Magnetic microrobot and its application in a microfluidic system

Wang, Jingyi; Jiao, Niandong; Liu, Lianqing

doi:10.1186/s40638-014-0018-z

Cited by 20 publications

(15 citation statements)

References 23 publications

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“…The microrobot is placed in a cubic container with deionized (DI) water on the micron 3D positioning stage in the center of the electromagnetic coils. The electromagnetic manipulation system can be used to observe and accurately manipulate the microrobot manually, as our previous work [ 16 ], or automatically.…”

Section: Methodsmentioning

confidence: 99%

“…The manual control method is an open-loop teleoperation in which the operator transmits motion information to the microrobots through an input device, without any feedback [ 15 ]. With this method, the microrobot can be controlled to move in a microfluidic chip [ 16 ], in 3D space [ 17 ], as well as in vivo [ 18 ]. However, manually controlled microrobots can only correct off-track motion if instructed by their operator, and the effectiveness of operation is highly dependent on the experience of the operator.…”

Section: Introductionmentioning

confidence: 99%

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Automatic Path Tracking and Target Manipulation of a Magnetic Microrobot

2016

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Recently, wireless controlled microrobots have been studied because of their great development prospects in the biomedical field. Electromagnetic microrobots have the advantages of control agility and good precision, and thus, have received much attention. Most of the control methods for controlling a magnetic microrobot use manual operation. Compared to the manual method, the automatic method will increase the accuracy and stability of locomotion and manipulation of microrobots. In this paper, we propose an electromagnetic manipulation system for automatically controlling the locomotion and manipulation of microrobots. The microrobot can be automatically controlled to track various paths by using visual feedback with an expert control algorithm. A positioning accuracy test determined that the position error ranges from 92 to 293 μm, which is less than the body size (600 μm) of the microrobot. The velocity of the microrobot is nearly proportional to the applied current in the coils, and can reach 5 mm/s. As a micromanipulation tool, the microrobot is used to manipulate microspheres and microgears with the automatic control method. The results verify that the microrobot can drag, place, and drive the microstructures automatically with high precision. The microrobot is expected to be a delicate micromachine that could play its role in microfluidics and blood vessels, where conventional instruments are hard to reach.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Automatic Path Tracking and Target Manipulation of a Magnetic Microrobot

2016

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“…The manual control method is an open-loop teleoperation without any feedback. Related studies have been reported in the literature for different operation spaces, such as operation in a microfluidic chip [ 9 , 10 ], in 3D space [ 11 ], and in vivo operation [ 12 ]; and for different driving methods, such as bacteria-driven operation [ 13 ] and chemically driven operation [ 14 ]. The manual control method is not appropriate for tasks that require high repetition with high precision [ 15 ].…”

Section: Introductionmentioning

confidence: 99%

Automatic Manipulation of Magnetically Actuated Helical Microswimmers in Static Environments

Liu

Huang

et al. 2018

Micromachines

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Electromagnetically actuated microswimmers have been widely used in various biomedical applications due to their minor invasive traits and their easy access to confined environments. In order to guide the microswimmers autonomously towards a target, an obstacle-free path must be computed using path planning algorithms, meanwhile a motion controller must be formulated. However, automatic manipulations of magnetically actuated microswimmers are underdeveloped and still are challenging topics. In this paper, we develop an automatic manipulation system for magnetically actuated helical microswimmers in static environments, which mainly consists of a mapper, a path planner, and a motion controller. First, the mapper processes the captured image by morphological transformations and then labels the free space and the obstacle space. Second, the path planner explores the obstacle-free space to find a feasible path from the start to the goal by a global planning algorithm. Last, the motion controller guides the helical microswimmers along the desired path by a closed-loop algorithm. Experiments are conducted to verify the effectiveness of the proposed automatic manipulation. Furthermore, our proposed approach presents the first step towards applications of microswimmers for targeted medical treatments, such as micromanipulation, targeted therapy, and targeted drug delivery.

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“…The electromagnetic actuation method has many advantages such as high controllability, great accuracy, and a large actuating force. With the method, the microrobot can be controlled to move in a microfluidic chip [15], in 3D space [16], as well as in vivo [17]. However, the environment in vivo is complicated, and there are still many challenges for microrobot such as complex 3D motion and agile micromanipulation.…”

Section: Introductionmentioning

confidence: 99%

3D Motion Control and Target Manipulation of Small Magnetic Robot

Wang

Jiao

Yang

et al. 2017

Intelligent Robotics and Applications

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The Electromagnetic robots have received much attention because of their advantages of control agility and good precision. Most of the electromagnetic robots are controlled in two-dimensional motion. However, the environment in vivo is complicated and two-dimensional control is difficult to meet the complicated situation. In this paper, we propose a three-dimensional (3D) control method for the locomotion and manipulation of small magnetic robots. The robot can be controlled to move in 3D direction using visual feedback with an expert control algorithm. The velocity of the robot is nearly proportional to the applied current in the coils, and can reach 1 mm/s. To verify its performance, the robot is used to manipulate microspheres into a 3 Â 3 array. The robot is expected to be an agile tools that could play important roles in micromanipulation and biomedical treatment.

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Magnetic microrobot and its application in a microfluidic system

Cited by 20 publications

References 23 publications

Automatic Path Tracking and Target Manipulation of a Magnetic Microrobot

Automatic Path Tracking and Target Manipulation of a Magnetic Microrobot

Automatic Manipulation of Magnetically Actuated Helical Microswimmers in Static Environments

3D Motion Control and Target Manipulation of Small Magnetic Robot

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