Abstract
This paper presents a semi-automatic actuation system which can achieve bio-particles tracking, transportation, and high-precision motion control of robots in a microfluidic chip. This system is mainly applied in magnetically driven robots. An innovative manta ray-like robot was designed to increase stability of robots in a non-contaminated manipulation environment. A multilayer piezo actuator was applied to generate high-frequency vibration to decrease the friction between robots and the glass substrate. We also set up a user-friendly GUI (Graphical User Interface) and realized robot tracking and predetermined trajectory motion through excellent algorithms using Python and C++. In biotechnology, precise transportation of cells is used for the enucleation, microinjection, and investigation of the characteristics of a single cell. Being optimized, the parameters of the robot can effectively reach 10 µm in actuation precision and a maximum actuation speed of 200 mm/s.
Highlights
In cellular study, especially the manipulation of bioparticles, significant process has been made to achieve automatic high-throughput operations [1,2]
High-output force is necessary for implementing tasks including cutting and puncture, as denucleation cannot be done if the zonal pellucida is not pierced
In order to control the robot more precisely, we required the external permanent magnets to generate a magnetic field, which has a larger intensity in the area of 3 magnets
Summary
Especially the manipulation of bioparticles (e.g., cells and biological tissue), significant process has been made to achieve automatic high-throughput operations [1,2]. We focused on magnetically actuated robots for cell transportation and cell sorting. The magnetic field generated by coils loses its advantage compared with permanent magnets in cell manipulation and particles transportation in vitro for its low magnetic field intensity to generate enough output force and high energy consumption [21].
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