Non-contact Manipulation for Automated Protein Crystal Harvesting using a Rolling Microrobot

Pieters, Roel; Tung, Hsi-Wen; Sargent, David F.; Nelson, Bradley J.

doi:10.3182/20140824-6-za-1003.00398

Cited by 15 publications

(6 citation statements)

References 13 publications

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Section: Untethered Magnetic Microrobotsmentioning

confidence: 99%

“…[ 90 ] A transversely magnetized rolling magnetic microrobot (RodBot) exploited this behavior to perform noncontact manipulation and transportation of micro‐objects in liquids (Figure 15c). [ 92,114 ] The microrobot, a 50 × 60 × 300 µm polymeric block with internal cobalt‐nickel posts, rolls continuously about its long axis to generate a fluid vortex above it while simultaneously translating forward. The vortex attracts and traps micro‐objects without direct contact, offering coarse motion control of delicate, tiny objects ranging from a few microns to several hundred microns in size.…”

Section: Untethered Magnetic Microrobotsmentioning

confidence: 99%

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Magnetic Actuation Methods in Bio/Soft Robotics

Ebrahimi

Cappelleri

et al. 2020

Adv Funct Materials

176

104

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In recent years, magnetism has gained an enormous amount of interest among researchers for actuating different sizes and types of bio/soft robots, which can be via an electromagnetic‐coil system, or a system of moving permanent magnets. Different actuation strategies are used in robots with magnetic actuation having a number of advantages in possible realization of microscale robots such as bioinspired microrobots, tetherless microrobots, cellular microrobots, or even normal size soft robots such as electromagnetic soft robots and medical robots. This review provides a summary of recent research in magnetically actuated bio/soft robots, discussing fabrication processes and actuation methods together with relevant applications in biomedical area and discusses future prospects of this way of actuation for possible improvements in performance of different types of bio/soft robots.

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Section: Untethered Magnetic Microrobotsmentioning

confidence: 99%

Section: Untethered Magnetic Microrobotsmentioning

confidence: 99%

Magnetic Actuation Methods in Bio/Soft Robotics

Ebrahimi

Cappelleri

et al. 2020

Adv Funct Materials

176

104

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“…In this case, the Rodbot could rotate about its long axis under rotating magnetic fields. The motion of the robot generated a rising flow and a vortex, which was exploited to transport fragile protein crystals in fluid and deposited them onto an extraction-loop without breaking them [74]. Another method consists of developing hard-magnetic structures, whose magnetic moment can be pre-defined by magnetizing them along the desired (e.g.…”

Section: Surface Walkersmentioning

confidence: 99%

“…Through single action or combinatorial actions, small-scale machines are able to fulfill different tasks. For example, the rotating motion of a rodbot generates a vortex, in which protein crystals can be trapped and transported (see previous section)[74]. However, to date, applications solely relying on the mechanical actuation of micro-and nanorobots are rather simple.…”

mentioning

confidence: 99%

Recent developments in magnetically driven micro- and nanorobots

Chen

Hoop

Mushtaq

et al. 2017

Applied Materials Today

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329

211

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Micro-and nanorobots are promising devices for biomedical and environmental applications. The past few years have witnessed rapid developments in this field. This short review intends to address recent progress on magnetically driven micro-and nanorobots developed in our laboratory and by other research groups. Different designs such as helical swimmers, flexible swimmers, surface walkers, and others are categorized and discussed. Specific applications of these robots in the fields of biomedicine or environmental remediation are also reported. Finally, the use of magnetic fields for additional capabilities beyond manipulation is presented.

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“…Micromanipulation has been proposed for such applications as micro-machining [4], cell manipulation [1], and MEMS microassembly [5]. In [6], [7], a rolling microrobot design called the RodBot was introduced for use in x-ray crystallography X-ray crystallography concerns the study of properties of biological molecules and proteins, which are crystallized and analyzed by small-angle x-ray scattering, and is used extensively in the pharmaceutical industry [8].…”

Section: Introductionmentioning

confidence: 99%

Navigation of a rolling microrobot in cluttered environments for automated crystal harvesting

Charreyron

Pieters

Tung

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-We present a holistic system for automating the motion of a rolling microrobot for protein crystal harvesting. The RodBot, which was introduced in previous work, is able to perform noncontact manipulation of microscopic objects such as fragile crystals by trapping them in an induced vortex fluid flow. Here, we are concerned with navigating the RodBot autonomously in a liquid environment containing obstacles such as crystals. A literature review shows existing approaches to untethered microrobot control are limited and cluttered environments are often not considered. We demonstrate real-time tracking of the RodBot and surrounding obstacles, kinematic obstacle-free path planning, and nonholonomic path following. The system was evaluated in qualitative and quantitative experiments, shows satisfactory performance, and presents itself as a first step towards fully automated crystal harvesting.

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Non-contact Manipulation for Automated Protein Crystal Harvesting using a Rolling Microrobot

Cited by 15 publications

References 13 publications

Magnetic Actuation Methods in Bio/Soft Robotics

Magnetic Actuation Methods in Bio/Soft Robotics

Recent developments in magnetically driven micro- and nanorobots

Navigation of a rolling microrobot in cluttered environments for automated crystal harvesting

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