Xu Micromachines for Biological Micromanipulation

1. Auflage 2018
ISBN: 978-3-319-74621-0
Verlag: Springer Nature Switzerland
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 233 Seiten

This book provides an overview of the noteworthy developments in the field of micromachining, with a specific focus on microinjection systems used for biological micromanipulation. The author also explores the design, development, and fabrication of new mechanical designs for micromachines, with plenty of examples that elucidate their modeling and control. The design and fabrication of a piezoelectric microinjector, constant force microinjector, constant force microgripper, PDVF microforce sensor, and a piezoelectric microsyringe are presented as examples of new technology for microinjection systems. This book is appropriate for both researchers and advanced students in bioengineering.

Dr. Qingsong Xu is Associate Professor in the Department of Electromechanical Engineering at the University of Macau. His research encompasses MEMS-based microrobotics, intelligent theory and applications, and micro-/nanopositioning systems.

Autoren/Hrsg.

Xu, Qingsong

Inhaltsverzeichnis

1;Preface;6
2;Contents;8
3;1 Introduction;1
3.1;1.1 Biological Micromanipulation;13
3.2;1.2 Tethered Micromachines for Bio-micromanipulation;14
3.3;1.3 Untethered Micromachines for Bio-micromanipulation;17
3.4;1.4 Lab-on-a-Chip Micromachines for Bio-micromanipulation;18
3.5;1.5 Microscopes for Biological Micromanipulation;19
3.6;1.6 Microforce Sensing and Feedback Control;20
3.7;1.7 Conclusion;21
3.8;References;22
4;2 Review of Microinjection Systems;26
4.1;2.1 Introduction;26
4.1.1;2.1.1 The Role of Cell Microinjection;26
4.1.2;2.1.2 Conventional Manual Cell Microinjection;27
4.1.3;2.1.3 Current Methods of Cell Microinjection;28
4.2;2.2 Injection of Adherent Cells;29
4.3;2.3 Injection of Suspended Cells;31
4.3.1;2.3.1 Drosophila Melanogaster Embryo;31
4.3.2;2.3.2 Zebrafish Embryo;32
4.3.3;2.3.3 Mouse Embryo;33
4.4;2.4 Robotic Cell Microinjection System;33
4.5;2.5 Microforce Sensors for Cell Microinjection;35
4.5.1;2.5.1 Vision-Based Force Sensors;36
4.5.2;2.5.2 Capacitive Force Sensors;40
4.5.3;2.5.3 Optical-Based Force Sensors;41
4.5.4;2.5.4 Piezoresistive Force Sensors;43
4.5.5;2.5.5 Piezoelectric Force Sensors;45
4.6;2.6 Current Challenges on Cell Microinjection;47
4.6.1;2.6.1 Micromanipulator Design;47
4.6.2;2.6.2 Injection Control Design;48
4.6.3;2.6.3 Cell Holder Design;48
4.6.4;2.6.4 Penetration Scheme Design;50
4.6.5;2.6.5 Injecting Pipette Maintenance;51
4.6.6;2.6.6 Injection Volume Issue;51
4.7;2.7 Conclusion;52
4.8;References;53
5;3 Design, Fabrication, and Testing of a Microforce Sensor for Microinjection;59
5.1;3.1 Introduction;59
5.2;3.2 Mechanism Design of the Microforce Sensor;61
5.3;3.3 Modeling of the Microforce Sensor;63
5.4;3.4 Fabrication and Calibration of the Microforce Sensor;65
5.4.1;3.4.1 Experimental Setup;65
5.4.2;3.4.2 Calibration Results;66
5.5;3.5 Application in Cell Microinjection;69
5.5.1;3.5.1 Experimental Setup;70
5.5.2;3.5.2 Results and Discussions;72
5.6;3.6 Conclusion;73
5.7;References;73
6;4 Design and Control of a Piezoelectric-Driven Microinjector;75
6.1;4.1 Introduction;75
6.2;4.2 Mechanism Design of the Piezo-Driven Cell Microinjector;76
6.3;4.3 Prototype Fabrication and Calibration;78
6.3.1;4.3.1 Prototype Fabrication and Experimental Setup;79
6.3.2;4.3.2 Calibration of Position Sensor;81
6.3.3;4.3.3 Calibration of Force Sensor;82
6.4;4.4 Preliminary Experimental Study;83
6.4.1;4.4.1 Position and Force Controller Design;83
6.4.2;4.4.2 Motion Planning for Cell Microinjection;84
6.4.3;4.4.3 Experimental Study of Cell Microinjection;85
6.5;4.5 Advanced Position and Force Switching Control Design;89
6.5.1;4.5.1 Weight-Based Switching Control System;89
6.5.2;4.5.2 Adaptive Sliding Mode Position Controller Design;91
6.5.3;4.5.3 Incremental PID Force Controller Design;94
6.5.4;4.5.4 Switching Scheme Design;94
6.6;4.6 Experimental Testing Results;95
6.6.1;4.6.1 Controller Setup;95
6.6.2;4.6.2 Position/Force Switching Control Results;96
6.6.3;4.6.3 Discussions;98
6.7;4.7 Conclusion;99
6.8;References;99
7;5 Design, Fabrication, and Testing of a Constant-Force Microinjector;101
7.1;5.1 Introduction;101
7.2;5.2 Structure Design;102
7.2.1;5.2.1 Design of Displacement Amplifier;102
