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Magnetic Soft Microrobot Design for Cell Grasping and Transportation
Fanghao Wang1, Youchao Zhang1, Daoyuan Jin1
1College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China.
Cyborg and Bionic Systems (Washington, D.C.)
|April 29, 2024
Summary
This study introduces a magnetic microrobot for precise cell grasping and transportation using electromagnetic coils. The advanced control strategy achieved high accuracy in cell manipulation, showing great potential for various applications.
Area of Science:
- Biomedical Engineering
- Robotics
- Microtechnology
Background:
- Cell manipulation at the microscale is challenging, requiring precise end-effectors for grasping and transportation.
- Existing microrobot control methods often lack the necessary precision for delicate cell handling.
Purpose of the Study:
- To develop and validate a control strategy for a magnetic microrobot capable of precise cell grasping and transportation.
- To demonstrate the efficacy of a microgripper and an advanced control system for accurate trajectory tracking.
Main Methods:
- Utilized 3 pairs of electromagnetic coils for microrobot control.
- Developed a microgripper with a validated bending deformation model for cell grasping.
- Implemented an extended Kalman filter combined with model predictive control for trajectory tracking.
Main Results:
- Achieved a mean absolute path tracking error of less than 0.155 mm (1.55% of microrobot size).
- Successfully demonstrated grasping and transportation of a zebrafish embryonic cell (800 μm diameter).
Conclusions:
- The proposed control strategy and microrobot design are effective and accurate for cell manipulation.
- The system shows significant potential for both in vitro and in vivo cell manipulation applications.
