ICRA 2011 Paper Abstract


Paper WeA106.3

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

On-Chip Enucleation of Oocyte by Magnetically Driven Microtools with Ultrasonic Vibration

Scheduled for presentation during the Regular Sessions "Micro-Nano Robots I" (WeA106), Wednesday, May 11, 2011, 08:50−09:05, Room 5A

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 14, 2020

Keywords Micro/Nano Robots, Micro and Nanoscale Automation, Biologically-Inspired Robots


This paper describes an innovative driving method for magnetically driven microtools (MMT). 1.1 micrometer positioning accuracy of the MMT was obtained by applying a piezoelectric ceramic, which induced nanoscale vibration to the microfluidic chip, and reducing the friction on the MMT. The output force of the MMT increased twice as much as the one by previous drive owing to the friction reduction. The response speed also improved significantly and high speed actuation of MMT in 3-DOF was achieved. Using this drive method, the enucleation process was conducted by dual-arm MMT. Permanent magnets are used to supply the driving power to the MMT allowing sufficient positioning accuracy to cut oocytes precisely. The nucleus was cut within 10 s, and the removed area was less than 25% of the original oocyte.



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