CuS nanodots-loaded biohybrid magnetic helical microrobots with enhanced photothermal performance

Magnetic helical microrobots swimming at low Reynolds numbers have attracted much interest because of their great potentials for biomedical applications. However, to endow them with sophisticated function integration toward targeted disease treatment still remains a major challenge. Here, we proposed a novel strategy of using Spirulina scaffolds to fabricate biohybrid magnetic helical microrobot (BMHM) with enhanced photothermal performance to fight against cancer cells and pathogenic bacteria. For the first time, CuS nanodots were densely and uniformly loaded intracellularly inside Spirulina cells after permeabilization, and Fe₃O₄ nanoparticles were subsequently deposited on the cell walls for magnetization. The BMHMs could be actuated forward at a high velocity and flexibly steered under rotating magnetic fields. Rapid and great photothermal temperature raise with robust cycling stability was achieved under 808 nm near-infrared laser irradiation. The BMHMs showed good biocompatibility with minor toxicity to HeLa cancer cells and Escherichia coli bacteria. Moreover, significant photothermal performance was further verified via a series of experiments for anticancer therapy and bacteria killing. Because of the remarkable features and facile cost-effective fabrication, the BMHMs demonstrated great potentials as an integrated microrobot platform for future anticancer and antibacteria applications.     

基于4mm电磁型微马达的管道检测微机器人系统研究

介绍了一种基于 4mm微型马达的微小机器人系统的设计及制作。新颖的电磁型微马达的设计使得微机器人具有较强的驱动能力和一定的负载能力 ;全方位的结构设计使得微机器人具有高机动性 ;同时 ,利用视觉实现机器人与外部环境相互感知 ,并在其基础上对整个机器人系统的控制结构设计进行了探索     

毫米级全方位微装配机器人的识别、定位及运动控制

介绍了一种毫米级全方位微机器人,设计用于微型工厂中的微装配操作.采用外部计算机视觉系统进行监控,先利用CCD摄像头捕捉微型机器人顶部及夹钳上的特征标志,再通过设计的视觉处理方法,实现了对微机器人的高精度识别和定位.在利用计算机视觉进行反馈控制的基础上,采用了对装配平台进行分区、快速前进与高精度步进相结合的运动控制策略,实现高精度的微装配任务.实验验证了以上方法和策略的有效性.     

压电陶瓷驱动三自由度精密移动定位微小机器人

使用压电陶瓷堆材料作为微驱动元件，设计了一种三自由度基于尺蠖蠕动原理工作的精密移动定位微小型机器人。采用显微镜作为测量元件，通过测量机器人移动时像素点位置的方法，完成了对该机器人沿X、Y方向的直线移动定位以及绕Z轴的θ角转动定位的试验测试，测试结果证明了设计的合理性与实用性。     

3D‐Printed Microrobotic Transporters with Recapitulated Stem Cell Niche for Programmable and Active Cell Delivery

Poor retention rate, low targeting accuracy, and spontaneous transformation of stem cells present major clinical barriers to the success of therapies based on stem cell transplantation. To improve the clinical outcome, efforts should focus on the active delivery of stem cells to the target tissue site within a controlled environment, increasing survival, and fate for effective tissue regeneration. Here, a remotely steerable microrobotic cell transporter is presented with a biophysically and biochemically recapitulated stem cell niche for directing stem cells towards a pre‐destined cell lineage. The magnetically actuated double‐helical cell microtransporters of 76 µm length and 20 µm inner cavity diameter are 3D printed where biological and mechanical information regarding the stem cell niche are encoded at the single‐cell level. Cell‐loaded microtransporters are mobilized inside confined microchannels along computer‐controlled trajectories under rotating magnetic fields. The mesenchymal stem cells are shown retaining their differentiation capacities to commit to the osteogenic lineage when stimulated inside the microswimmers in vitro. Such a microrobotic approach has the potential to enable the development of active microcarriers with embedded functionalities for controlled and precisely localized therapeutic cell delivery.     

Hydrogen-Bonded Liquid Crystal Elastomers Combining Shape Memory Programming and Reversible Actuation

Materials that undergo shape morphing in response to external stimuli have numerous applications, e.g., in soft robotics and biomedical devices. Shape memory polymers utilize kinetically trapped states to, typically irreversibly, transfer between a programmed morphed shape and an equilibrium shape. Liquid crystal elastomers (LCEs), in turn, can undergo reversible actuation in response to several stimuli. This study combines the irreversible and reversible shape morphing processes to obtain LCEs that undergo shape-programming via the shape memory effect and subsequent reversible actuation of the programmed shape. This is enabled by an LCE crosslinked via dynamic hydrogen bonds that break at high temperatures and reform upon cooling, endowing the shape memory effect, while mild thermal or photothermal stimulation yields the reversible actuation. Through this combination, proof-of-concept robotic application scenarios such as grippers that can adjust their shape for grabbing different-sized objects and crawling robots that can morph their shape to adapt to constrained spaces, are demonstrated. It is anticipated that this work adds new diversity to shape-programmable soft microrobotics.     

基于红外的微机器人集群自主通信转接控制方法

利用光子追踪法建立了大气直视信道模型, 仿真分析了信噪比(SNR)、比特率和能见度三者对自由空间光通信误码率的影响。选用1.55μm和10.6μm两个波长作对比分析, 结果显示两种波长的误码率随SNR的增大而减小, 随比特率的增大而增大。在能见度较低时, 10.6μm激光的误码性能优于1.55μm激光, 并且在低SNR和高比特率的情况下, 这种优势越发明显。在能见度较高时, 两种波长的误码性能相差无几。     

基于红外的微机器人集群自主通信转接控制方法

对多障碍物环境下微机器人集群自主通信转接的控制问题进行了研究.结合微机器人尺寸小的特点,采用低功耗的红外通信方式,利用载波侦听多路访问技术实现了多移动微机器人间的红外通信.在红外通信的基础上,建立了基于弹簧阻尼系统的自主通信转接控制模型,设计了相应的控制器以实现微机器人的运动控制,进而实现微机器人集群的自主通信转接.仿真结果验证了该控制方法的有效性.     

利用LIGA技术制造夹钳

在航天、国防、医学、核物理等领域,有着对仪器设备向小型化、复杂化、集成化方向发展的要求。在这一动力驱动下,精密机械加工、 Ｌ Ｉ Ｇ Ａ 技术以及硅技术有了长足发展,制造出许多部件和产品。但对于复杂的微机电系统,单靠这些技术难以实现,需要进行系统的装配工作。微夹钳也是在这一需求下发展起来的。除此之外,在细胞操作和其他微细操作过程中也迫切需要这样的执行软件。本文利用 Ｌ Ｉ Ｇ Ａ 技术进行了这方面的研究工作,并得到了一些结果。     

微型机器人集群短距离相对定位方法

对平面内微机器人集群短距离相对定位问题进行了研究,针对微机器人尺寸小的特点,利用红外发送器、红外接收器和磁阻传感器相配合的方法实现了微型机器人集群的相对定位,分析了该相对定位方法的误差来源.仿真计算和实验结果证明了上述方法的可行性.提出的相对定位方法具有精度高、无积累误差、分布式、快速和可扩展等优点.