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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Franziska Ullrich Famin Qiu Juho Pokki Tianyun Huang Salvador Pané Bradley J. Nelson Multi-Scale Robotics Lab ETH Zurich Zurich Switzerland University of Science and Technology Liaoning Anshan Liaoning China

ISBN: (纸本)9781509032884

Wireless magnetic microrobots show great potential for targeted drug delivery or as minimally invasive surgical tools in the human body. In order to swim through bodily fluids, such as the vitreous humor in the eye, they must be equipped to successfully move through viscoelastic fluids, where they are obstructed by fibrous networks or microparticles. Prior researchers have shown an increased propulsion efficiency with increasing viscoelastic properties for artificial helical swimmers and bacteria with helical flagella. This work investigates the effect of solutions with increasing collagen concentrations on the propulsion velocity of a magnetically actuated helical microswimmer. Results are in agreement with prior experiments and theory and show a performance peak for a helical microrobot of length 280 μm swimming in a fibrous solution with collagen concentration of 1578 μg/ml.

关键词： Propulsion Viscosity Microorganisms Magnetomechanical effects Magnetosphere Nickel Microscopy

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Dual-axis Cellular Force Microscope for mechanical characterization of living plant cells

Dual-axis Cellular Force Microscope for mechanical character...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Jan T. Burri Chengzhi Hu Naveen Shamsudhin Xiaopu Wang Hannes Vogler Ueli Grossniklaus Bradley J. Nelson Department of Mechanical and Process Engineering Multi-Scale Robotics Lab Zürich Switzerland Department of Plant and Microbial Biology University of Zürich Zürich Switzerland

ISBN: (纸本)9781509024100

Understanding the mechanisms of plant growth and morphogenesis is of importance, not only to the field of plant sciences but also in a broader agricultural and economical context, as plants provide important raw materials such as food, fiber, wood and fuel. Mathematical modeling and simulation can provide insights into intricate biomechanical growth mechanisms. Mechanical characterization at single cellular level is essential for providing quantitative model parameters. The dual-axis Cellular Force Microscope (CFM) provide many of these desired parameters by micro-indentation measurements. The dual-axis CFM integrates a MEMS force sensing technology with a piezoelectric nano-positioning system. The dual force feedback from the MEMS sensor allows the system to be used for arbitrary indentation angles and to accurately measure biological samples despite their curved surfaces. The accuracy of the dual-axis CFM is verified by measuring a force-standard with a certified stiffness of 15.15 N/m at indentation angles of 90° and 60°. The obtained stiffness measurements are 15.60 N/m and 14.63 N/m and differ from the calibrated value by 2.97% and 3.63%, respectively. Additionally, the dual-axis CFM offers topographic imaging which was used to visualize two hemispherical structures fabricated using two-photon photopolymerization with radii of 5 μm and 7.5 μm. The potential of the system to study plant cell mechanics at a single cell level is shown by indenting a Lilium longiflorum pollen tube along its axis at the tip. The topographical information combined with the recorded force feedback in axial and lateral directions show promising results for further mechanical characterization of plant cells using the dual-axis CFM.

关键词： Force Force measurement Force sensors Micromechanical devices Electron tubes Displacement measurement Plants (biology)

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Mineralization‐Inspired Synthesis of Magnetic Zeolitic Imidazole Framework Composites

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Angewandte Chemie 2019年第38期131卷

作者： Anastasia Terzopoulou Marcus Hoop Xiang‐Zhong Chen Ann M. Hirt Michalis Charilaou Yang Shen Fajer Mushtaq Angel Pérez del Pino Constantin Logofatu Laura Simonelli Andrew J. de Mello Christian J. Doonan Jordi Sort Bradley J. Nelson Salvador Pané Josep Puigmartí‐Luis Multi-Scale Robotics Lab (MSRL) Institute of Robotics and Intelligent Systems (IRIS) ETH Zurich Tannenstrasse 3 8092 Zurich Switzerland Institute of Geophysics ETH Zurich Sonnegstrasse 5 8092 Zurich Switzerland Laboratory of Metal Physics and Technology Department of Materials ETH Zurich Vladimir Prelog Weg 1 8093 Zurich Switzerland Institute of Food Nutrition and Health ETH Zurich Schmelzbergstrasse 7 8092 Zurich Switzerland Institute of Materials Science of Barcelona (ICMAB-CSIC) Campus UAB 08193 Bellaterra Spain National Institute for Materials Physics PO Box MG 7 77125 Bucharest Romania CELLS—ALBA Synchrotron Radiation Facility Carrer de la Llum 2–26 08290 Cerdanyola del Valles Barcelona Spain Institute of Chemical and Bioengineering ETH Zurich Vladimir Prelog Weg 1 8093 Zurich Switzerland School of Chemistry and Physics University of Adelaide Adelaide South Australia 5005 Australia Institució Catalana de Recerca i Estudis Avançats (ICREA) and Departament de Física Universitat Autònoma de Barcelona 08193 Bellaterra Spain

