Research

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28 pages, 25528 KiB

Open AccessArticle

MARSBot: A Bristle-Bot Microrobot with Augmented Reality Steering Control for Wireless Structural Health Monitoring

by Alireza Fath, Yi Liu, Tian Xia and Dryver Huston

Micromachines 2024, 15(2), 202; https://doi.org/10.3390/mi15020202 - 29 Jan 2024

Viewed by 792

Microrobots are effective for monitoring infrastructure in narrow spaces. However, they have limited computing power, and most of them are not wireless and stable enough for accessing infrastructure in difficult-to-reach areas. In this paper, we describe the fabrication of a microrobot with bristle-bot [...] Read more.

Microrobots are effective for monitoring infrastructure in narrow spaces. However, they have limited computing power, and most of them are not wireless and stable enough for accessing infrastructure in difficult-to-reach areas. In this paper, we describe the fabrication of a microrobot with bristle-bot locomotion using a novel centrifugal yaw-steering control scheme. The microrobot operates in a network consisting of an augmented reality headset and an access point to monitor infrastructures using augmented reality (AR) haptic controllers for human–robot collaboration. For the development of the microrobot, the dynamics of bristle-bots in several conditions were studied, and multiple additive manufacturing processes were investigated to develop the most suitable prototype for structural health monitoring. Using the proposed network, visual data are sent in real time to a hub connected to an AR headset upon request, which can be utilized by the operator to monitor and make decisions in the field. This allows the operators wearing an AR headset to inspect the exterior of a structure with their eyes, while controlling the surveying robot to monitor the interior side of the structure. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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12 pages, 13543 KiB

Open AccessFeature PaperEditor’s ChoiceArticle

A Magnetic Millirobot Walks on Slippery Biological Surfaces for Targeted Cargo Delivery

by Moonkwang Jeong, Xiangzhou Tan, Felix Fischer and Tian Qiu

Micromachines 2023, 14(7), 1439; https://doi.org/10.3390/mi14071439 - 18 Jul 2023

Cited by 2 | Viewed by 1427

Abstract

Small-scale robots hold great potential for targeted cargo delivery in minimally invasive medicine. However, current robots often face challenges in locomoting efficiently on slippery biological tissue surfaces, especially when loaded with heavy cargo. Here, we report a magnetic millirobot that can walk on [...] Read more.

Small-scale robots hold great potential for targeted cargo delivery in minimally invasive medicine. However, current robots often face challenges in locomoting efficiently on slippery biological tissue surfaces, especially when loaded with heavy cargo. Here, we report a magnetic millirobot that can walk on rough and slippery biological tissues by anchoring itself on the soft tissue surface alternatingly with two feet and reciprocally rotating the body to move forward. We experimentally studied the locomotion, validated it with numerical simulations, and optimized the actuation parameters to fit various terrains and loading conditions. Furthermore, we developed a permanent magnet set-up to enable wireless actuation within a human-scale volume that allows precise control of the millirobot to follow complex trajectories, climb vertical walls, and carry cargo up to four times its own weight. Upon reaching the target location, it performs a deployment sequence to release the liquid drug into tissues. The robust gait of our millirobot on rough biological terrains, combined with its heavy load capacity, makes it a versatile and effective miniaturized vehicle for targeted cargo delivery. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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16 pages, 7434 KiB

Open AccessArticle

Path Planning and Navigation of Miniature Serpentine Robot for Bronchoscopy Application

by Cheng-Peng Kuan, Shu Huang, Hao-Yan Wu, An-Peng Wang and Chien-Yu Wu

Micromachines 2023, 14(5), 969; https://doi.org/10.3390/mi14050969 - 28 Apr 2023

Viewed by 1330

Abstract

The miniature serpentine robot can be applied to NOTES (Natural Orifice Transluminal Endoscopic Surgery). In this paper, a bronchoscopy application is addressed. This paper describes the basic mechanical design and control scheme of this miniature serpentine robotic bronchoscopy. In addition, off-line backward path [...] Read more.

