Magnetic nanorobots offer wireless navigation capability in hard-to-reach areas of the human body for targeted therapy and diagnosis. Though in vivo imaging is required for guidance of the magnetic nanorobots toward the target areas, most of the imaging techniques are inadequate to reveal the potential locomotion routes. This work proposes the use of radiopaque magnetic nanorobots along with microcomputed tomography (microCT) for localized in vivo imaging applications. The nanorobots consist of a contrast agent, barium sulfate (BaSO4 ), magnetized by the decoration of magnetite (Fe3 O4 ) particles. The magnetic features lead to actuation under rotating magnetic fields and enable precise navigation in a microfluidic channel used to simulate confined spaces of the body. In this channel, the intrinsic radiopacity of the nanorobots also provides the possibility to reveal the internal structures by X-ray contrast. Furthermore, in vitro analysis indicates nontoxicity of the nanorobots. In vivo experiments demonstrate localization of the nanorobots in a specific part of the gastrointestinal (GI) tract upon the influence of the magnetic field, indicating the efficient control even in the presence of natural peristaltic movements. The nanorobots reported here highlight that smart nanorobotic contrast agents can improve the current imaging-based diagnosis techniques by providing untethered controllability in vivo.

Department of Chemical and Biomolecular Engineering Yonsei University 50 Yonsei ro Seodaemun gu Seoul KR 03722 Korea

Department of Chemistry and Biochemistry Mendel University in Brno Zemedelska 1665 1 Brno CZ 61300 Czech Republic

Department of Experimental Biology Faculty of Science Masaryk University Kamenice 735 5 Brno CZ 62500 Czech Republic

Department of Medical Research China Medical University Hospital China Medical University No 91 Hsueh Shih Road Taichung TW 40402 Taiwan

Department of Pharmacology and Toxicology Veterinary Research Institute Hudcova 296 70 Brno CZ 62100 Czech Republic

Faculty of Electrical Engineering and Computer Science VSB Technical University of Ostrava 17 listopadu 2172 15 Ostrava CZ 70800 Czech Republic

Future Energy and Innovation Laboratory Central European Institute of Technology Brno University of Technology Purkynova 123 Brno CZ 61200 Czech Republic

Institute of Parasitology Biology Centre of the Czech Academy of Sciences Branisovska 31 Ceske Budejovice CZ 37005 Czech Republic

Laboratory of Emerging Viral Infections Veterinary Research Institute Hudcova 296 70 Brno CZ 62100 Czech Republic

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