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... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales最新文献

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Design and Control of a Novel Corkscrew Clawbot for Cell Manipulation. 一种用于细胞操作的新型螺旋爪机器人的设计与控制。
... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales Pub Date : 2024-07-01 Epub Date: 2024-08-05 DOI: 10.1109/marss61851.2024.10612717
Subrahmanyam Cherukumilli, Fatma Ceren Kirmizitas, David Rivas, Max Sokolich, Sambeeta Das
{"title":"Design and Control of a Novel Corkscrew Clawbot for Cell Manipulation.","authors":"Subrahmanyam Cherukumilli, Fatma Ceren Kirmizitas, David Rivas, Max Sokolich, Sambeeta Das","doi":"10.1109/marss61851.2024.10612717","DOIUrl":"10.1109/marss61851.2024.10612717","url":null,"abstract":"<p><p>Magnetic microrobots are untethered microscale objects that, due to their small size, have the potential for biomedical applications such as targeted drug delivery and cellular patterning. In this paper, we present a new magnetic microrobot design resembling a corkscrew microrobot with claws. This novel magnetic corkscrew clawbot is capable of performing single cell manipulation. Closed loop control was also implemented to demonstrate the precise actuation capabilities of the clawbot in a fluidic environment on a glass slide. Cell viability was assessed via trypan blue viability assay on Chinese Hamster Ovary (CHO) cells. In addition, CHO cells were chosen as the representative cell line for the cell manipulation and patterning studies.</p>","PeriodicalId":72027,"journal":{"name":"... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales","volume":"2024 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13259587/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148254713","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Peanut Shaped Microrobots for Anticancer Therapy. 用于抗癌治疗的花生形微型机器人。
... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales Pub Date : 2024-07-01 Epub Date: 2024-08-05 DOI: 10.1109/marss61851.2024.10612718
Neda K Dezfuli, Andrés F Flórez, Saray Gallo, David P Rivas, Sambeeta Das
{"title":"Peanut Shaped Microrobots for Anticancer Therapy.","authors":"Neda K Dezfuli, Andrés F Flórez, Saray Gallo, David P Rivas, Sambeeta Das","doi":"10.1109/marss61851.2024.10612718","DOIUrl":"10.1109/marss61851.2024.10612718","url":null,"abstract":"<p><p>iron nanoparticles have been used in cancer research for their anticancer activity. The mechanism of action for this activity tends to be ferroptosis. Inspired by this we made hematite based peanut shaped microrobots and demonstrated their anticancer activity. We examined how peanut-shaped microrobots impacted HT1080 cancer cell lines, aiming to understand the mechanism behind cell death. Surprisingly, we discovered that unlike iron particles, these specific microrobots did not trigger ferroptosis. Additionally, when we tried to understand the mechanism behind the cell death by using ferroptosis inhibitors, they did not rescue the cells from death as expected. These results suggest that the cytotoxic effects of peanut-shaped microrobots on HT1080 cells may involve alternative pathways rather than ferroptosis.</p>","PeriodicalId":72027,"journal":{"name":"... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales","volume":"2024 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13290113/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148320881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Acoustically Powered Magnetic Microrobots for Cellular Manipulation. 用于细胞操作的声动力磁性微型机器人。
... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales Pub Date : 2024-01-01 Epub Date: 2024-08-05 DOI: 10.1109/marss61851.2024.10612752
Fatma Ceren Kirmizitas, Max Sokolich, Jeffrey McNeill, Austin Maaddi, Sambeeta Das
{"title":"Acoustically Powered Magnetic Microrobots for Cellular Manipulation.","authors":"Fatma Ceren Kirmizitas, Max Sokolich, Jeffrey McNeill, Austin Maaddi, Sambeeta Das","doi":"10.1109/marss61851.2024.10612752","DOIUrl":"10.1109/marss61851.2024.10612752","url":null,"abstract":"<p><p>A grand challenge in robotics, and the scientific community as a whole, is developing tools to determine the fate of singular micro- and nanoscale objects with a high level of precision and speed, particularly cells for biomedical applications. Despite the recent surge of activity in this area, there still does not exist a system that contains most of the practical components for carrying out many complex tasks, such as fast and precise motion, tunable speed, appropriate length scale, bio-orthogonality, and high throughput in the form controlling many robots at one time. Here, we demonstrate these characteristics in the form of an acoustically powered microrobot steered by an applied magnetic field. The acoustic propulsion mechanism provides a variety of highly desirable features, such as high speed, precision, short-range attractive forces utilized as an end effector, and orthogonality in any liquid medium. The potential power of this approach is highlighted by cargo pickup and delivery to individual cells and also cellular manipulation. In this paper, we show that not only are acoustic microrobots bio-compatible, but can also be used for cellular manipulation and targeted delivery.</p>","PeriodicalId":72027,"journal":{"name":"... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales","volume":"2024 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13464064/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148727234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A First-Order Approach to Model Simultaneous Control of Multiple Microrobots. 多微型机器人同时控制的一阶建模方法。
... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales Pub Date : 2022-07-01 DOI: 10.1109/marss55884.2022.9870476
Logan E Beaver, Bingzhi Wu, Sambeeta Das, Andreas A Malikopoulos
{"title":"A First-Order Approach to Model Simultaneous Control of Multiple Microrobots.","authors":"Logan E Beaver,&nbsp;Bingzhi Wu,&nbsp;Sambeeta Das,&nbsp;Andreas A Malikopoulos","doi":"10.1109/marss55884.2022.9870476","DOIUrl":"https://doi.org/10.1109/marss55884.2022.9870476","url":null,"abstract":"<p><p>The control of swarm systems is relatively well understood for simple robotic platforms at the macro scale. However, there are still several unanswered questions about how similar results can be achieved for microrobots. In this paper, we propose a modeling framework based on a dynamic model of magnetized self-propelling Janus microrobots under a global magnetic field. We verify our model experimentally and provide methods that can aim at accurately describing the behavior of microrobots while modeling their simultaneous control. The model can be generalized to other microrobotic platforms in low Reynolds number environments.</p>","PeriodicalId":72027,"journal":{"name":"... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales","volume":"2022 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10474613/pdf/nihms-1917688.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10151363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Cellular Manipulation Using Rolling Microrobots. 使用滚动微型机器人进行细胞操作。
... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales Pub Date : 2022-07-01 DOI: 10.1109/marss55884.2022.9870486
David Rivas, Sudipta Mallick, Max Sokolich, Sambeeta Das
{"title":"Cellular Manipulation Using Rolling Microrobots.","authors":"David Rivas,&nbsp;Sudipta Mallick,&nbsp;Max Sokolich,&nbsp;Sambeeta Das","doi":"10.1109/marss55884.2022.9870486","DOIUrl":"https://doi.org/10.1109/marss55884.2022.9870486","url":null,"abstract":"<p><p>Many biomedical applications, such as targeted drug delivery or cell manipulation, are well suited for the deployment of microrobots, untethered devices that are capable of carrying out tasks at the microscale. One biocompatible means of driving microrobots relies on magnetic actuation. In particular, microrobots driven using rotating fields rather than magnetic field gradients are especially practical for real-word applications. Many biological applications involve enclosed environments, such as blood vessels, in which surfaces are abundant, therefore, surface rolling is a particularly pertinent method of transportation. In this paper we demonstrate manipulation and transportation of cells using two types of magnetically driven rolling microrobots. We find that the microrobots are able to manipulate the cells by physically pushing or by first adhering to the cells and then carrying them. Microrobots spinning at high rates also can transport cells via the induced fluid flows.</p>","PeriodicalId":72027,"journal":{"name":"... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales","volume":"2022 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10474612/pdf/nihms-1917689.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10151368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Role of Surface Tension in Microrobot Penetration in Membranes. 表面张力在微机器人渗透膜中的作用。
... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales Pub Date : 2022-07-01 DOI: 10.1109/marss55884.2022.9870474
Md Mahmudur Rahman, Tanmay Garudadri, Sambeeta Das
{"title":"Role of Surface Tension in Microrobot Penetration in Membranes.","authors":"Md Mahmudur Rahman,&nbsp;Tanmay Garudadri,&nbsp;Sambeeta Das","doi":"10.1109/marss55884.2022.9870474","DOIUrl":"https://doi.org/10.1109/marss55884.2022.9870474","url":null,"abstract":"<p><p>cell-membrane fusion using microrobots can be a useful technique for delivering bioactive compounds to cellular systems. The role of membrane curvature and lipid ordering in the cell membrane penetration process is well known. However, once the fusion into the cell membrane is already initiated, the fluid dynamics of microrobot penetration based on tension difference of the microrobot solution and membrane curvature at the fusion pore has not been explored yet. Here, we demonstrate how surface tension difference among merging interfaces plays role in microrobot droplet penetration into a liquid bath, mimicking cell membrane fusion. The maximum penetration of a microrobot droplet into a liquid bath depends on the positive difference of surface tension between the droplet and liquid bath, longitudinal curvature of the bridge region, and the size of the droplet.</p>","PeriodicalId":72027,"journal":{"name":"... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales","volume":"2022 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10387354/pdf/nihms-1917687.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9916132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
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