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A well-known outcome of down-scaling into micrometer dimensions is the dominance of surface over bulk phenomena. When designing micro-scale systems, the ability to understand and modify surface properties is of utmost importance. A key concept is the “programmable surface” - an interface whose properties can be controlled with high spatial and temporal resolution. This presentation introduces several...
This paper presents a nanoprobe insertion for nanoinjection applications for biological species based on environmental-scanning electron microscope (E-SEM) nanorobotic manipulation system. Based on the bio-nano manipulation system, we have been proposed a nano-injection method by nanoprobe insertion. The nanoprobe is designed to have a sharp tip to insert the probe into biological specimen. It is...
In the velvet hand illusion (VHI), a person rubs his/her hands together on either side of wires strung through a frame, producing the sensation of rubbing a very smooth and soft surface like velvet. We focus on VHI to determine the specifications of an actuator for a tactile display enhanced by VHI. We investigate the relationship between wire distance and intensity of illusionary sensation using...
A robotic wiring harness assembly system, basing on vision and force/torque sensors, is developed to realize mating of electric connectors. In this system, cameras are firstly used to detect the position and the pose of a grasped connector, and then the corresponding bias is calculated roughly to guarantee the connector can be contacted with the other opposite part. After that, a force/torque sensor...
In this paper, we discuss a development of control and sensing platform for an on-chip single cell evaluation by magnetically driven microtool (MMT). The design and fabrication of the MMT is shown. Through the basic experiments, the advantage of the proposed platform, the performance of the position control (positioning accuracy: 30 μm), and the force sensing (sensing accuracy: 100 μN) of the MMT...
This paper describes a dynamic transition motion from ladder climbing to brachiation for a multi-locomotion robot (MLR). In our previous works, the static transition motion from ladder climbing to barchiation has been developed. However, the motion is based on stable static model. It is difficult to realize the flexible and fast movement. To solve these problems, a new dynamic transition motion is...
This paper reports a novel and versatile hybrid microassembly technique that applies water mist on the surface of microparts to assist alignment of microchips. This technique combines the traditional robotic pick-and-place technique and self-assembly technique. Two different approaches are studied: 1) mist-last where a 200μm × 200μm × 70μm SU-8 chip is placed roughly on another chip of the same size...
Here we report the fabrication of a unique structure “Nano-Fibrous Microcapsules” and its application as a 3-D cell culture scaffold for tissue engineering. Based upon its micro-porous and nano-fibrous duality, we propose a novel three-dimensional scaffold that can act to support and guide cell growth. Herein we have developed a straight forward method to produce 3-dimensionally shaped scaffolds composed...
In this paper, we propose new probe device which can realize soft handling of single cells using thermal gel. In general, probe devices are one of the important devices for single cell manipulation. However, conventional probe devices have some problems: damage to the manipulated cells and difficulty to release the manipulated object by the effect of surface force. As one solution of these problems,...
The current techniques for cell cutting always use a diamond knife with an edge angle larger than 20°. The compression caused by the edge angle may destroy the sample. In this paper, a nano knife with a small edge angle 5° was fabricated from a commercial AFM cantilever by FIB etching. The mechanical character of the nano knife was calibrated by theoretical calculation, numerical simulation and nanorobotic...
The shortage of nurses who assist operating surgeons exchange surgical instruments has been chronically severe. To compensate for this shortage, we have been proposing and developed three versions of the Scrub Nurse Robot (SNR) system that is capable of functioning as a skilled human scrub nurse in endoscopic and laparoscopic surgery. In this paper, we mentioned those three versions of SNR and its...
In recent years, research and development work have been done on surgical robots and navigation systems. Although these systems have potential to realize minimally invasive and precise surgery, it is considerably difficult to control these robots accurately because organ sometimes shows unanticipated behavior during operation. Therefore, the robot control system which can respond to the various change...
This paper discusses an inverse problem where internal stiffness parameters are determined by both applied force and deformation of object. By supposing a soft tissue, we first propose the simplest tissue model that can express the coupling effect where the tissue deforms not only at the point of force application but also its surrounding area. We explain the way for determining the internal stiffness...
In this paper, we try to establish newly technique evaluating the bacterial behavior in micro channel. For this purpose, we fabricated line patterned PDMS chip and use these chip as micro channel. Line pattern was fabricated on F-template by nano imprinting system, and these patterns were transferred on polydimethylsiloxane (PDMS). Fabricated line pattern was evaluated by laser microscopy. And then...
For advanced intrauterine fetal surgery, we have developed novel devices as “new hand” and “new eye”. As new hands, we developed a miniature bending manipulator with exchangeable distal-end effector of laser photocoagulation and forceps for safe approach and optimal procedure of intrauterine myelomeningocele repair and twin-to-twin transfusion syndrome. The manipulator performed high bending accuracy...
Lithography is generally used when fabricating microstructures. If the substrate is conducting, it is possible to form high aspect ratio metallic microstructures by electroplating. However, it is difficult to fabricate high aspect ratio microstructures using just resist as the masking material because the high aspect ratio required is difficult to achieve with resist. On the other hand, of high aspect...
In the information processing done by biological organisms, stochastic resonance (SR) can enhance sensitivity by superimposing proper noise upon undetectable weak signals to detect that signal. In tactile sensing, since noise inevitably becomes mixed by contact with an object and a sensor's movement on it, sensing accuracy can be increased by SR. In the present research, we perform a series of psychophysical...
In this paper, we demonstrate the usefulness of the micro-manipulation system with a robotic straw proposed by the authors for the microorganism isolation task. Isolating microorganism is one of the fundamental bio-manipulation tasks. This task has been conventionally achieved with a straw connected with a rubber tube. However, some skill is required by an operator for this isolation task, because...
The fluorescence-based integrated chemical and enzyme sensor arrays on which two kinds of 10 μm i.d. sensor spots were arranged alternately on one chip, were developed by using microcontact printing. FITC, ruthenium complex and europium tetracycline was stamped onto a DLC sputtered glass slides for pH, oxygen and hydrogen peroxide sensors, respectively. After printing of oxygen sensor spots, pH sensor...
Rapid image acquisition in magnetic resonance imaging (MRI) offers a number of potential benefits, such as avoiding physiological effects or scanning time on patients, overcoming physical constraints inherent within the MRI scanner, or meeting timing requirements when imaging dynamic structures and processes. In this paper, the combination of compressed sensing and parallel magnetic resonance imaging...
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