The miniature serpentine robot can be applied to NOTES (Natural Orifice Transluminal Endoscopic Surgery). In this paper, a bronchoscopy application is addressed. This paper describes the basic mechanical design and control scheme of this miniature serpentine robotic bronchoscopy. In addition, off-line backward path planning and real-time and in situ forward navigation in this miniature serpentine robot are discussed. The proposed backward-path-planning algorithm utilizes the 3D model of a bronchial tree constructed from the synthetization of medical images such as images from CT (Computed Tomography), MRI (Magnetic Resonance Imaging), or X-ray, to define a series of nodes/events backward from the destination, for example, the lesion, to the original starting point, for example, the oral cavity. Accordingly, forward navigation is designed to make sure this series of nodes/events shall be passed/occur from the origin to the destination. This combination of backward-path planning and forward navigation does not require accurate positioning information of the tip of the miniature serpentine robot, which is where the CMOS bronchoscope is located. Collaboratively, a virtual force is introduced to maintain the tip of the miniature serpentine robot at the center of the bronchi. Results show that this method of path planning and navigation of the miniature serpentine robot for bronchoscopy applications works. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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17 pages, 11090 KiB

Open AccessArticle

Electrothermally Driven Reconfiguration of Microrobotic Beam Structures for the ChipSail System

by Kecai Xie, Chengyang Li, Shouyu Sun, Chang-Yong Nam, Yong Shi, Haipeng Wang, Wu Duan, Zhongjing Ren and Peng Yan

Micromachines 2023, 14(4), 831; https://doi.org/10.3390/mi14040831 - 09 Apr 2023

Cited by 4 | Viewed by 1311

Abstract

Solar sailing enables efficient propellant-free attitude adjustment and orbital maneuvers of solar sail spacecraft with high area-to-mass ratios. However, the heavy supporting mass for large solar sails inevitably leads to low area-to-mass ratios. Inspired by chip-scale satellites, a chip-scale solar sail system named [...] Read more.

Solar sailing enables efficient propellant-free attitude adjustment and orbital maneuvers of solar sail spacecraft with high area-to-mass ratios. However, the heavy supporting mass for large solar sails inevitably leads to low area-to-mass ratios. Inspired by chip-scale satellites, a chip-scale solar sail system named ChipSail, consisting of microrobotic solar sails and a chip-scale satellite, was proposed in this work. The structural design and reconfigurable mechanisms of an electrothermally driven microrobotic solar sail made of Al\Ni₅₀Ti₅₀ bilayer beams were introduced, and the theoretical model of its electro-thermo-mechanical behaviors was established. The analytical solutions to the out-of-plane deformation of the solar sail structure appeared to be in good agreement with the finite element analysis (FEA) results. A representative prototype of such solar sail structures was fabricated on silicon wafers using surface and bulk microfabrication, followed by an in-situ experiment of its reconfigurable property under controlled electrothermal actuation. The experimental results demonstrated significant electro-thermo-mechanical deformation of such microrobotic bilayer solar sails, showing great potential in the development of the ChipSail system. Analytical solutions to the electro-thermo-mechanical model, as well as the fabrication process and characterization techniques, provided a rapid performance evaluation and optimization of such microrobotic bilayer solar sails for the ChipSail. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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29 pages, 12443 KiB

Open AccessArticle

Optimal Design of a Multipole-Electromagnet Robotic Platform for Ophthalmic Surgery

by Ruipeng Chen, David Folio and Antoine Ferreira

Micromachines 2023, 14(1), 91; https://doi.org/10.3390/mi14010091 - 29 Dec 2022

Viewed by 1757

Abstract

The aim of this study was to design a multipole-electromagnet robotic platform named OctoRob. This platform provides a minimally invasive means for targeted therapeutic interventions in specific intraocular areas. OctoRob is capable of generating both appropriate magnetic fields and gradients. The main scientific [...] Read more.

The aim of this study was to design a multipole-electromagnet robotic platform named OctoRob. This platform provides a minimally invasive means for targeted therapeutic interventions in specific intraocular areas. OctoRob is capable of generating both appropriate magnetic fields and gradients. The main scientific objectives were: (i) To propose an optimal reconfigurable arrangement of electromagnets suitable for ophthalmic interventions. (ii) To model, design and implement a one-degree-of-freedom robotic arm connected with an electromagnet in order to optimize the generation of magnetic fields and gradients. (iii) To evaluate the magnetic performances of the OctoRob platform, including different tilted angles. The results show that OctoRob platform has great potential to be applied for ophthalmic surgery. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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14 pages, 1600 KiB

Open AccessArticle

Anchoring Mechanism for Capsule Endoscope: Mechanical Design, Fabrication and Experimental Evaluation

by Muhammad Rehan, Andrew G. Yeo, Muhammad Uzair Yousuf and Ebubekir Avci

Micromachines 2022, 13(12), 2045; https://doi.org/10.3390/mi13122045 - 22 Nov 2022

Cited by 2 | Viewed by 2584

Abstract

Capsule endoscopes are widely used to diagnose gut-related problems, but they are passive in nature and cannot actively move inside the gut. This paper details the design process and development of an anchoring mechanism and actuation system to hold a capsule in place [...] Read more.

