Field Of Microrobotics Research Articles

Helical Structures for Medical Applications

The latest advances in the field of microrobotics assisted medical experts in the treatment of some of human diseases especially intravascular diseases such as atherosclerosis. In this research, a phantom for the atherosclerotic plaque material is fabricated using Gelatine and Nano Hydroxyapatite in a catheter tube to mimic the condition in the human body in vitro. For plaque penetration a helical microrobot is designed to achieve the optimum plaque clearing efficiency. The robot is a remotely controlled micro helical magnetic based metallic robot which is inserted in the catheter to penetrate the phantom by rotational motion along its axis. The motion of the robot during mechanical grinding of the plaque phantom is simulated using MATLAB where the distance of the robot’s journey inside the plaque phantom is plotted against the time consumed by the robot.

Wireless Coupling of Conducting Polymer Actuators with Light Emission.

Combining the actuation of conducting polymers with additional functionalities is an interesting fundamental scientific challenge and increases their application potential. Herein we demonstrate the possibility of direct integration of a miniaturized light emitting diode (LED) in a polypyrrole (PPy) matrix in order to achieve simultaneous wireless actuation and light emission. A light emitting diode is used as a part of an electroactive surface on which electrochemical polymerization allows direct incorporation of the electronic device into the polymer. The resulting free-standing polymer/LED hybrid can be addressed by bipolar electrochemistry to trigger simultaneously oxidation and reduction reactions at its opposite extremities, leading to a controlled deformation and an electron flow through the integrated LED. Such a dual response in the form of actuation and light emission opens up interesting perspectives in the field of microrobotics.

Mobile Space Microrobot: Concept and Application Prospects

This paper presents a brief overview of achievements in the field of microrobotics. The tasks that can be performed by mobile microrobots in space and the corresponding requirements for design and performance characteristics of such microrobots are formulated. The concept of a mobile space microrobot with thermomechanical silicon-polyimide actuators is proposed. The basic and technological feasibility of this concept are preliminary evaluated.

Microrobotics in the vascular network: present status and next challenges

The field of microrobotics dedicated to medical interventions although relatively new, is progressing at a very fast pace. Among the various accesses inside the body being investigated, the vascular network with close to 100,000 km of potential routes in each human and offering a large range of interventional opportunities has been of special interest in recent years. Although significant progresses and milestones have been achieved in this particular field of research, some important challenges remain to be solved before microrobotics in the human vasculature becomes a reality. Nonetheless, despite these challenges, some applications are already on the horizon. This paper aims at providing a quick overview of the present status of the field of microrobotics for interventions in the vascular network and to describe the main critical challenges that must be met in the short term to enable new or enhanced medical interventional procedures that may bring potential great outcomes for the patients.

Magnetic Shape Memory Alloys as smart materials for micro-positioning devices

In the field of microrobotics, actuators based on smart materials are predominant because of very good precision, integration capabilities and high compactness. This paper presents the main characteristics of Magnetic Shape Memory Alloys as new candidates for the design of micromechatronic devices. The thermo-magneto-mechanical energy conversion process is first presented followed by the adequate modeling procedure required to design actuators. Finally, some actuators prototypes realized at the Femto-ST institute are presented, including a push-pull bidirectional actuator. Some results on the control and performances of these devices conclude the paper.

Insect-sized holonomic robots for precise, omnidirectional, and flexible microscopic processing: Identification, design, development, and basic experiments

Abstract In this paper, we describe the design and development of an insect-sized holonomic robot with nanometer resolution. To provide flexible and compact-sized microscopic operations, a unique locomotion mechanism composed of four piezoelectric actuators and two U-shaped electromagnetic legs is proposed. Here, two legs are arranged across from each other and are connected by four piezoelectric actuators so that the mechanism can move in any direction, i.e. in the X- and Y-directions as well as rotation, at a specified point in the manner of an inchworm. In the primary experiments, several performances such as positioning repeatability, resolution, and precise dexterity are checked using a CCD camera-based microscopic image tracker and a capacitive distance sensor. The identification, characteristics, design procedures, and basic performance are addressed and the biomedical, nanoscience, and chip mounting applications of this tiny holonomic robot are discussed to open up a new field of microrobotics for use in precise regions.

Microfabricated bistable module for digital microrobotics

High precision microrobots are needed more and more to perform micro/nanomanipulation and microassembly tasks in various environments like microrobotic stations, electronic microscopes (SEM, TEM), etc. Current microrobots are based on the use of smart materials to perform proportional or incremental actuation. To avoid the main drawbacks of these microrobots (non linearities, integration of sensors, robust control, energy consumption, sensitivity to noise), we propose a new type of microrobots, called digital microrobots, based on microfabricated bistable modules. The study presented in this paper is dedicated to the microfabricated bistable modules, notably the structure and the actuators design and characterization. The results open a new paradigm in the field of microrobotics leading to open loop control and the design of various kinematics adapted to the microworld. Moreover, no external energy is required to maintain the microrobot in its position.

