A Monolithic Force-Sensitive 3D Microgripper Fabricated on the Tip of an Optical Fiber Using 2-Photon Polymerization
A Monolithic Force-Sensitive 3D Microgripper Fabricated on the Tip of an Optical Fiber Using 2-Photon Polymerization
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DOI：
10.1002/smll.201703964
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发表时间：
2018-04-19
期刊：
影响因子：
13.3
通讯作者：
Yang, Guang-Zhong
中科院分区：
文献类型：
--
作者：
Power, Maura;Thompson, Alex J.;Yang, Guang-Zhong
微型机器人设备具有无数潜在的应用，包括药物递送、生物传感、细胞操纵和显微外科手术。在这项工作中，一个拴系，3D，顺应性抓持器与集成的力传感器，其整体是在一个单一的步骤过程中使用2-光子聚合的光纤的尖端上制造。这种夹具可以证明是有用的生物微观结构，如肺泡，绒毛，甚至个别细胞的审讯。被动致动抓钳的位置通过光纤的微操作来控制，并且微型机器人装置的长度和宽度测量为大约100 μ m。力估计是使用光学干涉测量实现的：高维光谱读数用于训练人工神经网络，以预测施加在夹具上/由夹具施加的轴向力。描述了抓钳的设计、表征和测试，并证明了其实时力传感能力，其精度低于最大校准力的2.7%。
Microscale robotic devices have myriad potential applications including drug delivery, biosensing, cell manipulation, and microsurgery. In this work, a tethered, 3D, compliant grasper with an integrated force sensor is presented, the entirety of which is fabricated on the tip of an optical fiber in a single-step process using 2-photon polymerization. This gripper can prove useful for the interrogation of biological microstructures such as alveoli, villi, or even individual cells. The position of the passively actuated grasper is controlled via micromanipulation of the optical fiber, and the microrobotic device measures approximately 100 mu m in length and breadth. The force estimation is achieved using optical interferometry: high-dimensional spectral readings are used to train artificial neural networks to predict the axial force exerted on/by the gripper. The design, characterization, and testing of the grasper are described and its real-time force-sensing capability with an accuracy below 2.7% of the maximum calibrated force is demonstrated.