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. 2020 Mar 13;10:4703. doi: 10.1038/s41598-020-61586-y

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© The Author(s) 2020

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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(A) Analysis of the motion behavior of CNT-DOX-Fe₃O₄-Tf nanobot. The videos were recorded with Dino-Lite digital microscope at 50× magnification, using the Dino-Capture 2.0 v (https://www.dino-lite.com/), best clip was chosen using VirtualDub 1.10.4 v (http://www.virtualdub.org/) and finally tracking and speed calculations were performed using MTrackJ plugin from ImageJ 1.8.0_112v (https://imagej.net/MTrackJ). (a) Representative tracking trajectories of CNT-DOX-Fe₃O₄-Tf nanobots with different biologically relevant media. (B) Time-lapse images of the nanobot driven by oxygen bubble propulsion after time intervals of (a) 0, (b) 2.0, 4.6, 6.5 and 10 s. Speed of nanobot in the presence of different concentration of H₂O₂ (0.5–8 w/v %) in (C) PBS, (D) DMEM and (E) serum, (F) Analysis of force of nanobot in PBS, DMEM and serum in presence of different concentration of H₂O₂ (0.5–8 w/v %).