TY - GEN
T1 - 3D assembly of cellular structures with coordinated manipulation by rail-guided multi-microrobotic system
AU - Wang, Huaping
AU - Yue, Tao
AU - Nakajima, Masahiro
AU - Takeuchi, Masaru
AU - Di, Pei
AU - Sun, Tao
AU - Huang, Qiang
AU - Fukuda, Toshio
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - 3D assembly of cellular structures is important for the fabrication of biological substitute in tissue engineering. In this paper, a novel rail-guided multi-microrobotic system was proposed for the assembly of cellular structure. The cellular 2-dimensional (2D) module was fabricated by UV illumination of the crosslinkable hydrogel. The coordinated manipulation among the micromanipulators was performed with newly designed concentric movement along the rail, which realized the arbitrary change of micromanipulator posture. Through the rotation of the end-effectors around the specimen without swapping out the visual field, the manipulation flexibility was improved. The distance information between the micromanipulator and the module was acquired from vision feedback system and utilized for the automatic pick-up of the microstructure. Through the cooperation among multi-manipulators with hybrid motors, the micromanipulation to assemble the 3D structure with 30 nm operation resolution was achieved. Finally, the rail-guided DeSCom system realized the bottom-up fabrication of cellular vascular-like microtube with vision feedback.
AB - 3D assembly of cellular structures is important for the fabrication of biological substitute in tissue engineering. In this paper, a novel rail-guided multi-microrobotic system was proposed for the assembly of cellular structure. The cellular 2-dimensional (2D) module was fabricated by UV illumination of the crosslinkable hydrogel. The coordinated manipulation among the micromanipulators was performed with newly designed concentric movement along the rail, which realized the arbitrary change of micromanipulator posture. Through the rotation of the end-effectors around the specimen without swapping out the visual field, the manipulation flexibility was improved. The distance information between the micromanipulator and the module was acquired from vision feedback system and utilized for the automatic pick-up of the microstructure. Through the cooperation among multi-manipulators with hybrid motors, the micromanipulation to assemble the 3D structure with 30 nm operation resolution was achieved. Finally, the rail-guided DeSCom system realized the bottom-up fabrication of cellular vascular-like microtube with vision feedback.
UR - https://www.scopus.com/pages/publications/84929153440
U2 - 10.1109/ICRA.2014.6907262
DO - 10.1109/ICRA.2014.6907262
M3 - Conference contribution
AN - SCOPUS:84929153440
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2813
EP - 2818
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -