Small Scale Robotics for Automated Dental Biofilm Treatment

口腔生物被膜相关感染仍然是一个持久且代价高昂的临床问题。现有的治疗方法无法 同时杀死和物理破坏生物膜，并需要手动生物膜去除程序， 在难以触及的区域，如根管系统，操作繁琐且疗效有限。新的 需要能够精确定位复杂解剖区域的有效、自动化技术来杀死 细菌以及降解和去除生物膜结构。我们提出了一种新的方法，结合了 纳米技术和机器人技术开发第一个自动化生物被膜根除平台。我们设计了 使用催化纳米颗粒作为积木的小型机器人，可以显示无系绳控制的运动 多功能。我们的方法利用具有双重催化-磁性的氧化铁纳米颗粒(IONPs) (I)在原位产生杀菌和生物膜降解反应分子，以及(Ii)去除破坏的生物膜 通过磁场驱动的机器人组件，称为催化抗菌膜机器人(CARS)。初步数据 证明汽车以高精度和高效率局部定位和清除生物膜，包括受限的 牙髓间隙。我们假设，通过调整汽车的磁催化性能来增强 ‘杀灭-降解-清除’机制，提高了抗生物膜的有效性和可操作性 实现有针对性的牙髓消毒和药物输送。为了实现这一目标，我们建议(目标1) 通过物理化学修饰改善IONP构建块的催化和磁性能 包括颗粒大小和表面功能化，以增强催化、生物膜靶向性和可控性。我们 将评估催化效率、磁场响应和生物活性，以确定CAR的关键参数 进步。然后，优化后的IONPs将被整合到两个汽车平台中。CAR1，由 聚合型IONP，将用于根管系统的催化杀菌和生物膜治疗(目标2)。 我们将确定磁场响应和抗菌膜活性的原理，并测试其有效性 这些机器人以受控的方式去除难以触及的地区的生物膜。我们将评估生物活性 考虑到关键的解剖学和生物学复杂性，使用混合物种生物膜和 在3D打印的牙齿和体外模型中重现了不同的根管形态。在第二个平台中，CAR2 将通过3D微模塑功能聚合物和嵌入IONPs来制造，用于去除生物膜和药物 牙根管内分娩(目标3)。我们将研究和优化磁控、抗生物膜活性和 触发了货物交付条件。之后，我们将把机械研究中的信息应用到设计中。 并使用3D打印评估CAR2在根尖区域同时去除生物膜和给药的效果 以及具有混合物种生物膜的体外牙齿模型。综上所述，我们预计拟议的 研究将导致为牙科应用的自动化生物膜治疗开发的第一个机器人系统。

Oral biofilm-related infections remain a persistent and costly clinical problem. Existing treatments are unable to simultaneously kill and physically disrupt biofilms and require manual biofilm removal procedures that are cumbersome with limited efficacy in difficult to reach areas such as the endodontic canal systems. New efficacious, automated technologies capable of precisely targeting complex anatomical areas are needed to kill bacteria as well as degrade and remove biofilm structure. We propose a novel approach that combines nanotechnology and robotics to develop the first automated biofilm eradication platform. We have designed small-scale robots using catalytic nanoparticles as building blocks that display tether-free controlled motion with multifunctionality. Our approach exploits iron oxide nanoparticles (IONPs) with dual catalytic-magnetic properties that (i) generate bactericidal and biofilm degrading reactive molecules in situ, and (ii) remove the disrupted biofilm via magnetic-field driven robotic assemblies termed Catalytic Antibiofilm Robots (CARs). Preliminary data demonstrate that CARs locally target and remove biofilms with high precision and efficacy, including confined endodontic spaces. We hypothesize that, by tuning CARs magneto-catalytic properties to enhance the ‘kill-degrade-and-remove’ mechanism, improved antibiofilm efficacy and maneuverability can be achieved for targeted endodontic disinfection and drug delivery. To achieve this, we propose (Aim 1) to improve the catalytic and magnetic properties of IONP building blocks via physicochemical modifications including particle size and surface functionalization to enhance catalysis, biofilm targeting and controllability. We will assess catalytic efficiency, magnetic field response, and bioactivity to identify key parameters for CAR improvement. Then, optimized IONPs will be incorporated into two CARs platforms. CAR1s, formed from aggregated IONP, will be used for catalytic bacterial killing and biofilm treatment in root canal systems (Aim 2). We will determine the principles governing magnetic field response and antibiofilm activity, and test the efficacy of these robots to remove biofilms in difficult-to-reach areas in a controlled manner. We will assess bioactivity and maneuverability considering key anatomical and biological complexities using mixed-species biofilm and diverse canal morphologies recapitulated in 3D-printed teeth and ex vivo models. In the second platform, CAR2s will be fabricated by 3D micromolding of functional polymers with embedded IONPs for biofilm removal and drug delivery in the interior of tooth canal (Aim 3). We will study and optimize magnetic control, antibiofilm activity and triggered cargo delivery conditions. Thereafter, we will apply information from the mechanistic studies to design and evaluate CAR2s for simultaneous biofilm removal and drug delivery at the apical region using 3D printed and ex vivo tooth models with mixed-species biofilms. Altogether, we expect that the outcomes of the proposed studies will lead to the first robotic systems developed for automated biofilm treatment for dental applications.