ArticleScience advances2021
Ultrasound Doppler-guided real-time navigation of a magnetic microswarm for active endovascular delivery.
Article in Science advances, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 103 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
103 citing papers in PubMed.
- From barrier to guide: Exploiting disease-specific hemodynamics for enhanced nanodrug targeting in cardiovascular diseases.Pharmaceutical science advances · 2026Review
- From imaging enhancement to surgical autonomy: the evolutionary role of nanotechnology in AI-driven robotic surgery.Discover nano · 2026Review
- A review of preparation methods and biomedical applications of micro-nano magnetic particles.iScience · 2026Review
- Cooperative integrated surgical robots for high-performance targeted therapies.Innovation (Cambridge (Mass.)) · 2026Review
- Next-generation biomedical nanorobots: active design, intelligent control, and translational opportunities in regenerative and minimally invasive medicine.Journal of nanobiotechnology · 2026Review
- In vivo dynamic hotspot-enhanced Raman spectroscopy via reconfigurable swarming nanoprobes.Nature communications · 2026Article
- Deployment and clearance of microrobots for localized therapy: past, present and future.National science review · 2026Review
- Intelligent Acousto-Electrical Metamaterials (IAM) for Sound Source Detection.Advanced materials (Deerfield Beach, Fla.) · 2026Article
- Transport of enzymatic activity across liquid-liquid interfaces using dynamic assemblies of magnetic particles via field-modulated interactions.Nature communications · 2026Article
- Liquid Metal Microrobots for Magnetically Guided Transvascular Navigation.Advanced materials (Deerfield Beach, Fla.) · 2026Article
- Reconfigurable Acoustofluidic Microvortices for Selective Microcargo Delivery.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Recent Advances in Collective Behaviors of Micro/Nanomotor Swarms.Advanced materials (Deerfield Beach, Fla.) · 2026Review
- Real-time near-infrared II fluorescence navigation of magnetic nanorobots for image-guided therapy.Science advances · 2026Article
- Magnetic Milli-Spinner for Robotic Endovascular Surgery.Advanced materials (Deerfield Beach, Fla.) · 2026Article
- Autonomous Microrobots for Spatiotemporally Active Therapeutic Delivery and Controlled Release.Cyborg and bionic systems (Washington, D.C.) · 2026Review
- Advancements and challenges in autonomous endovascular interventional robotics: A comprehensive review.iScience · 2025Review
- Ultrasoft hydrogel immune millirobot with multimodal locomotion.Science advances · 2025Article
- TriMag Microrobots: 3D-Printed Microrobots for Magnetic Actuation, Imaging, and Hyperthermia.Advanced materials (Deerfield Beach, Fla.) · 2025Article
- Micro/Nanorobots for Combating Brain Disorders: Challenges, Advances, and Perspectives.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Review
- Interactions Between Active Matters and Endogenous Fields.Advanced materials (Deerfield Beach, Fla.) · 2025Review
43 more citing papers are in PubMed but not listed here.
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
8 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Swarming micro/nanorobots offer great promise in performing targeted delivery inside diverse hard-to-reach environments. However, swarm navigation in dynamic environments challenges delivery capability and real-time swarm localization. Here, we report a strategy to navigate a nanoparticle microswarm in real time under ultrasound Doppler imaging guidance for active endovascular delivery. A magnetic microswarm was formed and navigated near the boundary of vessels, where the reduced drag of blood flow and strong interactions between nanoparticles enable upstream and downstream navigation in flowing blood (mean velocity up to 40.8 mm/s). The microswarm-induced three-dimensional blood flow enables Doppler imaging from multiple viewing configurations and real-time tracking in different environments (i.e., stagnant, flowing blood, and pulsatile flow). We also demonstrate the ultrasound Doppler-guided swarm formation and navigation in the porcine coronary artery ex vivo. Our strategy presents a promising connection between swarm control and real-time imaging of microrobotic swarms for localized delivery in dynamic environments.
Identifiers
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.