Metal–organic frameworks (MOFs) capable of mobility and manipulation are attractive materials for potential applications in targeted drug delivery, catalysis, and small‐scale machines. One way of rendering MOFs navigable is incorporating magnetically responsive nanostructures, which usually involve at least two preparation steps: the growth of the magnetic nanomaterial and its incorporation during the synthesis of the MOF crystals. Now, by using optimal combinations of salts and ligands, zeolitic imidazolate framework composite structures with ferrimagnetic behavior can be readily obtained via a one‐step synthetic procedure, that is, without the incorporation of extrinsic magnetic components. The ferrimagnetism of the composite originates from binary oxides of iron and transition metals such as cobalt. This approach exhibits similarities to the natural mineralization of iron oxide species, as is observed in ores and in biomineralization.

关键词： Biomedizinische Anwendungen Magnetismus Metall-organische Gerüste Zeolith-Imidazolat-Gerüste

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Magnetoelectrics: Hybrid Magnetoelectric Nanowires for Nanorobotic Applications: Fabrication, Magnetoelectric Coupling, and Magnetically Assisted In Vitro Targeted Drug Delivery (Adv. Mater. 8/2017)

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Advanced Materials 2017年第8期29卷

作者： Xiang‐Zhong Chen Marcus Hoop Naveen Shamsudhin Tianyun Huang Berna Özkale Qian Li Erdem Siringil Fajer Mushtaq Luca Di Tizio Bradley J. Nelson Salvador Pané Multi‐Scale Robotics Lab (MSRL) Institute of Robotics & Intelligent Systems (IRIS) ETH Zurich Zurich 8092 Switzerland Center for Nanophase Materials Sciences and Institute for Functional Imaging of Materials Oak Ridge National Laboratory Oak Ridge TN 37831 USA

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A magnetic force sensor on a catheter tip for minimally invasive surgery

A magnetic force sensor on a catheter tip for minimally inva...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： G. Chatzipirpiridis P. Erne O. Ergeneman S. Pané B. J. Nelson the Multi-Scale Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

ISBN: (纸本)9781424492695

This paper presents a magnetically guided catheter for minimally invasive surgery (MIS) with a magnetic force sensing tip. The force sensing element utilizes a magnetic Hall sensor and a miniature permanent magnet mounted on a flexible encapsulation acting as the sensing membrane. It is capable of high sensitivity and robust force measurements suitable for in-vivo applications. A second larger magnet placed on the catheter allows the catheter to be guided by applying magnetic fields. Precise orientation control can be achieved with an external magnetic manipulation system. The proposed device can be used in many applications of minimally invasive surgery (MIS) to detect forces applied on tissue during procedures or to characterize different types of tissue for diagnosis.

关键词： catheter allows catheter guided

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An array of 2D Magnetic Micro Force Sensors for Life Science Applications

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Procedia Engineering 2015年 120卷 220-224页

作者： J. Praprotnik O. Ergeneman G. Chatzipirpiridis A. Weidlich S. Blaz S. Pané B.J. Nelson Multi-Scale Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland RLS Merilna Tehnika d.o.o. Komenda Slovenia

This paper reports a 2D magnetic micro force sensor. The design consists of an array of SU-8 cantilevers incorporating electroplated ferromagnetic material and a Hall sensor array. The passive moving parts with magnetic readout enable robust and sensitive operation. The presented device has a detection limit of 30 μN and a range up to 1 mN. A not well-known material in MEMS community polyurethane was used as a protection layer encapsulating the whole device while interfering minimally with the operation. Cantilevers were characterized for their dynamic response by a laser Doppler vibrometer and 2D force calibration is performed using commercial force sensors. The presented sensor array can be used in life science applications and MEMS testing enabling parallel measurements in 2-D.

