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Representative hydrogel-based chemoresponsive micromotors. (a) Schematic illustration of a multilayered microgripper with integrated biopolymer layers which can close and reopen upon exposure to two different enzymes. (b) Magnetic navigation of a hydrogel-based enzyme-responsive micromotor to excise liver tissue for biopsy after insertion of cellulase. Reproduced with permission from ref [72]. Copyright 2010, American Chemical Society.
