A microswimmer is a microscopic object with the ability to move in a fluid environment. Natural microswimmers are found everywhere in the natural world as biological microorganisms, such as bacteria, archaea, protists, sperm and microanimals. Since the turn of the millennium there has been increasing interest in manufacturing synthetic and biohybrid microswimmers. Although only two decades have passed since their emergence, they have already shown promise for various biomedical and environmental applications.
Given the recent nature of the field, there is yet no consensus in the literature for the nomenclature of the microscopic objects this article refers to as "microswimmers". Among the many alternative names such objects are given in the literature, microswimmers, micro/nanorobots and micro/nanomotors are likely the most frequently encountered. Other common terms may be more descriptive, including information about the object shape, e.g., microtube or microhelix, its components, e.g., biohybrid, spermbot, bacteriabot, or micro-bio-robot, or behavior, e.g., microrocket, microbullet, microtool or microroller. Researchers have also named their specific microswimmers e.g., medibots, hairbots, iMushbots, IRONSperm, teabots, biobots, T-budbots, or MOFBOTS.
Background
In 1828, the British biologist Robert Brown discovered the incessant jiggling motion of pollen in water and described his finding in his article "A Brief Account of Microscopical Observations…", leading to extended scientific discussion about the origin of this motion. This enigma was resolved only in 1905, when Albert Einstein published his celebrated essay Über die von der molekularkinetischen Theorie der Wärme geforderte Bewegung von in ruhenden Flüssigkeiten suspendierten Teilchen. Einstein not only deduced the diffusion of suspended particles in quiescent liquids, but also suggested these findings could be used to determine particle size — in a sense, he was the world's first microrheologist.
Ever since Newton established his equations of motion, the mystery of motion on the microscale has emerged frequently in scientific history, as famously demonstrated by a couple of articles that should be discussed briefly. First, an essential concept, popularized by Osborne Reynolds, is that the relative importance of inertia and viscosity for the motion of a fluid depends on certain details of the system under consideration. The Reynolds number , named in his honor, quantifies this comparison as a dimensionless ratio of characteristic inertial and viscous forces:
Here, represents the density of the fluid; is a characteristic velocity of the system (for instance, the velocity of a swimming particle); is a characteristic length scale (e.g., the swimmer size); and is the viscosity of the fluid. Taking the suspending fluid to be water, and using experimentally observed values for , one can determine that inertia is important for macroscopic swimmers like fish ( = 100), while viscosity dominates the motion of microscale swimmers like bacteria ( = 10−4).
The overwhelming importance of viscosity for swimming at the micrometer scale has profound implications for swimming strategy. This has been discussed memorably by E. M. Purcell, who invited the reader into the world of microorganisms and theoretically studied the conditions of their motion. In the first place, propulsion strategies of large scale swimmers often involve imparting momentum to the surrounding fluid in periodic discrete events, such as vortex shedding, and coasting between these events through inertia. This cannot be effective for microscale swimmers like bacteria: due to the large viscous damping, the inertial coasting time of a micron-sized object is on the order of 1 μs. The coasting distance of a microorganism moving at a typical speed is about 0.1 angstroms (Å). Purcell concluded that only forces that are exerted in the present moment on a microscale body contribute to its propulsion, so a constant energy conversion method is essential.
Microorganisms have optimized their metabolism for continuous energy production, while purely artificial microswimmers (microrobots) must obtain energy from the environment, since their on-board-storage-capacity is very limited. As a further consequence of the continuous dissipation of energy, biological and artificial microswimmers do not obey the laws of equilibrium statistical physics, and need to be described by non-equilibrium dynamics. Mathematically, Purcell explored the implications of low Reynolds number by taking the Navier-Stokes equation and eliminating the inertial terms: