. Besides precipitating the growth of the recirculating wake, the Prandtl number is found to have a significant impact on the thermal characteristics. The concave isotherms, resembling a saddle-shaped structure, occur behind the cylinder at larger Pr, resulting in swells of the isotherms pairing off at the lateral sides. These swells are found to have a negative effect on heat transfer owing to a relatively smaller temperature gradient there. Then, the heat transfer rate in terms of the local Nusselt number (Nu) and enhancement ratio (Er) is calculated, which is closely related to Pr, Re, Da, and Ri. The local minimum heat transfer rate along the cylinder surface is found at the position where the swells of the isotherms form. [ABSTRACT FROM AUTHOR]

Recent strides in micro- and nanofabrication technology have enabled researchers to design and develop new micro- and nanorobots for biomedicine and environmental monitoring. Due to its non-invasive remote actuation and convenient navigation abilities, magnetic propulsion has been widely used in micro- and nanoscale robotic systems. In this article, a highly efficient Janus microdimer swimmer propelled by a rotating uniform magnetic field was investigated experimentally and numerically. The velocity of the Janus microdimer swimmer can be modulated by adjusting the magnetic field frequency with a maximum speed of 133 μm·s−1 (≈13.3 body length s−1) at the frequency of 32 Hz. Fast and accurate navigation of these Janus microdimer swimmers in complex environments and near obstacles was also demonstrated. This efficient propulsion behavior of the new Janus microdimer swimmer holds considerable promise for diverse future practical applications ranging from nanoscale manipulation and assembly to nanomedicine. [ABSTRACT FROM AUTHOR]

The generation of digital porous media facilitates the fabrication of artificial porous media and the analysis of their properties. The past random digital porous medium generation methods are unable to generate a porous medium with a specified permeability. In this work, a new method is proposed to generate a random circle-packed digital porous medium with a specified porosity and permeability. Firstly, the process of generating the random circle-packed digital porous medium with a specified porosity is detailed. Secondly, the permeability of the digital porous medium is calculated by the multi-relaxation time lattice Boltzmann method. A total of 3,000 digital porous medium samples are generated, and their microstructure data and permeabilities are prepared for the training of a convolutional neural network (CNN) model, which is then applied to effectively predict the permeability of a digital porous medium. Finally, our method is elaborated and the choice of target permeability in this method is discussed. Our approach has the potential to be applied to the generation of other types of porous media. • A method for generating random circle-packed porous media with symmetry is proposed. • A CNN model is built to predict the permeability of the generated porous medium. • The trained CNN model can accurately predict the permeability. • A method to generate a porous medium with specific porosity and permeability is detailed. [ABSTRACT FROM AUTHOR]

Nowadays, global water scarcity is becoming a pressing issue, and the discharge of various pollutants leads to the biological pollution of water bodies, which further leads to the poisoning of living organisms. Consequently, traditional water treatment methods are proving inadequate in addressing the growing demands of various industries. As an effective and eco-friendly water treatment method, micro/nanorobots is making significant advancements. Based on researches conducted between 2019 and 2023 in the field of water pollution using micro/nanorobots, this paper comprehensively reviews the development of micro/nanorobots in water pollution control from multiple perspectives, including propulsion methods, decontamination mechanisms, experimental techniques, and water monitoring. Furthermore, this paper highlights current challenges and provides insights into the future development of the industry, providing guidance on biological water pollution control., Competing Interests: Author JY was employed by PetroChina Changqing Oilfield Company. The remaining authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2023 Wang, Jing, Yu, Ma, Sui, Zhu, Dai, Yu, Li and Wang.)

Swimming microrobots guided in the circulation system offer considerable promise in precision medicine but currently suffer from problems such as limited adhesion to blood vessels, intensive blood flow, and immune system clearance-all reducing the targeted interaction. A swimming microrobot design with clawed geometry, a red blood cell (RBC) membrane-camouflaged surface, and magnetically actuated retention is discussed, allowing better navigation and inspired by the tardigrade's mechanical claw engagement, coupled to an RBC membrane coating, to minimize blood flow impact. Using clinical intravascular optical coherence tomography in vivo, the microrobots' activity and dynamics in a rabbit jugular vein was monitored, illustrating very effective magnetic propulsion, even against a flow of ~2.1 cm/s, comparable with rabbit blood flow characteristics. The equivalent friction coefficient with magnetically actuated retention is elevated ~24-fold, compared to magnetic microspheres, achieving active retention at 3.2 cm/s, for >36 hours, showing considerable promise across biomedical applications.