关键词： Magnetic force sensor hall sensor microfabrication electroplating ferromagnetic

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MINIATURIZED MAGNETIC FORCE SENSOR ON A CATHETER TIP

MINIATURIZED MAGNETIC FORCE SENSOR ON A CATHETER TIP

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International Conference on Solid-State Sensors, Actuators and Microsystems

作者： G. Chatzipirpiridis S. Gervasoni F. Berlinger S. Blaz O. Ergeneman S. Pane B. J. Nelson Multi-Scale Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland RLS merilna tehnika d. o. o. Komenda Slovenia

ISBN: (纸本)9781479989560

This paper reports the smallest magnetic force sensor integrated on a catheter tip. The sensor is capable of high sensitivity and robust force measurements suitable for in-vivo applications. It utilizes a magnet mounted on a flexible membrane encapsulating the catheter and a Hall sensor to detect the magnetic field generated by the magnet. The proposed device can be used in many applications of minimally invasive surgery (MIS) to detect forces applied on tissue during procedures or to characterize different types of tissue for diagnosis.

关键词： Catheter permanent magnet magnetic sensor Hall sensor tissue characterization

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Magnetic Nanowires: Toward Robust Segmented Nanowires: Understanding the Impact of Crystallographic Texture on the Quality of Segment Interfaces in Magnetic Metallic Nanowires (Adv. Mater. Interfaces 18/2016)

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Advanced Materials Interfaces 2016年第18期3卷

作者： Jin Zhang Salvador Pané Jordi Sort Eva Pellicer Departament de Física Universitat Autònoma de Barcelona E‐08193 Bellaterra Barcelona Catalonia Spain Multi‐Scale Robotics Lab (MSRL) Institute of Robotics & Intelligent Systems (IRIS) ETH Zürich Zürich 8092 Switzerland Institició Catalana de Recerca i Estudis Avaçats (ICREA) Barcelona Catalonia Passeig Lluís Companys 23 E‐08010 Spain

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Artificial bacterial flagella functionalized with temperature-sensitive liposomes for biomedical applications

Artificial bacterial flagella functionalized with temperatur...

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2013 17th International Conference on Solid-State Sensors, Actuators and Microsystems, TRANSDUCERS and EUROSENSORS 2013

作者： Qiu, F. Mhanna, R. Zhang, L. Ding, Y. Sugihara, K. Zenobi-Wong, M. Nelson, B.J. Multi-Scale Robotics Lab ETH Zurich Zurich Switzerland Cartilage Engineering Regeneration ETH Zurich Zurich Switzerland Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Laboratory of Biosensors and Bioelectronics ETH Zurich Zurich Switzerland

ISBN: (纸本)9781467359818

Inspired by flagellar propulsion of bacterial such as E. coli, artificial bacterial flagella (ABFs) are magnetic swimming microrobots with helical shapes. ABFs can perform precise three-dimensional (3D) navigation in liquids under low-strength rotating magnetic fields making them attractive tools for drug delivery applications. Further functionalization of these swimming microrobots is necessary to optimize their performance of biomedical tasks. We report here for the first time the successful functionalization of titanium-coated ABFs with temperature-sensitive dipalmitoylphosphatidylcholine (DPPC) liposomes. Adsorption of intact liposomes on titanium was assessed using quartz crystal microbalance with dissipation monitoring (QCM-D). The adsorption of fluorescently labeled liposomes on the surface of ABFs was confirmed with confocal laser scanning microscopy (CLSM) images. Functionalized ABFs (f-ABFs) can be loaded with both hydrophilic and hydrophobic drugs, and controlled drug release triggered by temperature. ABFs have a great potential to be used in targeted and controlled drug delivery and for in vivo sensing. © 2013 IEEE.

关键词： Controlled drug delivery

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ARTIFICIAL BACTERIAL FLAGELLA FUNCTIONALIZED WITH TEMPERATURE-SENSITIVE LIPOSOMES FOR BIOMEDICAL APPLICATIONS

ARTIFICIAL BACTERIAL FLAGELLA FUNCTIONALIZED WITH TEMPERATUR...

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International Conference on Solid-State Sensors, Actuators and Microsystems

作者： F. Qiu R. Mhanna L. Zhang Y. Ding K. Sugihara M. Zenobi-Wong B. J. Nelson Multi-Scale Robotics Lab ETH Zurich Zurich SWITZERLAND Cartilage Engineering + Regeneration ETH Zurich Zurich SWITZERLAND Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR CHINA Laboratory of Biosensors and Bioelectronics ETH Zurich Zurich SWITZERLAND

ISBN: (纸本)9781467359825

关键词： Artificial bacterial flagella (ABFs) liposomes DPPC biomedical applications controlled release

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