Robotics in the Small, Part I: Microbotics

This article provided an overview of the field of microrobotics, including the distinct but related topics of micromanipulation and microrobots. While many interesting results have been shown to date, the greatest results in this field are yet to come.

Motion control of a large gap magnetic suspension system for microrobotic manipulation

Magnetic suspension systems have shown a great deal of promise in the field of microrobotics. This paper discusses the performance of a new large gap magnetic suspension system developed by the researchers. The magnetic drive unit consists of six electromagnets attached to a soft iron pole piece and yoke. Levitation of an 11.19 g microrobot prototype is demonstrated for step, ramp and periodic input trajectories using PID control. The working envelope of the microrobot is 30 × 22 × 20 mm3, with an RMS error on the order of 18 µm in the vertical direction and 8 µm in the horizontal direction. It is demonstrated that the levitated microrobot is able to track the desired trajectory precisely and that the system has potential application for micromanipulation.

Control of a particular micro-macro positioning system applied to cell micromanipulation

Biological research requires new tools for cell micromanipulations. Currently, biological cell sizes range from a few to hundreds of micrometers, their manipulation therefore belonging to the field of microrobotics. This paper presents a new wireless micromanipulation system which allows cells placed in a droplet of liquid to be pushed on a glass slide. The cell micropusher is a ferromagnetic object which follows the movement of a permanent magnet located under the glass slide. It has been proved in previous works that two kinds of micropusher movements can induce a movement of the pushed object: turning the micropusher around the contact point (rotation), or moving the micropusher in translation. Rotation allows an object to be placed with a precision below 1 /spl mu/m, but acts within a narrow range. Translation allows placement of an object with lower accuracy, but within a wide range. We propose a specific coarse-fine control strategy to push an object, with good precision, within a wide range. Furthermore, experimentation on polystyrene balls of 50 /spl mu/m in diameter, and immature human oocytes of 150 /spl mu/m in diameter are presented. Note to Practitioners-Biological research requires new tools for cell micromanipulations. Currently, biological cell sizes range from a few hundred micrometers; their manipulation, therefore, belongs to the field of microrobotics. This paper presents a new wireless micromanipulation system which allows cells placed in a droplet of liquid to be pushed on a glass slide. The cell micropusher is a ferromagnetic object which follows the movement of a permanent magnet located under the glass slide. It has been proven in previous works that two kinds of micropusher movements can induce a movement of the pushed object: turning the micropusher around the contact point (rotation), or moving the micropusher in translation. Rotation allows an object to be placed with a precision below 1 /spl mu/m, but acts within a narrow range. Translation allows placement of an object with lower accuracy, but within a wide range. We propose a specific coarse-fine control strategy to push an object, with good precision, within a wide range. Furthermore, experimentation on polystyrene balls of 50 /spl mu/m in diameter, and immature human oocytes of 150 /spl mu/m in diameter are presented.

The scientific development of maxillofacial surgery in the 20th century and an outlook into the future

Maxillofacial surgery is a relatively young speciality of medicine and it was not established as an organized specialty until the second half of the 20th century. At first it was supported by general surgeons with particular interest in this field, and also by inspired, extremely talented dentists. During the past few years modern techniques have brought decisive progress also in maxillofacial surgery, leading to rapid further development of diagnostic and therapeutic possibilities. The development of our specialty in the past century is discussed on the four main points of our scope, traumatology, orthognathic, cleft and tumour surgery.Considering the future prospects of our specialty one should realize that in the near future maxillofacial surgery will also be influenced by further medical-technical progress in the field of micro-robots, by percutaneous endoscopic techniques and by minimal invasive or laser surgery.Basic research will also cause a more profound change in our specialty, especially in the field of tumour therapy. Molecular biological research shows some good signs, which could already be transmitted to the prevention, diagnosis and also the therapy of tumours. In the field of tissue transplantation it is no longer utopia that autogenous tissue sampling can be almost completely be avoided. By further developing ‘tissue engineering’ it will be possible to cultivate bones as well as soft tissue with the aid of gene technology and transplant them into the face using relevant carrier substances. Altogether, the complexity of maxillofacial surgery in the coming century will increase, necessitating the best and widely trained maxillofacial surgeons for successful accomplishment.

Manufacturing System in the Micro Domain: Microrobotics

Microrobotics combines the manufacturing technology of robotics with activities on small-sized pieces with a great accuracy. The goal of this paper is to investigate the capabilities of several vision robot sensors in the field of microrobotics. Two methods are discussed in details: the out-of-focus and the shadow detection principles. The combination of these methods provides a sensor structure, which can be used to determine the position of a micromanipulator observed through a microscope.