ArticleProceedings of the National Academy of Sciences of the United States of America2025
Multiorifice acoustic microrobot for boundary-free multimodal 3D swimming.
Article in Proceedings of the National Academy of Sciences of the United States of America, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 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.
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Who cites it
5 citing papers in PubMed.
- Acoustic resonators as wireless actuators in air for small-scale robots.Science advances · 2026Article
- Self-organized criticality in aquatic robot swarm.Science advances · 2026Article
- Machine learning-driven design of engineered cilia enables hybrid operations in acoustic microrobots.Nature communications · 2026Article
- Rigid Hollow Microparticles for Enhanced Focused Ultrasound Treatment Under Optoacoustic Guidance.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Acoustically powered micro-clampbot for single-particle transportation.Science advances · 2025Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
The emerging new generation of small-scaled acoustic microrobots is poised to expedite the adoption of microrobotics in biomedical research. Recent designs of these microrobots have enabled intricate bioinspired motions, paving the way for their real-world applications. We present a multiorifice design of air-filled spherical microrobots that convert acoustic wave energy to efficient propulsion through a resonant encapsulated microbubble. These microrobots can swim boundary-free in three-dimensional (3D) space while switching between various frequency-dependent locomotion modes. We explore the locomotion dynamics of microrobots with diameters ranging from 10 μm to 100 μm, focusing on their boundary-free 3D swimming and multimodal locomotion in response to acoustic stimuli below 1 MHz. Further, we elucidate the dynamics of these microrobots, featuring a single multiorifice cavity, which contributes to complex acoustic streaming and facilitates swift, unrestricted movements. Finally, we demonstrate that incorporating microrobots with additional nickel and gold layers significantly enhances their steering and visibility in optoacoustic and ultrasound imaging, enabling the development of the next generation of microrobots in healthcare applications.
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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.