Fig. 8: Ex vivo validations of the generation and actuation of medium-induced swarms in bovine eyeballs.
From: Active generation and magnetic actuation of microrobotic swarms in bio-fluids
a The schematic demonstration of our experimental setup. An ultrasound transducer is integrated onto the Helmholtz electromagnetic coils. A bovine eyeball is placed in the workspace. b A schematic illustrating the navigated locomotion of a medium-induced swarm in vitreous. c The generation process of a swarm after the injection of nanoparticle suspension using a syringe. The pattern of the nanoparticles is inclosed by red dashed curves. The scale bars indicate 1 mm. d The targeted locomotion of a large-size swarm. The scale bars indicate 2 mm. e The targeted locomotion of a relatively small-size swarm. The scale bars indicate 800 μm. The original pattern and the centre are indicated using a green dashed ellipse and a green spot, respectively. The injection point is indicated by purple spots. The current centre of the swarm is presented by red spots, and the trajectories of the locomotion are indicated using yellow dashed arrows.
