{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,9]],"date-time":"2026-11-09T16:37:43Z","timestamp":1794242263662,"version":"4.9.0"},"reference-count":46,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"5","content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Adv."],"published-print":{"date-parts":[[2024,2,2]]},"abstract":"<jats:p>\n                    Micro\/nanorobots provide a promising approach for intravascular therapy with high precision. However, blood vessel is a highly complex system, and performing interventional therapy in those submillimeter segments remains challenging. While micro\/nanorobots can enter submillimeter segments, they may still comprise nonbiodegradable parts, posing a considerable challenge for post-use removal. Here, we developed a retrievable magnetic colloidal microswarm, composed of tPA-anchored Fe\n                    <jats:sub>3<\/jats:sub>\n                    O\n                    <jats:sub>4<\/jats:sub>\n                    @mSiO\n                    <jats:sub>2<\/jats:sub>\n                    nanorobots (tPA-nbots), to archive tPA-mediated thrombolysis under balloon catheter-assisted magnetic actuation with x-ray fluoroscopy imaging system (CMAFIS). By deploying tPA-nbot transcatheter to the vicinity of the thrombus, the tPA-nbot microswarms were magnetically actuated to the blood clot at the submillimeter vessels with high precision. After thrombolysis, the tPA-nbots can be retrieved via the CMAFIS, as demonstrated in ex vivo organ of human placenta and in vivo carotid artery of rabbit. The proposed colloidal microswarm provides a promising robotic tool with high spatial precision for enhanced thrombolysis with low side effects.\n                  <\/jats:p>","DOI":"10.1126\/sciadv.adk8970","type":"journal-article","created":{"date-parts":[[2024,1,31]],"date-time":"2024-01-31T13:58:21Z","timestamp":1706709501000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":93,"title":["tPA-anchored nanorobots for in vivo arterial recanalization at submillimeter-scale segments"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7037-3660","authenticated-orcid":true,"given":"Ben","family":"Wang","sequence":"first","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."},{"name":"College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-4213-8506","authenticated-orcid":true,"given":"Qinglong","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5820-0089","authenticated-orcid":true,"given":"Kai Fung","family":"Chan","sequence":"additional","affiliation":[{"name":"Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China."},{"name":"Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhipeng","family":"Ning","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8011-171X","authenticated-orcid":true,"given":"Qianqian","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9624-3503","authenticated-orcid":true,"given":"Fengtong","family":"Ji","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haojin","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4524-5939","authenticated-orcid":true,"given":"Shuai","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7096-7223","authenticated-orcid":true,"given":"Zifeng","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bonaventure Yiu Ming","family":"Ip","sequence":"additional","affiliation":[{"name":"Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0254-3274","authenticated-orcid":true,"given":"Ho","family":"Ko","sequence":"additional","affiliation":[{"name":"Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jacqueline Pui Wah","family":"Chung","sequence":"additional","affiliation":[{"name":"Department of Obstetrics and Gynaecology, CUHK, Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming","family":"Qiu","sequence":"additional","affiliation":[{"name":"Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianguo","family":"Han","sequence":"additional","affiliation":[{"name":"Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9292-112X","authenticated-orcid":true,"given":"Philip Wai Yan","family":"Chiu","sequence":"additional","affiliation":[{"name":"Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China."},{"name":"Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China."},{"name":"Department of Surgery, CUHK, Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3125-5199","authenticated-orcid":true,"given":"Joseph Jao Yiu","family":"Sung","sequence":"additional","affiliation":[{"name":"Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore, Singapore."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9451-1204","authenticated-orcid":true,"given":"Shiwei","family":"Du","sequence":"additional","affiliation":[{"name":"Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8193-0709","authenticated-orcid":true,"given":"Thomas Wai Hong","family":"Leung","sequence":"additional","affiliation":[{"name":"Division of Neurology, Department of Medicine and Therapeutics, CUHK, Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8715-5026","authenticated-orcid":true,"given":"Simon Chun Ho","family":"Yu","sequence":"additional","affiliation":[{"name":"Department of Imaging and Interventional Radiology, CUHK, Sha Tin, N.T., Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1152-8962","authenticated-orcid":true,"given":"Li","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, N.T., Hong Kong, China."},{"name":"Chow Yuk Ho Technology Center for Innovative Medicine, CUHK, Sha Tin, N.T., Hong Kong, China."},{"name":"Multi-Scale Medical Robotics Center, Hong Kong Science Park, Sha Tin, N.T., Hong Kong, China."},{"name":"Department of Surgery, CUHK, Sha Tin, N.T., Hong Kong, China."},{"name":"CUHK T Stone Robotics Institute, CUHK, Sha Tin, N.T., Hong Kong, 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atherosclerotic peripheral vascular disease and quality of care outcomes in Research Interdisciplinary Working Groups: The American Academy of Neurology affirms the value of this guideline as an educational tool for neurologists","volume":"22","author":"Adams H. P.","year":"2007","unstructured":"H. P. Adams, G. del Zoppo, M. J. Alberts, D. L. Bhatt, L. Brass, A. Furlan, R. L. Grubb, R. T. Higashida, E. C. Jauch, C. Kidwell, P. D. Lyden, L. B. Morgenstern, A. I. Qureshi, R. H. Rosenwasser, P. A. Scott, E. F. M. Wijdicks, Guidelines for the early management of adults with ischemic stroke: A guideline from the American Heart Association\/American Stroke Association Stroke Council, Clinical Cardiology Council, Cardiovascular Radiology and Intervention Council, and the atherosclerotic peripheral vascular disease and quality of care outcomes in Research Interdisciplinary Working Groups: The American Academy of Neurology affirms the value of this guideline as an educational tool for neurologists. 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Wang B. Wang J. Yu K. Schweizer B. J. Nelson L. Zhang \u201cReconfigurable magnetic microswarm for thrombolysis under ultrasound imaging\u201d in 2020 IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2020) pp. 10285\u201310291.","DOI":"10.1109\/ICRA40945.2020.9197432"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3111788"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2693999"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.67.011504"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.68.041503"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1016\/0009-2509(67)80047-2"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000226"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1136\/neurintsurg-2013-010813"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1002\/anie.200462551"}],"container-title":["Science Advances"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/sciadv.adk8970","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,31]],"date-time":"2024-01-31T13:59:23Z","timestamp":1706709563000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/sciadv.adk8970"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,2,2]]},"references-count":46,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2024,2,2]]}},"alternative-id":["10.1126\/sciadv.adk8970"],"URL":"https:\/\/doi.org\/10.1126\/sciadv.adk8970","relation":{},"ISSN":["2375-2548"],"issn-type":[{"value":"2375-2548","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,2,2]]},"assertion":[{"value":"2023-09-17","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-01-02","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-01-31","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eadk8970"}}