Non-contact manipulation for automated protein crystal harvesting using a rolling microrobot

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

doi:10.1109/icra.2014.6907145

Cited by 3 publications

(2 citation statements)

References 19 publications

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“…Sun's team also achieved 3D path planning for the robot in a microchannel [23]. Nelson's group used lattice-based planning in the search-based planning library (SBPL) to realize automatic obstacle avoidance and extraction of protein crystals by robots [24][25][26][27]. Despite these advances, most current control methods are mainly performed by robots with tens or even hundreds of microns in size and precision.…”

Section: Introductionmentioning

confidence: 99%

Vision-Based Automated Control of Magnetic Microrobots

Tang

Liu

et al. 2022

Micromachines

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Magnetic microrobots are vital tools for targeted therapy, drug delivery, and micromanipulation on cells in the biomedical field. In this paper, we report an automated control and path planning method of magnetic microrobots based on computer vision. Spherical microrobots can be driven in the rotating magnetic field generated by electromagnetic coils. Under microscopic visual navigation, robust target tracking is achieved using PID–based closed–loop control combined with the Kalman filter, and intelligent obstacle avoidance control can be achieved based on the dynamic window algorithm (DWA) implementation strategy. To improve the performance of magnetic microrobots in trajectory tracking and movement in complicated environments, the magnetic microrobot motion in the flow field at different velocities and different distribution obstacles was investigated. The experimental results showed that the vision-based controller had an excellent performance in a complex environment and that magnetic microrobots could be controlled to move to the target position smoothly and accurately. We envision that the proposed method is a promising opportunity for targeted drug delivery in biological research.

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Section: Introductionmentioning

confidence: 99%

Vision-Based Automated Control of Magnetic Microrobots

Tang

Liu

et al. 2022

Micromachines

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“…The wide variety of possible actions with a micro-robot -manipulation and movement of material in 2D and 3D by direct mechanical forces application (by pressing or pushing) [12]- [15] or indirect ones (via hydrodynamic flow generation) [16]- [20] -make it a very versatile tool having a wide range of possible applications. The microscopic swimmer moving on a smaller similar scale biological sample, and study material should be able to apply force at scales similar to the stresses naturally supported by this material, and thus avoid any risk of damage.…”

Section: Introductionmentioning

confidence: 99%

Swimming force characterizations of multistaged bi-helical microswimmer and 3D vortex trap manipulation

Paris

Decanini

Hwang

2021

Microelectronic Engineering

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Vortex trap manipulation of microscopic objects in three-dimensions by helical microswimmers has a great potential towards non-contact biological cell manipulation or microassembly. However, in the current state-of-the-art, it has been limited in 2D manipulation due to the conflicting characteristics of optimizing the trapping force and propulsion force. In this paper, we propose a new design of the helical microswimmers enabling purely non-contact, selective and 3D vortex trap micromanipulation.

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Dynamic Modeling of Magnetic Helical Microrobots

Wang

Pané

et al. 2022

IEEE Robot. Autom. Lett.

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Non-contact manipulation for automated protein crystal harvesting using a rolling microrobot

Cited by 3 publications

References 19 publications

Vision-Based Automated Control of Magnetic Microrobots

Vision-Based Automated Control of Magnetic Microrobots

Swimming force characterizations of multistaged bi-helical microswimmer and 3D vortex trap manipulation

Dynamic Modeling of Magnetic Helical Microrobots

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