Capsule endoscopes are widely used to diagnose gut-related problems, but they are passive in nature and cannot actively move inside the gut. This paper details the design process and development of an anchoring mechanism and actuation system to hold a capsule in place within the small intestine. The design centres around the mechanical structure of the anchor that makes use of compliant Sarrus linkage legs, which extend to make contact with the intestine, holding the capsule in place. Three variants with 2 legs, 3 legs and 4 legs of the anchoring mechanism were tested using a shape memory alloy spring actuator (5 mm ×

ϕ

3.4 mm). The experiments determine that all the variants can anchor at the target site and resist peristaltic forces of 346 mN. The proposed design is well suited for an intestine with a diameter of 19 mm. The proposed design allows the capsule endoscopes to anchor at the target site for a better and more thorough examination of the targeted region. The proposed anchoring mechanism has the potential to become a vital apparatus for clinicians to use with capsule endoscopes in the future. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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14 pages, 1024 KiB

Open AccessArticle

Electromagnetic Actuation for a Micro/Nano Robot in a Three-Dimensional Environment

by Mostafa Abdelaziz and Maki Habib

Micromachines 2022, 13(11), 2028; https://doi.org/10.3390/mi13112028 - 19 Nov 2022

Cited by 4 | Viewed by 1597

Abstract

Micro/nanorobots have several potential biomedical applications, such as drug delivery, minimal invasiveness, and moving within narrow and complex areas. To achieve these desirable applications, precise path tracking and controlling magnetic micro/nanorobots within blood vessels is a crucial but challenging point. In this paper, [...] Read more.

Micro/nanorobots have several potential biomedical applications, such as drug delivery, minimal invasiveness, and moving within narrow and complex areas. To achieve these desirable applications, precise path tracking and controlling magnetic micro/nanorobots within blood vessels is a crucial but challenging point. In this paper, a three-dimensional electromagnetic actuation system composed of three pairs of Helmholtz coils and three pairs of Maxwell coils is proposed. A closed-loop control algorithm is proposed to enhance trajectory tracking of a micro/nanorobot. Different simulation experiments were carried out using Simulink to verify the performance of the proposed algorithm. Different trajectories were tested in tracking two-dimensional and three-dimensional reference trajectories. The results showed that by using the developed algorithm and electromagnetic actuation system, a micro/nanorobot can follow the desired trajectory within a maximum error of 13 μm. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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11 pages, 2707 KiB

Open AccessArticle

Design and Analysis of a Three-Dimensional Spindle-Shaped Receiving Coil for a Targeted Therapy Capsule Robot in the Intestine

by Ding Han, Guozheng Yan, Kai Zhao, Zhiwu Wang, Pingping Jiang and Lin Yan

Micromachines 2022, 13(11), 1884; https://doi.org/10.3390/mi13111884 - 01 Nov 2022

Cited by 1 | Viewed by 1255

Abstract

Capsule robots capable of taking wireless power-transfer systems for diagnosis in the intestine enable the ability to avoid invasive detection, which causes damage to tissue. A targeted therapy capsule robot based on a wireless power-transfer system could move actively in the intestine, implementing [...] Read more.

Capsule robots capable of taking wireless power-transfer systems for diagnosis in the intestine enable the ability to avoid invasive detection, which causes damage to tissue. A targeted therapy capsule robot based on a wireless power-transfer system could move actively in the intestine, implementing diseases detection and drug delivery. Compared with traditional telescope, the capsule robot explores without pain to patients. However, the insufficient power supply has become a big issue for a targeted therapy capsule robot. To address this problem, we proposed a new type of three-dimensional spindle-shaped receiving coil that can couple well with unidirectional magnetic fields and supply sufficient energy even when there is a misalignment in position and angle, owing to which the electromagnetic energy decays quickly. The proposed receiving coil could be embedded on the capsule robot, suitable for the capsule size Φ15 mm × 25 mm. To obtain the maximum energy in three-dimensional space, an optimization model was built. The parameters of the receiving coil were optimized and analyzed. Then, the designed receiving coil was verified with an energy-transfer stability analysis based on both attitude angle and position in a bench test. Furthermore, a curved pipe experiment was conducted using a capsule robot prototype with the proposed three-dimensional spindle-shaped receiving coil. The results demonstrated that stable and sufficient power could be supplied by the proposed receiving coil for the capsule robot at any position and any attitude angle between transmitting and receiving coils. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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Review

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21 pages, 3369 KiB

Open AccessReview

Four-Dimensional-Printed Microrobots and Their Applications: A Review

by Bobby Aditya Darmawan, Jong-Oh Park, Gwangjun Go and Eunpyo Choi

Micromachines 2023, 14(8), 1607; https://doi.org/10.3390/mi14081607 - 15 Aug 2023

Viewed by 1270

Abstract

Owing to their small size, microrobots have many potential applications. In addition, four-dimensional (4D) printing facilitates reversible shape transformation over time or upon the application of stimuli. By combining the concept of microrobots and 4D printing, it may be possible to realize more [...] Read more.

