Stiffness Characterization of Biological Tissues by Means of MEMS-Technology Based Micro Grippers Under Position Control

Bagolini, Alvise; Bellutti, P.; Giamberardino, Paolo Di; Rudas, Imre J.; D’Andrea, Vito; Verotti, Matteo; Dochshanov, Alden; Belfiore, Nicola Pio

doi:10.1007/978-3-319-61276-8_100

Cited by 8 publications

(7 citation statements)

References 24 publications

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“…However, the distance between two fingers, that is 10 µm, is clearly discriminated (see also Ref. [27]); for all these reasons, a overall resolution of about 4 µm for the LTM system is assumed. In Figure 4, the entire LTM setup is shown and some specifications of its main components are reported in Table 2.…”

Section: Ops and Ltm Experimental Setupsmentioning

confidence: 99%

“…Moreover, the mechanical properties of tissue-engineered vascular constructs have been studied by monitoring pressure and diameter variations of vascular constructs submitted to hydrostatic loading [26]. A silicon microgripper has also been proposed [27] to characterize the mechanical stiffness of biological tissues, with the wider prospective of developing a professional inspecting instrument for laboratory measurements or surgical operations.…”

Section: Introductionmentioning

confidence: 99%

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Toward Operations in a Surgical Scenario: Characterization of a Microgripper via Light Microscopy Approach

et al. 2019

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Micro Electro Mechanical Systems (MEMS)-Technology based micro mechanisms usually operate within a protected or encapsulated space and, before that, they are fabricated and analyzed within one Scanning Electron Microscope (SEM) vacuum specimen chamber. However, a surgical scenario is much more aggressive and requires several higher abilities in the microsystem, such as the capability of operating within a liquid or wet environment, accuracy, reliability and sophisticated packaging. Unfortunately, testing and characterizing MEMS experimentally without fundamental support of a SEM is rather challenging. This paper shows that in spite of large difficulties due to well-known physical limits, the optical microscope is still able to play an important role in MEMS characterization at room conditions. This outcome is supported by the statistical analysis of two series of measurements, obtained by a light trinocular microscope and a profilometer, respectively.

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Section: Ops and Ltm Experimental Setupsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Toward Operations in a Surgical Scenario: Characterization of a Microgripper via Light Microscopy Approach

et al. 2019

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“…The fabrication method relies on the application of deep reactive-ion etching on silicon-on-insulator wafers [38]. In their previous investigations [34,39], the authors estimated the mechanical characteristic of the sample considering input signals of suitable waveform. According to the proposed method, the sample is gripped with the left arm until the right arm reaches a predefined rotation, that serves as a reference signal for the implemented feedback control scheme.…”

Section: The Experimental Devicementioning

confidence: 99%

“…According to the proposed method, the sample is gripped with the left arm until the right arm reaches a predefined rotation, that serves as a reference signal for the implemented feedback control scheme. Therefore, the stiffness coefficient can be computed at steady state conditions [39]. In order to estimate also the sample viscosity, a small-amplitude sinusoidal signal was added to the left arm, and the viscous coefficient was obtained as a function of the input torque frequency [34].…”

Section: The Experimental Devicementioning

confidence: 99%

Recursive Least Squares Filtering Algorithms for On-Line Viscoelastic Characterization of Biosamples

et al. 2018

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The mechanical characterization of biological samples is a fundamental issue in biology and related fields, such as tissue and cell mechanics, regenerative medicine and diagnosis of diseases. In this paper, a novel approach for the identification of the stiffness and damping coefficients of biosamples is introduced. According to the proposed method, a MEMS-based microgripper in operational condition is used as a measurement tool. The mechanical model describing the dynamics of the gripper-sample system considers the pseudo-rigid body model for the microgripper, and the Kelvin–Voigt constitutive law of viscoelasticity for the sample. Then, two algorithms based on recursive least square (RLS) methods are implemented for the estimation of the mechanical coefficients, that are the forgetting factor based RLS and the normalised gradient based RLS algorithms. Numerical simulations are performed to verify the effectiveness of the proposed approach. Results confirm the feasibility of the method that enables the ability to perform simultaneously two tasks: sample manipulation and parameters identification.

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“…The experimental activities described in this paper much owe to the past years, during which a new microgripper has been developed by the team, from the early stage of concept design to the operational testing, through the following phases: design [46,47,48], optimization [49,50,51], simulation and control [52], fabrication [53,54], mechanical characterization [55], actuation design [56] and testing [57], and, finally, operational [58] and functional [59,60,61] testing. Although the results of the present investigation (see Section 3) refer to the manipulation of micro objects whose overall size spans from 20 μm to 165 μm, there are some efforts to develop fabrication methods [62] toward the extreme miniaturization of microgrippers that could grasp even objects downsized by about one more order of magnitude.…”

Section: Introductionmentioning

confidence: 99%

Grasping and Releasing Agarose micro Beads in Water Drops

et al. 2019

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The micromanipulation of micro objects is nowadays the focus of several investigations, specially in biomedical applications. Therefore, some manipulation tasks are required to be in aqueous environment and become more challenging because they depend upon observation and actuation methods that are compatible with MEMS Technology based micromanipulators. This paper describes how three grasping-releasing based tasks have been successfully applied to agarose micro beads whose average size is about 60 μ m: (i) the extraction of a single micro bead from a water drop; (ii) the insertion of a single micro bead into the drop; (iii) the grasping of a single micro bead inside the drop. The success of the performed tasks rely on the use of a microgripper previously designed, fabricated, and tested.

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Stiffness Characterization of Biological Tissues by Means of MEMS-Technology Based Micro Grippers Under Position Control

Cited by 8 publications

References 24 publications

Toward Operations in a Surgical Scenario: Characterization of a Microgripper via Light Microscopy Approach

Toward Operations in a Surgical Scenario: Characterization of a Microgripper via Light Microscopy Approach

Recursive Least Squares Filtering Algorithms for On-Line Viscoelastic Characterization of Biosamples

Grasping and Releasing Agarose micro Beads in Water Drops

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