{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"institution":[{"name":"bioRxiv"}],"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T10:31:53Z","timestamp":1785407513220,"version":"3.56.0"},"posted":{"date-parts":[[2025,9,30]]},"group-title":"Bioengineering","reference-count":38,"publisher":"openRxiv","license":[{"start":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T00:00:00Z","timestamp":1759190400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"funder":[{"name":"Horizon 2020 research and innovation program","award":["853609"],"award-info":[{"award-number":["853609"]}]},{"name":"HORIZON-MSCA-2022-COFUND","award":["101126600-SmartBRAIN3"],"award-info":[{"award-number":["101126600-SmartBRAIN3"]}]},{"award":["NIH R01HD109152"],"award-info":[{"award-number":["NIH R01HD109152"]}],"id":[{"id":"https:\/\/ror.org\/001d55x84","id-type":"ROR","asserted-by":"publisher"}]},{"DOI":"10.13039\/100015326","name":"NIH Common Fund","doi-asserted-by":"crossref","award":["T32HD087166"],"award-info":[{"award-number":["T32HD087166"]}],"id":[{"id":"10.13039\/100015326","id-type":"DOI","asserted-by":"crossref"}]},{"name":"MICIU\/AEI\/","award":["10.13039\/501100011033"],"award-info":[{"award-number":["10.13039\/501100011033"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"accepted":{"date-parts":[[2025,9,30]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                <jats:p>Infertility affects millions worldwide and is often linked to factors such as poor sperm quality and female reproductive organ disorders. Despite significant advancements in in vitro fertilization (IVF) and intracytoplasmic sperm injection (ICSI), implantation rates remain low, ranging from 17 to 21% after three days of incubation, mainly due to stress, lifestyle factors, and uterine conditions. Extended embryo culture techniques have shown promise in improving pregnancy rates. However, the availability of high-quality blastocysts remains a major challenge. Intrafallopian transfer techniques, such as gamete\/zygote intrafallopian transfer (GIFT\/ZIFT), were introduced to improve fertilization and early embryo development, particularly for patients with repeated embryo implantation failure (10\u201330% of assisted reproduction technology (ART) cases, particularly in women &gt;35). However, these methods have declined due to advancements in IVF and the variability in laparoscopy procedures used for GIFT\/ZIFT. To address these challenges, we propose a non-invasive microrobotic embryo transfer (\u00b5ET) technique using remotely controlled microcarriers comparable in size to embryos. We demonstrate the capabilities of magnetically actuated spiral microrobots, fabricated using laser direct writing for capturing, transporting, and releasing embryos into murine uteri. Additionally, we characterize their motion performance and implement image-guided closed-loop control and dual ultrasound (US)\/photoacoustic (PA) tracking for deep-tissue interventions. Recognizing the importance of clinical translation, we present preliminary studies on gelatin-based microrobots, a biodegradable alternative, and explore endometrial remodeling after the in vivo transfer of microrobots carrying embryo-like structures. Our findings show that these microrobots can effectively transport embryos, support their development, and enable minimally invasive delivery, providing a more natural, targeted, and non-invasive strategy for in vivo assisted reproduction.<\/jats:p>\n                <jats:sec>\n                  <jats:title>One-Sentence Summary<\/jats:title>\n                  <jats:p>We propose a non-invasive \u00b5ET technique using magnetically actuated microcarriers to improve embryo cargo-delivery in assisted reproduction, addressing challenges in infertility treatments by enabling precise, image-guided embryo delivery with minimal invasiveness.<\/jats:p>\n                <\/jats:sec>","DOI":"10.1101\/2025.09.29.679217","type":"posted-content","created":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T04:45:19Z","timestamp":1759293919000},"source":"Crossref","is-referenced-by-count":0,"title":["Magnetically Controlled Microrobots for In Vivo Non-Invasive Embryo Transfer"],"prefix":"10.64898","author":[{"given":"Azaam","family":"Aziz","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David","family":"Castellanos-Robles","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhi","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ronald","family":"Naumann","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Harini Raghu","family":"Kumar","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Richard","family":"Nauber","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Carla","family":"Ribeiro","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ripla","family":"Arora","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mariana Medina","family":"S\u00e1nchez","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"54368","reference":[{"key":"2025100321000578000_2025.09.29.679217v1.1","unstructured":"World Health Organization (WHO). https:\/\/www.who.int\/news-room\/fact-sheets\/detail\/infertility (2020)."},{"key":"2025100321000578000_2025.09.29.679217v1.2","doi-asserted-by":"publisher","DOI":"10.1093\/humupd\/dmn042"},{"key":"2025100321000578000_2025.09.29.679217v1.3","doi-asserted-by":"crossref","first-page":"680","DOI":"10.1055\/s-0042-108576","article-title":"The German IVF Register as an Instrument to Document Assisted Reproductive Technologies","volume":"76","year":"2016","journal-title":"Geburtshilfe Frauenheilkd"},{"key":"2025100321000578000_2025.09.29.679217v1.4","doi-asserted-by":"publisher","DOI":"10.1002\/14651858.CD002118.pub5"},{"key":"2025100321000578000_2025.09.29.679217v1.5","doi-asserted-by":"publisher","DOI":"10.1007\/s10815-012-9861-4"},{"key":"2025100321000578000_2025.09.29.679217v1.6","doi-asserted-by":"publisher","DOI":"10.1038\/545406a"},{"key":"2025100321000578000_2025.09.29.679217v1.7","doi-asserted-by":"crossref","unstructured":"Nauber, R. , et al. Medical microrobots in reproductive medicine from the bench to the clinic. Nat Commun 14, 728 (2023).","DOI":"10.1038\/s41467-023-36215-7"},{"key":"2025100321000578000_2025.09.29.679217v1.8","doi-asserted-by":"crossref","first-page":"327","DOI":"10.1021\/acsnano.7b06398","article-title":"Sperm-Hybrid Micromotor for Targeted Drug Delivery","volume":"12","year":"2018","journal-title":"ACS Nano"},{"key":"2025100321000578000_2025.09.29.679217v1.9","doi-asserted-by":"publisher","DOI":"10.1016\/j.addr.2012.02.012"},{"key":"2025100321000578000_2025.09.29.679217v1.10","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1016\/j.addr.2016.09.007","article-title":"Bioengineered and biohybrid bacteria-based systems for drug delivery","volume":"106","year":"2016","journal-title":"Adv Drug Deliv Rev"},{"key":"2025100321000578000_2025.09.29.679217v1.11","doi-asserted-by":"crossref","unstructured":"de \u00c1vila, B. E.-F. , et al. Micromotor-enabled active drug delivery for in vivo treatment of stomach infection. Nat Commun 8, 272 (2017).","DOI":"10.1038\/s41467-017-00309-w"},{"key":"2025100321000578000_2025.09.29.679217v1.12","doi-asserted-by":"crossref","first-page":"832","DOI":"10.1002\/adma.201504327","article-title":"Medibots: Dual-Action Biogenic Microdaggers for Single-Cell Surgery and Drug Release","volume":"28","year":"2016","journal-title":"Advanced Materials"},{"key":"2025100321000578000_2025.09.29.679217v1.13","doi-asserted-by":"crossref","unstructured":"Khalil, I. S. M. , et al. Magnetic localization and control of helical robots for clearing superficial blood clots. 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