Untethered micro-robot with gripping mechanism for on-chip cell surgery utilizing outer magnetic force

A. Ichikawa; S. Sakuma; F. Arai; S. Akagi

doi:10.1109/ICRA.2014.6907409

Untethered micro-robot with gripping mechanism for on-chip cell surgery utilizing outer magnetic force

A. Ichikawa, S. Sakuma, F. Arai, S. Akagi

Research output: Contribution to journal › Conference article › peer-review

8 Citations (Scopus)

Abstract

We have developed a highly functional untethered micro-robot that can manipulate cells with high gripping force in a micro-fluidic chip. The robot has gripping mechanism for grasping and transportation of cells with sufficient power. A permanent magnet is attached at the center of the gripping mechanism, and an electrical magnet controls the position of the magnet from the bottom of the micro-fluidic chip. The distance accuracy of the gripper is 3.0 μm, and it can activate about 50 Hz. The robot has four permanent magnets for positioning, and other four permanent magnets control the robot from the bottom of the micro-fluidic chip. The robot is made very thin and small to allow maneuverability in a micro-fluidic chip. We succeeded in high-power handling and cutting of a cell using this micro-robot.

Original language	English
Article number	6907409
Pages (from-to)	3795-3800
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ICRA.2014.6907409
Publication status	Published - Sept 22 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2014.6907409

Cite this

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title = "Untethered micro-robot with gripping mechanism for on-chip cell surgery utilizing outer magnetic force",

abstract = "We have developed a highly functional untethered micro-robot that can manipulate cells with high gripping force in a micro-fluidic chip. The robot has gripping mechanism for grasping and transportation of cells with sufficient power. A permanent magnet is attached at the center of the gripping mechanism, and an electrical magnet controls the position of the magnet from the bottom of the micro-fluidic chip. The distance accuracy of the gripper is 3.0 μm, and it can activate about 50 Hz. The robot has four permanent magnets for positioning, and other four permanent magnets control the robot from the bottom of the micro-fluidic chip. The robot is made very thin and small to allow maneuverability in a micro-fluidic chip. We succeeded in high-power handling and cutting of a cell using this micro-robot.",

author = "A. Ichikawa and S. Sakuma and F. Arai and S. Akagi",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE. Copyright: Copyright 2015 Elsevier B.V., All rights reserved.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

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doi = "10.1109/ICRA.2014.6907409",

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AU - Ichikawa, A.

AU - Sakuma, S.

AU - Arai, F.

AU - Akagi, S.

PY - 2014/9/22

Y1 - 2014/9/22

N2 - We have developed a highly functional untethered micro-robot that can manipulate cells with high gripping force in a micro-fluidic chip. The robot has gripping mechanism for grasping and transportation of cells with sufficient power. A permanent magnet is attached at the center of the gripping mechanism, and an electrical magnet controls the position of the magnet from the bottom of the micro-fluidic chip. The distance accuracy of the gripper is 3.0 μm, and it can activate about 50 Hz. The robot has four permanent magnets for positioning, and other four permanent magnets control the robot from the bottom of the micro-fluidic chip. The robot is made very thin and small to allow maneuverability in a micro-fluidic chip. We succeeded in high-power handling and cutting of a cell using this micro-robot.

AB - We have developed a highly functional untethered micro-robot that can manipulate cells with high gripping force in a micro-fluidic chip. The robot has gripping mechanism for grasping and transportation of cells with sufficient power. A permanent magnet is attached at the center of the gripping mechanism, and an electrical magnet controls the position of the magnet from the bottom of the micro-fluidic chip. The distance accuracy of the gripper is 3.0 μm, and it can activate about 50 Hz. The robot has four permanent magnets for positioning, and other four permanent magnets control the robot from the bottom of the micro-fluidic chip. The robot is made very thin and small to allow maneuverability in a micro-fluidic chip. We succeeded in high-power handling and cutting of a cell using this micro-robot.

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Y2 - 31 May 2014 through 7 June 2014

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Untethered micro-robot with gripping mechanism for on-chip cell surgery utilizing outer magnetic force

Abstract

All Science Journal Classification (ASJC) codes

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