A Helical Microrobot with an Optimized Propeller-Shape for Propulsion in Viscoelastic Biological Media

被引:27
作者
Li, Dandan [1 ,2 ]
Jeong, Moonkwang [2 ]
Oren, Eran [3 ]
Yu, Tingting [1 ,2 ]
Qiu, Tian [1 ,2 ]
机构
[1] Univ Stuttgart, Inst Phys Chem, Cyber Valley Res Grp, Pfaffenwaldring 55, D-70569 Stuttgart, Germany
[2] Max Planck Inst Intelligent Syst, Micro Nano & Mol Syst Grp, Heisenbergstr 3, D-70569 Stuttgart, Germany
[3] Bionaut Labs Ltd, Los Angeles, CA 90034 USA
关键词
microrobotics; micro-propulsion; viscoelasticity; biological tissue; microfabrication; ACTUATION; MOTION;
D O I
10.3390/robotics8040087
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
One major challenge for microrobots is to penetrate and effectively move through viscoelastic biological tissues. Most existing microrobots can only propel in viscous liquids. Recent advances demonstrate that sub-micron robots can actively penetrate nanoporous biological tissue, such as the vitreous of the eye. However, it is still difficult to propel a micron-sized device through dense biological tissue. Here, we report that a special twisted helical shape together with a high aspect ratio in cross-section permit a microrobot with a diameter of hundreds-of-micrometers to move through mouse liver tissue. The helical microrobot is driven by a rotating magnetic field and localized by ultrasound imaging inside the tissue. The twisted ribbon is made of molybdenum and a sharp tip is chemically etched to generate a higher pressure at the edge of the propeller to break the biopolymeric network of the dense tissue.
引用
收藏
页数:10
相关论文
共 25 条
[1]  
[Anonymous], 1993, BIOMECHANICS
[2]  
[Anonymous], 2007, RHEOL REV
[3]   Development of a mechanical testing assay for fibrotic murine liver [J].
Barnes, Stephanie L. ;
Lyshchik, Andrej ;
Washington, Mary K. ;
Gore, John C. ;
Miga, Michael I. .
MEDICAL PHYSICS, 2007, 34 (11) :4439-4450
[4]  
ESTEBANFERNANDE.B, 2017, NAT COMMUN, V8, P272, DOI DOI 10.1038/s41467-017-00309-w
[5]   Engineering tumors with 3D scaffolds [J].
Fischbach, Claudia ;
Chen, Ruth ;
Matsumoto, Takuya ;
Schmelzle, Tobias ;
Brugge, Joan S. ;
Polverini, Peter J. ;
Mooney, David J. .
NATURE METHODS, 2007, 4 (10) :855-860
[6]   ON THE ELECTROCHEMICAL ETCHING OF TIPS FOR SCANNING TUNNELING MICROSCOPY [J].
IBE, JP ;
BEY, PP ;
BRANDOW, SL ;
BRIZZOLARA, RA ;
BURNHAM, NA ;
DILELLA, DP ;
LEE, KP ;
MARRIAN, CRK ;
COLTON, RJ .
JOURNAL OF VACUUM SCIENCE & TECHNOLOGY A-VACUUM SURFACES AND FILMS, 1990, 8 (04) :3570-3575
[7]   Swimming micro-machine driven by magnetic torque [J].
Ishiyama, K ;
Sendoh, M ;
Yamazaki, A ;
Arai, KI .
SENSORS AND ACTUATORS A-PHYSICAL, 2001, 91 (1-2) :141-144
[8]  
Jeong M., 2019, P 2019 IEEE INT C MA, P1
[9]   Enhanced locomotive and drilling microrobot using precessional and gradient magnetic field [J].
Jeong, Semi ;
Choi, Hyunchul ;
Cha, Kyoungrae ;
Li, Jie ;
Park, Jong-oh ;
Park, Sukho .
SENSORS AND ACTUATORS A-PHYSICAL, 2011, 171 (02) :429-435
[10]   3D MAGNETIC MICROACTUATOR MADE OF NEWLY DEVELOPED MAGNETICALLY MODIFIED PHOTOCURABLE POLYMER AND APPLICATION TO SWIMMING MICROMACHINE AND MICROSCREWPUMP [J].
Kobayashi, Kengo ;
Ikuta, Koji .
IEEE 22ND INTERNATIONAL CONFERENCE ON MICRO ELECTRO MECHANICAL SYSTEMS (MEMS 2009), 2009, :11-14