Hanyang Med Rev.  2016 Nov;36(4):235-241. 10.7599/hmr.2016.36.4.235.

Review on Fabrication and Manipulation of Scaffold and Ciliary Microrobots

Affiliations
  • 1Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea. mems@dgist.ac.kr
  • 2DGIST-ETH Microrobot Research Center, DGIST, 711-873, Daegu, South Korea.

Abstract

Various microrobots are being studied for potential biomedical applications including targeted cell transportation, precise drug delivery, opening blocked blood vessels, micro-surgery, sensing, and scaffolding. Precise magnetic field control system is a coil system for wireless control of those microrobots for personalized and minimally invasive treatments. The microrobots for possible biomedical applications are fabricated by micro-electro-mechanical systems (MEMS) and nano-electro-mechanical systems (NEMS) technologies. In this review, fabrication technologies for scaffold and ciliary microrobots will be introduced and their control methods will be discussed. Various materials are being used for the fabrication of the microrobot such as SU-8, IP-Dip, IP-L, silicon, etc. The scaffold and ciliary microrobots are fabricated by SU-8, IP-Dip, and IP-L because these materials showed the maximum performance for three-dimensional (3D) microrobots using a 3D laser lithography system. All or part of the structures are coated with nickel and titanium layers after fabrication of the structures for magnetic control and biocompatibility, respectively, of the microrobots.

Keyword

Microrobot; Scaffold; Ciliary; Magnetic Field; Laser Lithography

MeSH Terms

Blood Vessels
Humans
Magnetic Fields
Micro-Electrical-Mechanical Systems
Nickel
Silicon
Titanium
Transportation
Nickel
Silicon
Titanium

Figure

  • Fig. 1 Fabrication process for 3D porous microrobot using a 3D laser lithography system. (a) Cleaning glass wafer using IPA, (b) Drop-cast of 50~100 ul negative photoresist, (c) laser writing, (d) development, (e) nickel and titanium deposition by a sputter, and (f) fabricated structures for parameter test.

  • Fig. 2 Magnetic field control system. (a) Overview of the system and (b) a closed view for a container with fluid to immerse a small magnet for control test.

  • Fig. 3 Magnetic field control system

  • Fig. 4 Fabricated scaffold type microrobots by the 3D laser-lithography system. (Scale bar is 50 µm)

  • Fig. 5 Autonomous targeted control of a microrobot by 13 mT constant magnetic field.

  • Fig. 6 Ciliary microrobot. (a) Design of the ciliary microrobot with a mask and (b) optical image of the fabricated ciliary microrobots with (left) and without (right) the mask.

  • Fig. 7 Driving mechanism of the ciliary microrobot by stroke (a) and recovery (b) motions.


Cited by  1 articles

Review of Computer-Aided Surgery
Byung-Ju Yi
Hanyang Med Rev. 2016;36(4):203-204.    doi: 10.7599/hmr.2016.36.4.203.


