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Magnetic Navigation of Collective Cell Microrobots in Blood Under Ultrasound Doppler Imaging

We propose a strategy for magnetic navigation of collective stem cell microrobots in blood environments under ultrasound Doppler imaging. The cell microrobots are fabricated through a coculture process of stem cells and iron microparticles, they have spheroidal structures and are actuated under external magnetic fields. The collective cell microrobots can be reversibly gathered and spread by adjusting the magnetic interaction, and these microrobots are able to exhibit collective motion in whole blood under rotating magnetic fields. Simulation results indicate that the induced blood flow around the collective pattern affects the motion of red blood cells, and experimental results show that Doppler signals are observed when emitting ultrasound waves to the microrobots. Due to the induced three-dimensional blood flow, Doppler signals can also be observed when the imaging plane is above the collective microrobots, which enables indirect localization when performing navigation on uneven surfaces. Moreover, collective patterns of different numbers of microrobots are formed in flowing conditions, and these collective biohybrid agents are actively navigated against flowing blood with a flow rate up to 4.5 mL/min (mean velocity: 5.97 mm/s). Our study investigates a strategy for pattern formation and navigation of collective microrobots under ultrasound Doppler imaging, demonstrating the integration of collective control approach and medical imaging holds great potential for real-time active delivery tasks.