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A micro robot contains several essences in various technical fields such as MEMS, Micro Assembling, Actuators, Sensors and Micro Computer. Therefore, it has become one of the most important key technologies in the current society. International Micro Robot Maze Contest was established in order to promote the related technique in 1993. Since then, various robots have exhibited their performance and...
The semiconductor- and the new growing up micro and nano manufacturing industry needs more and more precise drive systems with a high accuracy positioning behavior for their production. For example to inspect wavers of the new 32/28 nm Clarkdale and Arandale Chip series from Intel, waver inspection systems are required which stabilizes the moved waver within a 3-dimensional cube of 10nm. The new 22/20...
The following topics are dealt with: micro-nano fluidics and biomedical applications; medical robotics; biomanipulation and integrated systems; biomanipulation for biomedical innovation; robot and control system; biomanipulation for biomedical engineering; robot and human systems; micro-nano devices and analysis; and human robot interaction for ambient intelligence.
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...
Summary form only given. Several microsurgery systems that were developed by the author's group are introduced. They are a bone cutting system for TKA (Total Knee Arthroplasty)/UKA (Unicondylar Knee Arthroplasty), an eye surgery system, and a neurosurgery system. In the bone cutting system, the cutting force and temperature and the cutting tool position and orientation are controlled with high accuracy,...
This study reports the noninvasive, wide-field and rapid measurement of refractive index (RI) difference for diagnosis of cell's pathological state by utilizing light scattering with evanescent wave illumination. The RI of an abnormal cell is different from that of a normal one because of the change in the ratio of each intracellular component, thus RI measurement can be an effective approach for...
The goal of this study is to realize an emulsification device for the generation of sub-micron size monodisperse emulsions. We have fabricated and tested the device which consists of a microchannel plate and an ultrasonic vibrating plate. The device can realize continuous flow system and those plates are easily stacked. We have succeeded in generating emulsions which has a diameter of 80 nm.
Throughput in the cell response analysis is expected to progress in medicine and biology. In this paper, we construct a method for the measurement of cell activity that is measured by the pH fluctuation of the solution around the cell. To improve throughput of the measurements, first we constructed an automatic pH measurement system using ion-sensitive field-effect transistor (ISFET), and the system...
Separation/purification of nuclei from cells is a critical process required for medical and biochemical research applications. Here we report a microfluidic device to isolate cell nucleus by utilizing the concept of hydrodynamic filtration to chemically treat cells. When a cell suspension is continuously introduced into a microchannel (main channel) having multiple side channels, cells flow through...
Mammalian embryos experience not only hormonal but also mechanical stimuli, such as shear stress, compression, and friction force, in the fallopian tube before nidation. We aim to develop a novel and simple system to apply mechanical stimuli (MS) similar to those generated inside the oviduct to cultured mammalian embryos. Possible MS include shear stress (SS) caused by fluid dynamics and compression...
In this study, a microdevice driven by capillary action has been developed for the high-throughput on-chip separation of plasma from a drop of blood. The microdevice is composed of an array of 2 μm deep and 2 μm wide PMMA (polymethylmethacrylate) channels. This PMMA microfluidic device is fabricated by hot embossing and thermal bonding from a Si master mold. The PMMA device was modified using oxygen...
The application of process computed tomography to microchannels is considered in this paper. Using the process computed tomography system in microchannel, a particle distribution image can be obtained in a multiphase flow. Based on the reconstructed image, it is easy to estimate the particle diffusion behaviors in a fluid flow. A microchannel system is designed for process computed tomography. The...
This paper presents innovative driving method for the magnetically driven microtools (MMT) which is micrometer positioning accuracy by horizontally arranged permanent magnets. A piezoelectric ceramic is used to induce nanoscale vibration to the microfluidic chip to reduce the friction on the MMT. The enucleation process has been conducted by the dual arm MMTs. MMTs receive enough driving power supplied...
We propose a non-invasive ultrasound theragnostic system that tracks movement in an affected area (kidney stones, in the present study) by irradiating the area with high-intensity focused ultrasound (HIFU). In the present paper, the concept behind a novel medical support system that integrates therapy and diagnostics (theragnostics) is illustrated. The required functions for the proposed system are...
In laparoscopic surgery several trocars are stuck into the abdominal wall and the abdominal cavity is inflated by gas. Surgeons perform surgery in the abdominal cavity by using some instruments inserted through the small halls of trocars. Most of instruments for laparoscopic surgery are slender because they need to pass through a trocar. So large and complicated shaped traditional instruments for...
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...
Augmented Reality (AR) technologies have been applied in clinical applications, such as surgical navigation systems. Especially, visual augmentation has been pursued in the last decade. The visual-based AR surgical navigation visualizes a target object hidden behind other tissue to guide a surgeon to the target. However, the point-based registration still remains problems of estimating the target...
We developed a MRI compatible manipulator system operated under the use of preoperative / intraoperative MR images to realize RFA needle navigation for minimally invasive liver surgery inside an Open MRI gantry. This system has a capability to position a needle to a target inside the MRI gantry by integrating the real space, preoperative/intraoperative MR images and the manipulator coordinate systems...
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...
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...
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