7.2.2;5.2.2 Design of Zero-Stiffness Mechanism;104
7.2.3;5.2.3 Parametric Study;106
7.2.4;5.2.4 Design of Parameters and Optimization;109
7.2.5;5.2.5 Design of the Layout;111
7.3;5.3 Performance Evaluation with FEA Simulation;112
7.3.1;5.3.1 Amplification Ratio Assessment;112
7.3.2;5.3.2 Actuation Force and Stress Evaluation;113
7.4;5.4 Performance Testing by Experimental Study;115
7.4.1;5.4.1 Prototype Fabrication;115
7.4.2;5.4.2 Testing Result of Constant-Force Performance;116
7.4.3;5.4.3 Repeatability Testing Result;117
7.4.4;5.4.4 Comparison Experimental Result;119
7.5;5.5 Applications in Biological Micromanipulation;120
7.5.1;5.5.1 Experimental Setup;120
7.5.2;5.5.2 Controller Design;121
7.5.3;5.5.3 Mechanical Property Testing of Biological Cell;122
7.5.4;5.5.4 Experimental Testing of Cell Injection;124
7.6;5.6 Conclusion;126
7.7;References;126
8;6 Design, Modeling, and Control of a Constant-Force Microgripper;128
8.1;6.1 Introduction;128
8.2;6.2 Mechanism Design;130
8.2.1;6.2.1 Design of the System Stiffness;130
8.2.2;6.2.2 Design of the Constant-Force Module;131
8.3;6.3 Simulation Study with FEA;134
8.4;6.4 Design of Sliding Mode Control;138
8.4.1;6.4.1 Nonswitching-Type Reaching Law Design;138
8.4.2;6.4.2 Stability Analysis;140
8.5;6.5 Prototype Fabrication and Performance Testing;141
8.5.1;6.5.1 Prototype Fabrication;141
8.5.2;6.5.2 Gripping Range and Hysteresis Tests;142
8.5.3;6.5.3 Force–Displacement Relation Test;144
8.5.4;6.5.4 Dynamics Performance Test;144
8.6;6.6 Closed-Loop Experimental Studies;146
8.6.1;6.6.1 Resolution Testing Result;147
8.6.2;6.6.2 Grasp-Hold-Release Operation Testing Result;148
8.6.3;6.6.3 Further Discussion;150
8.7;6.7 Conclusion;151
8.8;References;151
9;7 Design and Development of a Flexure-Based Compact Constant-Force Robotic Gripper;153
9.1;7.1 Introduction;153
9.2;7.2 Mechanism Design;155
9.2.1;7.2.1 Design of Constant-Force Module;155
9.2.2;7.2.2 Design of Gripper Jaw Module;156
9.2.3;7.2.3 Design of the Gripper Layout;157
9.3;7.3 Parametric Design;160
9.3.1;7.3.1 Actuation Force Consideration;161
9.3.2;7.3.2 Gripping Force and Gripping Stroke Consideration;161
9.3.3;7.3.3 Parametric Study;166
9.4;7.4 Experimental Investigations;168
9.4.1;7.4.1 Prototype Development;168
9.4.2;7.4.2 Performance Testing Results;169
9.4.3;7.4.3 Biological Gripping Application;171
9.4.4;7.4.4 Comparison Study Result;172
9.4.5;7.4.5 Further Discussion;173
9.5;7.5 Conclusion;174
9.6;References;174
10;8 Design and Implementation of a Force-Sensing MEMS Microgripper;177
10.1;8.1 Introduction;177
10.2;8.2 Mechanism Design of the Microgripper;178
10.2.1;8.2.1 Actuator Design;180
10.2.2;8.2.2 Sensor Design;182
10.3;8.3 Performance Estimation with FEA Simulation;185
10.3.1;8.3.1 Statics Analysis;186
10.3.2;8.3.2 Cross-Axis Sensitivity Analysis;187
10.3.3;8.3.3 Dynamics Analysis;188
10.4;8.4 Prototype Fabrication;190
10.5;8.5 Calibration and Performance Testing;190
10.5.1;8.5.1 Force Sensor Calibration;190
10.5.2;8.5.2 Gripping Range Testing;193
10.5.3;8.5.3 Bio-Cellulose Grasp Operation;195
10.5.4;8.5.4 Further Discussion;196
10.6;8.6 Conclusions;197
10.7;References;197
11;9 Design, Analysis, and Development of a Piezoelectric Microsyringe Pump;199
11.1;9.1 Introduction;199
11.2;9.2 Mechanism Design;200
11.2.1;9.2.1 Design of Displacement Amplifier;200
11.2.2;9.2.2 Design of Parallelogram Flexure;202
11.3;9.3 Optimization Design and Simulation Study;203
11.3.1;9.3.1 Optimization Setup;203
11.3.2;9.3.2 Optimization Results;203
11.3.3;9.3.3 Simulation Results;204
11.4;9.4 Prototype Development and Experimental Results;207
11.4.1;9.4.1 Prototype Fabrication and Assembly;207
11.4.2;9.4.2 Controller Setup;209
11.4.3;9.4.3 Microsyringe Performance Testing Results;210
11.4.4;9.4.4 Microsyringe Pump Performance Testing Results;212
11.5;9.5 Conclusion;215
11.6;References;216
12;10 Visual Servo Control with Force Regulation for Microinjection;1
12.1;10.1 Introduction;217
12.2;10.2 Experimental Setup;218
12.3;10.3 Image Processing Procedure;220
12.3.1;10.3.1 Detection of the Injector;221
12.3.2;10.3.2 Detection of the Cells;223
12.4;10.4 Control Scheme Design;224
12.4.1;10.4.1 Cell Searching Process;225
12.4.2;10.4.2 Cell Piercing Process;226
12.5;10.5 Experimental Results;228
12.6;10.6 Conclusion;229
12.7;References;230
13;Index;232