Design Methodology for Biomimetic Propulsion of Miniature Swimming Robots

Behkam, Bahareh; Sitti, Metin

doi:10.1115/1.2171439

Cited by 191 publications

(116 citation statements)

References 11 publications

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“…In the case of prokaryotic flagella, a rotary motor drives the flagella resulting in a helical waveform, which acts as a propeller to move the microorganism [4]. Eukaryotic flagella, however, are able to generate planar waveforms from the sliding of microtubules along the length of the flagella [4][5][6]. In addition to these differing flagella structures, prokaryotes and eukaryotes have adopted both single-and multi-flagellar configurations to generate propulsion.…”

Section: Introductionmentioning

confidence: 99%

“…In order to overcome this limitation, microorganisms have evolved highly specialized propulsive structures, such as cilia and flagella, to generate non-reciprocal travelling waves. In the case of prokaryotic flagella, a rotary motor drives the flagella resulting in a helical waveform, which acts as a propeller to move the microorganism [4]. Eukaryotic flagella, however, are able to generate planar waveforms from the sliding of microtubules along the length of the flagella [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

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Unlocking the secrets of multi-flagellated propulsion: drawing insights fromTritrichomonas foetus

Lenaghan

Nwandu-Vincent

Reese

et al. 2014

J. R. Soc. Interface.

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In this work, a high-speed imaging platform and a resistive force theory (RFT) based model were applied to investigate multi-flagellated propulsion, using Tritrichomonas foetus as an example. We discovered that T. foetus has distinct flagellar beating motions for linear swimming and turning, similar to the 'run and tumble' strategies observed in bacteria and Chlamydomonas. Quantitative analysis of the motion of each flagellum was achieved by determining the average flagella beat motion for both linear swimming and turning, and using the velocity of the flagella as inputs into the RFT model. The experimental approach was used to calculate the curvature along the length of the flagella throughout each stroke. It was found that the curvatures of the anterior flagella do not decrease monotonically along their lengths, confirming the ciliary waveform of these flagella. Further, the stiffness of the flagella was experimentally measured using nanoindentation, allowing for calculation of the flexural rigidity of T. foetus's flagella, 1.55Â10 221 N m 2 . Finally, using the RFT model, it was discovered that the propulsive force of T. foetus was similar to that of sperm and Chlamydomonas, indicating that multi-flagellated propulsion does not necessarily contribute to greater thrust generation, and may have evolved for greater manoeuvrability or sensing. The results from this study have demonstrated the highly coordinated nature of multiflagellated propulsion and have provided significant insights into the biology of T. foetus.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Unlocking the secrets of multi-flagellated propulsion: drawing insights fromTritrichomonas foetus

Lenaghan

Nwandu-Vincent

Reese

et al. 2014

J. R. Soc. Interface.

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“…We examine a "swimming microbot" that uses an E.coli-like flagella as a means of propulsion. Such microbots have been highlighted as having great potential for use in in vivo medical procedures due to the low Reynolds number propulsion system [1]. We use Higdon's model for flagellar propulsion [11], to determine the average power required for swimming in small human arteries:P = 6πµAŪ 2 η…”

Section: Discussionmentioning

confidence: 99%

Micromotor of Less Than 1 mm^3 Volume for In Vivo Medical Procedures

Watson

Friend

Yeo

2009

2009 Third International Conference on Quantum, Nano and Micro Technologies

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The body's stress response to surgery has been cited as a primary cause of post-operative morbidity and has prompted growth in minimally invasive surgical techniques. The future of such techniques lies in the use of in vivo procedures, but is currently limited by the availability of motors with a volume of less than 1 mm 3 . In response to this we present a piezoelectric ultrasonic resonant micromotor with a volume of approximately 0.75 mm 3 . The motor has a novel helically cut stator that couples axial and torsional resonant frequencies, excited by a lead zirconate titanate element 0.03 mm 3 in volume. The motor performance reaches a start-up torque of 47 nNm and no load angular velocity of 830 rad/s. This gives the motor a power density of 18.4 kW/m 3 . This performance is on the order necessary to propel a swimming microbot in small human arteries.

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“…[56][57][58]67,68 The design of medical nanorobot will include embedded and integrated devices, which consists of the main sensing, actuation, data transmission, remote control uploading and coupling power supply subsystems. [61][62][63][64]69,70 A first series of nanotechnology prototypes for molecular machines is being investigated in different ways, [71][72][73][74] and some interesting devices for propulsion and sensing have been presented. [75][76][77][78] Sensors for biomedical applications are advancing through teleoperated surgery.…”

Section: Biomedical Applications Of Nanobiosensorsmentioning

confidence: 99%

Biomedical applications of nanobiosensors: the state-of-the-art

Rai¹,

Gade²,

Gaikwad³

et al. 2012

J. Braz. Chem. Soc.

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O desenvolvimento de nanobiosensores é um dos avanços mais recentes no campo da nanotecnologia. A investigação sobre nanobiosensores ópticos com dimensões submicrométricas tem aberto novos horizontes para as medições intracelulares. Aproveitando as propriedades únicas dos nanomateriais, nanobiosensores mais rápidos e sensíveis podem ser desenvolvidos. Além de serem sensíveis e rápidos, os estudos de nanobiosensores têm voltado seus esforços para o desenvolvimento de sensores baseados em nanomateriais que são acessíveis, robustos e reprodutíveis. Os nanobiosensores estão equipados com sondas biorreceptoras imobilizadas, por exemplo, anticorpos, substrato de enzima. A excitação por laser é transmitida para o sistema fotométrico na forma de sinal óptico (fluorescência). Os nanobiosessores poderão revolucionar no futuro o diagnóstico de doenças. A presente revisão discute os conceitos básicos, a evolução e as aplicações biomédicas de nanobiosensores.Development of nanobiosensor is one of the most recent advancement in the field of Nanotechnology. Research on optical nanobiosensors with submicron-sized dimensions has opened new horizons for intracellular measurements. Taking advantage of the unique properties of the nanomaterials, faster and sensitive nanobiosensors can be developed. Apart from being sensitive and fast, the studies related to nanobiosensors have geared their efforts towards the development of nanomaterial-based sensors that are affordable, robust and reproducible. The nanobiosensors are equipped with immobilized bioreceptor probes, e.g., antibodies, enzyme substrate. Laser excitation is transmitted to photometric system in the form of optical signal (fluorescence). Nanobiosensors will revolutionize the future of disease diagnosis. The present review discusses the basic concepts, developments and the biomedical applications of nanobiosensors.

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Design Methodology for Biomimetic Propulsion of Miniature Swimming Robots

Cited by 191 publications

References 11 publications

Unlocking the secrets of multi-flagellated propulsion: drawing insights fromTritrichomonas foetus

Unlocking the secrets of multi-flagellated propulsion: drawing insights fromTritrichomonas foetus

Micromotor of Less Than 1 mm^3 Volume for In Vivo Medical Procedures

Biomedical applications of nanobiosensors: the state-of-the-art

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