On-chip magnetically driven micro-robot for enucleation of oocyte

2009 International Symposium on Micro-NanoMechatronics and Human Science Pub Date : 2009-12-11 DOI:10.1109/MHS.2009.5351824

N. Inomata, T. Mizunuma, Y. Yamanishi, S. Kudo, F. Arai

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引用次数: 7

Abstract

We developed a magnetically driven microtool(MMT) used in a microfluidic chip for enucleation of oocyte. To achieve technological innovation, weight of the tool is about 1/300,000 compared with that of the conventional mechanical micromanipulator and was installed in a chip. We succeeded in precise positioning of the tool (5 μm) with low disturbances. The tool is actuated noncontact by the magnetic force, therefore, the microfluidic chip part is fully disposable with low cost. Of special notes are following. (1) Novel vibrating type of MMT is proposed to reduce the dead band of the magnetic actuation. (2) Omni-directional actuation of the tool was achieved by controlling magnetic field focused on a chip. (3) Backlash of the tool was reduced by supporting it by the flexible hinge with isotropic spring constant. (4) A polymer-metal hybrid structure which has properties of both elasticity and rigidity was employed for the tool. (5) Based on the novel and original design, we integrated a Robot-on-a-Chip (Robochip) and demonstrated on-chip enucleation of oocyte.

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用于卵母细胞去核的片上磁驱动微型机器人

我们开发了一种用于卵母细胞去核微流控芯片的磁驱动微工具(MMT)。为实现技术创新，该工具重量约为传统机械微机械手的30万分之一，并安装在芯片中。我们成功地在低干扰下精确定位了刀具(5 μm)。该工具由磁力非接触驱动，因此，微流控芯片部件完全是一次性的，成本低。以下是特别说明。(1)为减小磁致动死区，提出了一种新型的振动型MMT。(2)通过控制聚焦在芯片上的磁场，实现了刀具的全方位驱动。(3)采用具有各向同性弹簧常数的柔性铰链支撑刀具，减小了刀具的间隙。(4)刀具采用兼具弹性和刚性的聚合物-金属杂化结构。(5)基于新颖的原始设计，我们集成了一个芯片上的机器人(Robochip)，并演示了卵母细胞的芯片上去核。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2009 International Symposium on Micro-NanoMechatronics and Human Science

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