A flexible automated magnetic microrobot assembly system
Oliver J. Shindell, Aaron C. Davis, David J. Cappelleri
TL;DR
This paper introduces a system for automatically assembling microrobots with magnets and sealed drug compartments, aiming to enable mass production for medical applications.
Contribution
A novel automated system for assembling microrobots with embedded magnets and sealed drug compartments is developed.
Findings
The system assembles a drug delivery robot in 192.77±48.28 seconds.
100% of wax seals were hermetic with an average thickness of 302±25 µm.
The system enables precise magnet assembly using vision-based feedback.
Abstract
This paper presents a novel system for flexible automated fabrication of microrobots with embedded permanent magnets, and for the loading of liquid therapeutic drugs and sealing with thermally sensitive wax. Microrobots featuring embedded magnets are more controllable and observable, and are capable of tasks requiring higher forces. In this system, a micromanipulator controls tweezers, and stepper motors actuate a four-stage system that executes different assembly steps. A syringe pump is used to fill drug delivery microrobots, and a wax seal is applied with a brush made from heated copper wires. This brush is capable of efficiently applying an even wax coating to drug delivery robots, sealing the contained therapeutics inside. Vision-based feedback from an overhead microscope camera ensures precise embedded magnet assembly through a combination of image processing algorithms. A single…
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Taxonomy
TopicsMicro and Nano Robotics · Soft Robotics and Applications · Piezoelectric Actuators and Control