Development of the orthogonal microrobot for accurate microscopic operations
Development of the orthogonal microrobot for accurate microscopic operations
复制标题
开发用于精确显微操作的正交微型机器人
DOI：
10.1007/s12213-008-0010-1
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
H. Aoyama
中科院分区：
文献类型：
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作者：
O. Fuchiwaki;D. Misaki;C. Kanamori;H. Aoyama
在本文中，我们描述了一个正交的微型机器人精确的显微操作的发展。为了实现微操作，提出了一种由压电驱动器和两个U形电磁铁组成的简单运动机构。这里，两个U形电磁铁由一对V形槽引导，通过压电致动器连接，以便它可以在一个轴上精确移动。这个简单的单轴微型机器人像尺蠖一样移动，分辨率小于100 nm。我们在电磁铁上安装永久磁铁，这样即使我们不给电磁铁通电，机器人也能固定在钢铁表面上。为了提供XY正交定位，我们将一个微机器人正交连接到另一个微机器人。为了实现细胞加工，我们将三个正交的微型机器人连接在倒置显微镜上。在这里，我们将一个微型泵连接到左侧的微型机器人上，以容纳卵细胞等生物样品。我们将另一个微型泵连接到正确的微型机器人上，以注入生物样品。我们在两个微机器人之间安排一个微机器人来定位样品。整个细胞处理装置非常小，因此我们可以很容易地将整个装置连接到微型处理仪器上。我们开发了具有视觉反馈控制的专用控制软件，使每个动作都可以通过PC或触摸屏上的简单鼠标点击来控制。在实验中，我们展示了持有一个卵细胞的直径为100妈妈，并注射的吸管的直径为5妈妈的卵细胞下，这些正交的微型机器人的合作。我们已经证实，这种独特的微型机器人设备具有很大的潜力，实际使用的各种微操作，如人工植入和定位的微小部件的便携式设备。讨论了微型机器人的设计过程、基本性能以及与多功能微型机器人的协作，为精密领域的微型机器人研究开辟了新的领域。
In this paper, we describe development of an orthogonal micro robot for accurate microscopic operations. In order to provide microscopic operation, the simple locomotion mechanism which is composed of one piezoelectric actuator and two U-shaped electromagnets is proposed. Here two U-shaped electromagnets guided by a pair of v-grooves are connected by a piezoelectric actuator so that it can move in one axis precisely. This simple one-axis micro robot moves like inchworm with less than 100 nm resolution. We attach permanent magnets on the electromagnets so that this robot can fix itself on a steel surface even if we do not apply the current to electromagnets. In order to provide XY orthogonal positioning, we connect one micro robot to another micro robot orthogonally. In order to realize cell-processing, we attach the three orthogonal micro robots on an inverted microscope. Here we attach a micro pump to a left micro robot to hold biological samples such as an egg cell. We attach another micro pump to a right micro robot to inject to biological samples. We arrange another micro robot between other two micro robots to position samples. The whole cell-processing device is very small, so we can easily attach the whole device to micro processing instruments. We have developed the special control software with visual feedback control so that each motion could be controlled by a simple mouse click on a PC or joysticks. In experiments, we demonstrated to hold an egg cell whose diameter is 100 mum and inject the pipette whose diameter is 5 mum to the egg cell under the collaboration of these orthogonal micro robots. We have confirmed that this unique micro robotic device has much of potential for actual use to various micro manipulation, such as artificial inseminatation and positioning of miniscule parts of portable devices. The design procedure, basic performance and collaboration with versatile micro robots are also discussed to open the new field for micro-robotics in precision region.