A Novel Swimming Microrobot Based on Artificial Cilia for Biomedical Applications

Ghanbari, Ali; Bahrami, Mohsen

doi:10.1007/s10846-010-9516-6

Cited by 36 publications

(38 citation statements)

References 32 publications

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“…Kagan et al (2012) obtained an average speed of microbullets of approximately 6 m s -1 . Different models (Cavalcanti et al 2006(Cavalcanti et al , 2007b(Cavalcanti et al , 2008a(Cavalcanti et al , 2008cCavalcanti 2008b;Floyd & Sitti 2008;Adtani et al 2009;Hogg & Freitas Jr 2010;Ghanbari & Bahrami 2011;Paul & Dipti 2012) have been proposed to generate power for propulsion Table 5. List of other methods of propulsion.…”

Section: Other Methods Of Propulsionmentioning

confidence: 99%

“…-Investigated the motion of the PPy-Cd and CdSe-Au-CdSe schottky barrier diode nanowire due to electro-osmotic flow under the influence of a spatially uniform AC electrical field. Ghanbari and Bahrami (2011) Not available -Proposed ParaLiker swimming microrobot. Not available -Observed the motion of thermally generated bubble microrobot.…”

Section: Other Methods Of Propulsionmentioning

confidence: 99%

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Propulsion of an artificial nanoswimmer: a comprehensive review

Nain

Sharma

2014

Frontiers in Life Science

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Locomotion at micro and nano scales is a challenge and has drawn attention for over six decades. Inspired by nature, studies have mimicked nanoswimming organisms, which use rotating or beating flagella for locomotion. This mode of propulsion, also known as flagellar propulsion, has been explored extensively in the literature. However, chemical and magnetic methods have gained interest in the last decade owing to advantages including high thrust force and wireless control. The review summarizes chronologically the various propulsion mechanisms for moving a nanoswimmer using chemical fuel, magnetic fields, ultrasonic pulses and thrust force generated by bacteria in the presence of external stimuli including laser light, and thermal and chemical gradients.

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Section: Other Methods Of Propulsionmentioning

confidence: 99%

Section: Other Methods Of Propulsionmentioning

confidence: 99%

Propulsion of an artificial nanoswimmer: a comprehensive review

Nain

Sharma

2014

Frontiers in Life Science

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“…However, microbots (sized between 10 and 1000 microns) are a reality [9] and they can be considered as "training wheels" for nanotechnology. Microbots have been developed for several purposes like industrial applications or biomedicine [10,11]. The area of biomedicine is currently one of the most challenging and offers a huge number of potential applications for the microbots to perform precise and delicate tasks inside the human body, i.e., providing a mobile viewing platform enhancing a surgeon's view, or for protecting and treating the human body against pathogens.…”

Section: Introductionmentioning

confidence: 99%

Assessing the Dynamic Performance of Microbots in Complex Fluid Flows

Campo-Deaño

2016

Applied Sciences

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Abstract:The use of microbots in biomedicine is a powerful tool that has been an object of study in the last few years. In the special case of using these microdevices in the human circulatory system to remove clots or to deliver drugs, the complex nature of blood flow must be taken into account for their proper design. The dynamic performance, defined in this context as the quantification of the disturbance of the flow around an object (which is essentially dependent on the microbot morphology and the rheological characteristics of the fluid) should be improved in order to diminish the damage inside the patient body and to increase the efficiency when they swim through the main veins or arteries. In this article, different experimental techniques (micro-Particle Image Velocimetry, flow visualization, pressure drop measurements, etc.) are analyzed to assess their dynamic performance when they swim through the human body immersed in complex fluid flows. This article provides a useful guide for the characterization of the dynamic performance of microbots and also highlights the necessity to consider the viscoelastic character of blood in their design.

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“…[4] These biomimetic robots generate propulsion by rotation of their helical flagella [5,6] or by forming planar waves via the flagella [7] or cilia. [8,9] Other magnetic microrobots may be directly manipulated by an external magnetic field gradient. [10,11] Mathieu et al [10] used a magnetic resonance imaging (MRI) system to actuate magnetized particles and demonstrated that millimeter-sized ferromagnetic spheres can be propelled inside larger-diameter sections of arterial systems by using a field gradient of a few tens of mT=m, which is within the range of MRI systems.…”

Section: Introductionmentioning

confidence: 99%

Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control

Ghanbari

Chang

Nelson

et al. 2014

International Journal of Optomechatronics

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Control of small magnetic machines in viscous fluids may enable new medical applications of microrobots. Small-scale viscous environments lead to low Reynolds numbers, and although the flow is linear and steady, the magnetic actuation introduces a dynamic response that is nonlinear. We account for these nonlinearities, and the uncertainties in the dynamic and magnetic properties of the microrobot, by using time-delay estimation. The microrobot consists of a cylindrical magnet, 1 mm long and 500 lm in diameter, and is tracked using a visual feedback system. The microrobot was placed in silicone oil with a dynamic viscosity of 1 Pa.s, and followed step inputs with rise times of 0.45 s, 0.51 s, and 1.77 s, and overshoots of 37.5%, 33.3%, and 34.4% in the x, y, and z directions, respectively. In silicone oil with a viscosity of 3 Pa.s, the rise times were 1.04 s, 0.72 s, and 2.19 s, and the overshoots were 47.8%, 48.5%, and 86.8%. This demonstrates that closed-loop control of the magnetic microrobot was better in the less viscous fluid.

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A Novel Swimming Microrobot Based on Artificial Cilia for Biomedical Applications

Cited by 36 publications

References 32 publications

Propulsion of an artificial nanoswimmer: a comprehensive review

Propulsion of an artificial nanoswimmer: a comprehensive review

Assessing the Dynamic Performance of Microbots in Complex Fluid Flows

Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control

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