Polymer Microgripper with Autofocusing and Visual Tracking Operations to Grip Particle Moving in Liquid

Chang, Ren-Jung; Chien, Yu Cheng

doi:10.3390/act7020027

Cited by 4 publications

(3 citation statements)

References 43 publications

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“…In the literature, there are a range of suggested alignment methods used in similar experiments. These include focus feedback using Normalised Variance [30] and wavelet-entropy [31], and vision based contact detection [32]. In other research, the Prewitt operator is also found to be the best option for focusing biological cells [28].…”

Section: Alignment Methodsmentioning

confidence: 91%

Micromanipulation System for Isolating a Single Cryptosporidium Oocyst

2019

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In this paper, an integrated system for contact micromanipulation of Cryptosporidium oocysts is presented. The system integrates five actuators and a partially automated control system and contacts the oocyst using a drawn glass end effector with tip dimensions of 1 μ m. The system is intended to allow single cell analysis (SCA) of Cryptosporidium—a very harmful parasite found in water supplies—by isolating the parasite oocyst of 5 μ m diameter in a new environment. By allowing this form of analysis, the source of Cryptosporidium can be found and potential harm to humans can be reduced. The system must overcome the challenges of locating the oocysts and end effector in 3D space and contact adhesion forces between them, which are prominent over inertial forces on this scale. An automated alignment method is presented, using the Prewitt operator to give feedback on the level of focus and this system is tested, demonstrating alignment accuracy of <2 μ m. Moreover, to overcome the challenge of adhesion forces, use of dry and liquid environments are investigated and a strategy is developed to capture the oocyst in the dry environment and release in the liquid environment. An experiment is conducted on the reliability of the system for isolating a Cryptosporidium oocyst from its culture, demonstrating a success rate of 98%.

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Section: Alignment Methodsmentioning

confidence: 91%

Micromanipulation System for Isolating a Single Cryptosporidium Oocyst

2019

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“…Since optical microscopy is widely used in laboratories, it is believed that this paper might have some impact on the future characterizations of microsystems in air, wet or liquid environments. The importance of micromanipulation of mobile micro-particle suspended in liquid well has been recently underlined and a visual-servo automatic micromanipulating system has been presented [45].…”

Section: Experimental Characterization Of Mems-technology Based Instrmentioning

confidence: 99%

Toward Operations in a Surgical Scenario: Characterization of a Microgripper via Light Microscopy Approach

et al. 2019

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Micro Electro Mechanical Systems (MEMS)-Technology based micro mechanisms usually operate within a protected or encapsulated space and, before that, they are fabricated and analyzed within one Scanning Electron Microscope (SEM) vacuum specimen chamber. However, a surgical scenario is much more aggressive and requires several higher abilities in the microsystem, such as the capability of operating within a liquid or wet environment, accuracy, reliability and sophisticated packaging. Unfortunately, testing and characterizing MEMS experimentally without fundamental support of a SEM is rather challenging. This paper shows that in spite of large difficulties due to well-known physical limits, the optical microscope is still able to play an important role in MEMS characterization at room conditions. This outcome is supported by the statistical analysis of two series of measurements, obtained by a light trinocular microscope and a profilometer, respectively.

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“…Microgrippers are small micro/millimeter-sized robotic devices that can grasp micro-objects in a narrow and confined environment with accuracy that may not be achieved using manual operations. [1] Further, the controllability and adaptivity of the untethered designs of this device facilitated them as a promising tool for several applications such as particle manipulation [2][3][4] and micro-assembly. [5][6][7] Meanwhile, a strong emphasis has been provided on understanding different aspects of the microgrippers, DOI: 10.1002/admt.202400292 including the design, [8] fabrication, [9] and assembly [10] that can ease the overall challenges, such as complex structures, amplified stiffness, slow response time, and limited manipulations.…”

Section: Introductionmentioning

confidence: 99%

An Untethered Magnetic Microgripper for High‐Throughput Micromanipulation

Loganathan,

Chaung,

et al. 2024

Adv Materials Technologies

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Microgripper is a small‐miniaturized robotic device employed to maneuver sub‐millimeter‐sized particles or objects that are too small to be manipulated by human hands or conventional tools. The design and fabrication of the microgripper pose challenges due to the integration of actuation components into their structure. To address this challenge, the authors in this work presented a novel magnetic microgripper wherein the functions of the actuation components are executed by the two pairs of microgripper arms made up of magnetic material. A custom‐made electromagnetic system consisting of eight coils is employed to externally control these arms, enabling precise execution of gripping up to a maximum of two microparticles per working cycle. By varying the magnetic field strength from 20 to 120 mT, a wide range of gripper‐arms opening distance is achieved, spanning from 0.3 to 1.3 mm. Consequently, the microgripper is demonstrated to grip different sizes of microparticles ranging from 0.3 to 1.2 mm. As part of the motion control capabilities, the microgripper is demonstrated to orient and navigate across a 360‐degree range within the microfluidic environment. The presented microgripper holds promise for manipulating a wide variety of microparticle sizes and shapes, offering potential for high‐throughput applications

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Polymer Microgripper with Autofocusing and Visual Tracking Operations to Grip Particle Moving in Liquid

Cited by 4 publications

References 43 publications

Micromanipulation System for Isolating a Single Cryptosporidium Oocyst

Micromanipulation System for Isolating a Single Cryptosporidium Oocyst

Toward Operations in a Surgical Scenario: Characterization of a Microgripper via Light Microscopy Approach

An Untethered Magnetic Microgripper for High‐Throughput Micromanipulation

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