ICRA 2011 Paper Abstract


Paper WeAV215.10

Hagiwara, Masaya (Nagoya University), Kawahara, Tomohiro (Nagoya University), Feng, Lin (Tohoku University), Yamanishi, Yoko (Nagoya University), Arai, Fumihito (Nagoya University)

High Performance of Magnetically Driven Microtools with Ultrasonic Vibration for Biomedical Innovations

Scheduled for presentation during the Video Sessions "Video Session II: Humanoid and Service Robotics" (WeAV215), Wednesday, May 11, 2011, 11:17−11:25, Room 3A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Micro/Nano Robots, Biologically-Inspired Robots, Medical Robots and Systems


The video presents high power, high precision and high speed drive of on-chip robot and its biomedical applications. The magnetically driven microtool (MMT) actuated by permanent magnets was employed as a microrobot due to its strong output force in the order of dozens of millinewtons and the ultrasonic vibration was applied to the microfluidic chip in order to reduce the friction on the MMT. We have achieved 1.1 micrometer positioning accuracy of the MMT, which is 100 times higher than in the case of previous method. In addition, owing to the fast response speed of the MMT to the drive stage, the MMT can move with high speed of up to 5 Hz ,which is upper limit of the stage, in 3-degree of freedom. We have applied this drive method to the enucleation of oocyte process. The dual-arm MMT were precisely removed the nucleus part in a few seconds.



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