Reference

1. Grady MS, Howard MA, 3rd , Molloy JA, Ritter RC, Quate EG, Gillies GT. Nonlinear magnetic stereotaxis: three-dimensional, in vivo remote magnetic manipulation of a small object in canine brain. Med Phys. 1990; 17:405–415.
Article
2. Kim S, Qiu F, Kim SH, Ghanbari A, Moon CI, Zhang L, et al. Fabrication and Characterization of Magnetic Microrobots for Three-Dimensional Cell Culture and Targeted Transportation. Adv Mater. 2013; 25:5863–5868.
Article
3. Nelson BJ, Kaliakatsos IK, Abbott JJ. Microrobots for minimally invasive medicine. Annu Rev Biomed Eng. 2010; 12:55–85.
Article
4. Peyer KE, Zhang L, Nelson BJ. Bio-inspired magnetic swimming microrobots for biomedical applications. Nanoscale. 2013; 5:1259–1272.
Article
5. Bailly Y, Amirat Y, Fried G. Modeling and Control of a Continuum Style Microrobot for Endovascular Surgery. IEEE Trans Robot. 2011; 27:1024–1030.
Article
6. Mhanna R, Qiu F, Zhang L, Ding Y, Sugihara K, Zenobi-Wong M, et al. Artificial bacterial flagella for remote-controlled targeted single-cell drug delivery. Small. 2014; 10:1953–1957.
Article
7. Pawashe C, Floyd S, Sitti M. Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot. Int J Rob Res. 2009; 28:1077–1094.
Article
8. Kim S, Lee S, Lee J, Nelson BJ, Zhang L, Choi H. Fabrication and Manipulation of Ciliary Microrobots with Non-reciprocal Magnetic Actuation. Sci Rep. 2016; 6.
Article
9. Tottori S, Zhang L, Qiu F, Krawczyk KK, Franco-Obregon A, Nelson BJ. Magnetic helical micromachines: fabrication, controlled swimming, and cargo transport. Adv Mater. 2012; 24:811–816.
Article
10. Temel FZ, Yesilyurt S. Confined swimming of bio-inspired microrobots in rectangular channels. Bioinspir Biomim. 2015; 10:016015.
Article
11. Qiu FM, Fujita S, Mhanna R, Zhang L, Simona BR, Nelson BJ. Magnetic Helical Microswimmers Functionalized with Lipoplexes for Targeted Gene Delivery. Adv Funct Mater. 2015; 25:1666–1671.
Article
12. Anscombe N. Direct laser writing. Nat Photonics. 2010; 4:22–23.
Article
13. Xiong W, Zhou YS, He XN, Gao Y, Mahjouri-Samani M, Jiang L, et al. Simultaneous additive and subtractive three-dimensional nanofabrication using integrated two-photon polymerization and multiphoton ablation. Light Sci Appl. 2012; 1.
Article
14. Buckmann T, Stenger N, Kadic M, Kaschke J, Frolich A, Kennerknecht T, et al. Tailored 3D Mechanical Metamaterials Made by Dip-in Direct-Laser-Writing Optical Lithography. Adv Mater. 2012; 24:2710–2714.
Article
15. Vollmers K, Frutiger DR, Kratochvil BE, Nelson BJ. Wireless resonant magnetic microactuator for untethered mobile microrobots. Appl Phys Lett. 2008; 92(14):
Article
16. Zhang L, Abbott JJ, Dong LX, Kratochvil BE, Bell D, Nelson BJ. Artificial bacterial flagella: Fabrication and magnetic control. Appl Phys Lett. 2009; 94(6):
Article
17. Khamesee MB, Kato N, Nomura Y, Nakamura T. Design and control of a microrobotic system using magnetic levitation. IEEE ASME Trans Mechatron. 2002; 7:1–14.
Article
18. Yesin KB, Vollmers K, Nelson BJ. Modeling and control of untethered biomicrorobots in a fluidic environment using electromagnetic fields. Int J Robot Res. 2006; 25:527–536.
Article
19. Thiel M, Fischer J, von Freymann G, Wegener M. Direct laser writing of three-dimensional submicron structures using a continuous-wave laser at 532 nm. Appl Phys Lett. 2010; 97(22):
Article
20. Klein F, Richter B, Striebel T, Franz CM, von Freymann G, Wegener M, et al. Two-Component Polymer Scaffolds for Controlled Three-Dimensional Cell Culture. Adv Mater. 2011; 23:1341–1345.
Article
21. Renner M, von Freymann G. Spatial correlations and optical properties in three-dimensional deterministic aperiodic structures. Sci Rep. 2015; 5.
Article