Owing to their small size, microrobots have many potential applications. In addition, four-dimensional (4D) printing facilitates reversible shape transformation over time or upon the application of stimuli. By combining the concept of microrobots and 4D printing, it may be possible to realize more sophisticated next-generation microrobot designs that can be actuated by applying various stimuli, and also demonstrates profound implications for various applications, including drug delivery, cells delivery, soft robotics, object release and others. Herein, recent advances in 4D-printed microrobots are reviewed, including strategies for facilitating shape transformations, diverse types of external stimuli, and medical and nonmedical applications of microrobots. Finally, to conclude the paper, the challenges and the prospects of 4D-printed microrobots are highlighted. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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17 pages, 6084 KiB

Open AccessFeature PaperEditor’s ChoiceReview

Smart Nematic Liquid Crystal Polymers for Micromachining Advances

by Sébastien Dominici, Keynaz Kamranikia, Karine Mougin and Arnaud Spangenberg

Micromachines 2023, 14(1), 124; https://doi.org/10.3390/mi14010124 - 01 Jan 2023

Cited by 1 | Viewed by 1904

Abstract

The miniaturization of tools is an important step in human evolution to create faster devices as well as precise micromachines. Studies around this topic have allowed the creation of small-scale objects capable of a wide range of deformation to achieve complex tasks. Molecular [...] Read more.

The miniaturization of tools is an important step in human evolution to create faster devices as well as precise micromachines. Studies around this topic have allowed the creation of small-scale objects capable of a wide range of deformation to achieve complex tasks. Molecular arrangements have been investigated through liquid crystal polymer (LCP) to program such a movement. Smart polymers and hereby liquid crystal matrices are materials of interest for their easy structuration properties and their response to external stimuli. However, up until very recently, their employment at the microscale was mainly limited to 2D structuration. Among the numerous issues, one concerns the ability to 3D structure the material while controlling the molecular orientation during the polymerization process. This review aims to report recent efforts focused on the microstructuration of LCP, in particular those dealing with 3D microfabrication via two-photon polymerization (TPP). Indeed, the latter has revolutionized the production of 3D complex micro-objects and is nowadays recognized as the gold standard for 3D micro-printing. After a short introduction highlighting the interest in micromachines, some basic principles of liquid crystals are recalled from the molecular aspect to their implementation. Finally, the possibilities offered by TPP as well as the way to monitor the motion into the fabricated microrobots are highlighted. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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22 pages, 3726 KiB

Open AccessReview

Formation Techniques Used in Shape-Forming Microrobotic Systems with Multiple Microrobots: A Review

by Menaka Konara, Amith Mudugamuwa, Shanuka Dodampegama, Uditha Roshan, Ranjith Amarasinghe and Dzung Viet Dao

Micromachines 2022, 13(11), 1987; https://doi.org/10.3390/mi13111987 - 16 Nov 2022

Cited by 1 | Viewed by 1591

Abstract

Multiple robots are used in robotic applications to achieve tasks that are impossible to perform as individual robotic modules. At the microscale/nanoscale, controlling multiple robots is difficult due to the limitations of fabrication technologies and the availability of on-board controllers. This highlights the [...] Read more.

Multiple robots are used in robotic applications to achieve tasks that are impossible to perform as individual robotic modules. At the microscale/nanoscale, controlling multiple robots is difficult due to the limitations of fabrication technologies and the availability of on-board controllers. This highlights the requirement of different approaches compared to macro systems for a group of microrobotic systems. Current microrobotic systems have the capability to form different configurations, either as a collectively actuated swarm or a selectively actuated group of agents. Magnetic, acoustic, electric, optical, and hybrid methods are reviewed under collective formation methods, and surface anchoring, heterogeneous design, and non-uniform control input are significant in the selective formation of microrobotic systems. In addition, actuation principles play an important role in designing microrobotic systems with multiple microrobots, and the various control systems are also reviewed because they affect the development of such systems at the microscale. Reconfigurability, self-adaptable motion, and enhanced imaging due to the aggregation of modules have shown potential applications specifically in the biomedical sector. This review presents the current state of shape formation using microrobots with regard to forming techniques, actuation principles, and control systems. Finally, the future developments of these systems are presented. Full article

(This article belongs to the Special Issue Recent Advances in Microrobotics)

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