Skip to main content
SpringerLink
Log in

Development of the orthogonal microrobot for accurate microscopic operations

  • Research Paper
  • Published:
Journal of Micro-Nano Mechatronics Aims and scope Submit manuscript

Abstract

In this paper, we describe the development of an orthogonal microrobot for accurate microscopic operations. To conduct the microscopic operation, a simple locomotion mechanism composed of one piezoelectric actuator and two U-shaped electromagnets is proposed. The orthogonal microrobot can move precisely in one-axis with the manner of an inchworm. We use permanent magnets so that this robot can fix itself on a steel surface when no voltage is applied. To provide XY orthogonal positioning, we connect one microrobot to another microrobot orthogonally. To realize cell processing, we arrange the three two-axial orthogonal microrobots on an inverted microscope. We load a simple micropump on right and left robots to hold biological samples such as an egg cell and to inject reagent solutions into biological samples. Finally, we arrange another microrobot between the other two microrobots to position samples. The whole cell processing device is very small, so we can easily set up the whole device to microprocessing instruments. In experiments, orthogonal microrobots succeeded in holding an egg cell with a diameter of 100 μm and sticking the pipette with a diameter of 5 μm into the egg cell under a specific GUI control system with a visual feedback function.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19
Fig. 20
Fig. 21

Similar content being viewed by others

References

  1. Ishihara H, Fukuda T (1997) Miniaturized autonomous robot. Proc SPIE 3202:191–196

    Article  Google Scholar 

  2. Martel S, Doyle K, Martinez G, Hunter I, Lafontaine S (1999) Integrating a complex electronic system in a small scale autonomous instrumented robot: the NanoWaker Project. Proc SPIE 3834:63–73

    Article  Google Scholar 

  3. Kawahara N, Shibata T, Sasaya T (1999) In-pipe wireless micro robot. Proc SPIE 3834:166–171

    Article  Google Scholar 

  4. Martel S, Sherwood M, Helm C, de Quevedo WG (2001) Three-legged wireless miniature robots for mass-scale operations at the sub-atomic scale. Proc 2001 ICRA. IEEE Int Conf Vol 4:3423–3428

    Google Scholar 

  5. Fatikow S (1996) Automated micromanipulation desktop-station based on mobile piezoelectric micro robots. Proc SPIE 2906:66–77

    Article  Google Scholar 

  6. Brequet J-M, Driesen W, Kaegi F, Cimprich T (2007) Applications of piezo-actuated micro-robots in micro-biology and material science. Proc. of the 2007 IEEE International Conference on Mechatronics and Automation, pp 57–62

  7. Cimprich T, Kaegi F, Driesen W, Ferreira A, Breguet JM (2006) Ultrasonic monolithic piezoelectric multi DOF actuators for mobile microrobots, Proc. of 10th International Conference on New Actuators (Actuator 2006), pp 114–117

  8. Kitahara T, Ashida K, Tanaka M, Ishikawa Y, Oyama N, Nakazawa Y (1999) Microfactory and microlathe. Proc of Int. Workshop on Microfactories, pp 1–8

  9. Aoyama H, Iwata F, Sasaki A (1995) Desktop flexible manufacturing system by movable micro robots. Proc. of Int. Conf. on Robotics and Automation, pp 660–665

  10. Aoyama H, Fuchiwaki O (2001) Flexible Micro Processing by Multiple micro robots in SEM. 2001 IEEE International Conference on Robotics and Automation, pp 3429–3434

  11. Hatamura Y,Nakao M, Sato T (1995) Construction of nano manufacturing world as a desk-top Factory. Microsystem technologies 1, pp 155–162

  12. Codourey A, Zesch W, Buchi R, Siegwart R (1995) A Robot System for Automated Handling in Micro-World, Proc. of the Int. Conference on Intelligent Robots and Systems, pp.185–190

  13. Garnica S, Hülsen H, Fatikow S (2003) Development of a control system for a microrobot-based nanohandling station, Int. IFAC Symp. on Robot Control (SYROCO), pp 631–636

  14. Driesenv W, Varidel T, Regnier S, Breguet J-M (2005) Micro manipulation by adhesion with two collaborating mobile micro robots. Journal of Micromechatronics and Microengineering 15:S259–S267

    Article  Google Scholar 

  15. Fatikow S, Wich T, Hulsen H, Sievers T, Jahnisch M (2007) Microrobot system for automatic nanohandling inside a scanning electron microscope. IEEE Trans Mechatron 12(3):1402–1407

    Google Scholar 

  16. Fuchiwaki O, Aoyama H (2002) Piezo Based Micro Robot for Microscope Instrument. 6th International Conference on Mechatronics Technology, pp 499–504

  17. Fuchiwaki O, Misaki D, Aoyama H (2003) Flexible microprocessing organized by versatile micro robots. 7th International Conference on Mechatronics Technology, pp 121–126

  18. Fuchiwaki O, Aoyama H (2002) Visual based motion error compensation for precise versatile micro robot. Proc. of 17th ASPE Annual meeting, pp 148–151, St. Louis

  19. Fuchiwaki O, Misaki D, Aoyama H (2004) Improvement of visual based motion compensation for precise versatile micro robot, Proc. of 19th ASPE Annual meeting, pp 253–256, Orland

  20. Fuchiwaki O, Misaki D, Kanamori C, Aoyama H (2007) Development of the Orthogonal Micro Robot for Accurate Microscopic Operations, Proc. of International Conference on Mechatronics and Automation (ICMA 2007), pp 416–421, Halbin

Download references

Acknowledgement

Part of this study was supported by the Industrial Technology Research Grant Program in'05 from the New Energy and Industrial Technology Development Organization (NEDO) of Japan.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications (UEC), 1-5-1 Chofugaoka, Chofu, Tokyo, Japan

    Ohmi Fuchiwaki, Chisato Kanamori & Hisayuki Aoyama

  2. Department of Mechanical Engineering, Shizuoka Institute of Science and Technology (SIST), 2200-2 Toyosawa, Fukuroi-shi, Shizuoka-ken, Japan

    Daigo Misaki

Authors
  1. Ohmi Fuchiwaki
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Daigo Misaki
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Chisato Kanamori
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Hisayuki Aoyama
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ohmi Fuchiwaki.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Fuchiwaki, O., Misaki, D., Kanamori, C. et al. Development of the orthogonal microrobot for accurate microscopic operations. J. Micro-Nano Mech. 4, 85–93 (2008). https://doi.org/10.1007/s12213-008-0010-1

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12213-008-0010-1

Keywords

Search

Navigation