23. Ghanbari A, Chang PH, Nelson BJ, Choi H. Magnetic actuation of a cylindrical microrobot using time-delay-estimation closed-loop control: modeling and experiments. Smart Mater Struct. 2014; 23(3):
Article
24. Ghanbari A, Chang PH, Choi H, Nelson BJ. Time delay estimation for control of microrobots under uncertainties. In : 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM); 2012; Wollongong, Australia.
25. Xu TT, Yu JF, Yan XH, Choi H, Zhang L. Magnetic Actuation Based Motion Control for Microrobots: An Overview. Micromachines (Basel). 2015; 6:1346–1364.
Article
26. Kummer MP, Abbott JJ, Kratochvil BE, Borer R, Sengul A, Nelson BJ. OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation. IEEE Trans Robot. 2010; 26:1006–1017.
Article
27. Bergeles C, Kratochvil BE, Nelson BJ. Visually Servoing Magnetic Intraocular Microdevices. IEEE Trans Robot. 2012; 28:798–809.
Article
28. Tsang VL, Bhatia SN. Three-dimensional tissue fabrication. Adv Drug Deliv Rev. 2004; 56:1635–1647.
Article
29. Subia B, Kundu J, Kundu SC. Biomaterial scaffold fabrication techniques for potential tissue engineering applications. In : Eberli D, editor. Tissue Engineering. 2010. p. 141–157.
30. Kapyla E, Aydogan DB, Virjula S, Vanhatupa S, Miettinen S, Hyttinen J, et al. Direct laser writing and geometrical analysis of scaffolds with designed pore architecture for three-dimensional cell culturing. J Micromech Microeng. 2012; 22(11):
31. Klein F, Striebel T, Fischer J, Jiang ZX, Franz CM, von Freymann G, et al. Elastic Fully Three-dimensional Microstructure Scaffolds for Cell Force Measurements. Adv Mater. 2010; 22(8):868–871.
Article
32. Purcell EM. Life at Low Reynolds-Number. Am J Phys. 1977; 45:3–11.
33. Abbott JJ, Peyer KE, Lagomarsino MC, Zhang L, Dong LX, Kaliakatsos IK, et al. How Should Microrobots Swim? Int J Robot Res. 2009; 28:1434–1447.
Article
34. Qiu FM, Zhang L, Peyer KE, Casarosa M, Franco-Obregon A, Choi H, et al. Noncytotoxic artificial bacterial flagella fabricated from biocompatible ORMOCOMP and iron coating. J Mater Chem B Mater Biol Med. 2014; 2:357–362.
Article
35. Zhang L, Abbott JJ, Dong LX, Peyer KE, Kratochvil BE, Zhang HX, et al. Characterizing the Swimming Properties of Artificial Bacterial Flagella. Nano Lett. 2009; 9:3663–3667.
Article
36. Gao W, Peng XM, Pei A, Kane CR, Tam R, Hennessy C, et al. Bioinspired Helical Microswimmers Based on Vascular Plants. Nano Lett. 2014; 14:305–310.
Article
37. Peyer KE, Tottori S, Qiu F, Zhang L, Nelson BJ. Magnetic helical micromachines. Chemistry. 2013; 19:28–38.
Article
38. Dreyfus R, Baudry J, Roper ML, Fermigier M, Stone HA, Bibette J. Microscopic artificial swimmers. Nature. 2005; 437:862–865.
Article
39. Gao W, Sattayasamitsathit S, Manesh KM, Weihs D, Wang J. Magnetically powered flexible metal nanowire motors. J Am Chem Soc. 2010; 132:14403–14405.
Article
40. Khalil IS, Dijkslag HC, Abelmann L, Misra S. MagnetoSperm: A microrobot that navigates using weak magnetic fields. Appl Phys Lett. 2014; 104(22):223701.
Article
41. Jang B, Gutman E, Stucki N, Seitz BF, Wendel-Garcia PD, Newton T, et al. Undulatory Locomotion of Magnetic Multilink Nanoswimmers. Nano Lett. 2015; 15:4829–4833.
Article
42. Hill DB, Swaminathan V, Estes A, Cribb J, O'Brien ET, Davis CW, et al. Force generation and dynamics of individual cilia under external loading. Biophys J. 2010; 98:57–66.
Article
43. Klein F, Striebel T, Fischer J, Jiang Z, Franz CM, von Freymann G, et al. Elastic fully three-dimensional microstructure scaffolds for cell force measurements. Adv Mater. 2010; 22:868–871.
Article
Full Text Links
  • HMR
Actions
Cited
CITED
export Copy
Close
Share
  • Twitter
  • Facebook
Similar articles
Copyright © 2024 by Korean Association of Medical Journal Editors. All rights reserved.     E-mail: koreamed@kamje.or.kr