Precise Hybrid-Actuation Robotic Fiber for Enhanced Cervical Disease Treatment

Treatment for high-grade precancerous cervical lesions and early-stage cancers, mainly affecting women of reproductive age, often involves fertility-sparing treatment methods. Commonly used local treatments for cervical precancers have shown the risk of leaving a positive cancer margin and engendering subsequent complications according to the precision and depth of excision. An intra-operative device that allows the careful excision of the disease while conserving healthy cervical tissue would potentially enhance such treatment. In this study, we developed a polymer-based robotic fiber measuring 150 mm in length and 1.7 mm in diameter, fabricated using a highly scalable fiber drawing technique. This robotic fiber utilizes a hybrid actuation mechanism, combining electrothermal and tendon-driven actuation mechanisms, thus enabling a maximum motion range of 46 mm from its origin with a sub-100 {\mu}m motion precision. We also developed control algorithms for the actuation methods of this robotic fiber, including predefined path control and telemanipulation, enabling coarse positioning of the fiber tip to the target area followed by a precise scan. The combination of a surgical laser fiber with the robotic fiber allows for high-precision surgical ablation. Additionally, we conducted experiments using a cervical phantom that demonstrated the robotic fiber's ability to access and perform high-precision scans, highlighting its potential for cervical disease treatments and improvement of oncological outcomes

Mini Glider Design and Implementation with Wing-Folding Mechanism

This paper describes a mini unmanned glider’s design, simulation, and manufacturing with a novel wing-folding mechanism. The mini-glider is designed for CanSat competition, which has a theme of a Mars glider concept with atmosphere data acquisition. The aim is to facilitate the transportation of the glider and to land it on the destination point by following strict rules. Having a light and compact design is important since it uses power for the transmission of sensory data only. Dimensions of the glider is produced with a wingspan that is 440 mm and a length of 304 mm. The wings can be stowed in a fixed size container that has a diameter of 125 mm and a height of 310 mm. Its weight is only 144 g and it can increase up to 500 g maximum with a payload. The mechanism, which includes springs and neodymium N48 grade magnets for a wing-folding system, is capable of being ready in 98 ms for gliding after separating from its container. The mini-glider is capable of telemetering, communicating, and conducting other sensory operations autonomously during the flight

Stabilization of Microrobot Motion Characteristics in Liquid Media

Magnetically actuated microrobot in a liquid media is faced with the problem of head-tilting reaction caused by its hydrodynamic structure and its speed while moving horizontally. When the instance microrobot starts a lateral motion, the drag force acting on it increases. Thus, the microrobot is unable to move parallel to the surface due to the existence of drag force that cannot be neglected, particularly at high speeds such as >5 mm/s. The effect of it scales exponentially at different speeds and the head-tilting angle of the microrobot changes relative to the reference surface. To the best of our knowledge, there is no prior study on this problem, and no solution has been proposed so far. In this study, we developed and experimented with 3 control models to stabilize microrobot motion characteristics in liquid media to achieve accurate lateral locomotion. The microrobot moves in an untethered manner, and its localization is carried out by a neodymium magnet (grade N48) placed inside its polymer body. This permanent magnet is called a carrier-magnet. The fabricated microrobot is levitated diamagnetically using a pyrolytic graphite placed under it and an external permanent magnet, called a lifter-magnet (grade N48), aligned above it. The lifter-magnet is attached to a servo motor mechanism which can control carrier-magnet orientation along with roll and pitch axes. Controlling the angle of this servo motor, together with the lifter-magnet, allowed us to cope with the head-tilting reaction instantly. Based on the finite element method (FEM), analyses that were designed according to this experimental setup, the equations giving the relation of microrobot speed with servo motor angle along with the microrobot head-tilting angle with servo motor angle, were derived. The control inputs were obtained by COMSOL® (version 5.3, COMSOL Inc., Stockholm, Sweden). Using these derived equations, the rule-based model, laser model, and hybrid model techniques were proposed in this study to decrease the head-tilting angle. Motion control algorithms were applied in di-ionized water medium. According to the results for these 3 control strategies, at higher speeds (>5 mm/s) and 5 mm horizontal motion trajectory, the average head-tilting angle was reduced to 2.7° with the ruled-based model, 1.1° with the laser model, and 0.7° with the hybrid model

Mini Glider Design and Implementation with Wing-Folding Mechanism

This paper describes a mini unmanned glider’s design, simulation, and manufacturing with a novel wing-folding mechanism. The mini-glider is designed for CanSat competition, which has a theme of a Mars glider concept with atmosphere data acquisition. The aim is to facilitate the transportation of the glider and to land it on the destination point by following strict rules. Having a light and compact design is important since it uses power for the transmission of sensory data only. Dimensions of the glider is produced with a wingspan that is 440 mm and a length of 304 mm. The wings can be stowed in a fixed size container that has a diameter of 125 mm and a height of 310 mm. Its weight is only 144 g and it can increase up to 500 g maximum with a payload. The mechanism, which includes springs and neodymium N48 grade magnets for a wing-folding system, is capable of being ready in 98 ms for gliding after separating from its container. The mini-glider is capable of telemetering, communicating, and conducting other sensory operations autonomously during the flight

Algorithm analysis with the help of holographic interferometry

The main purpose of this study is to test the software which runs circuits using a holographic interferometer. With this, it will be possible to develop coding that making the circuit elements work more productively. This study will make testing simpler by using different code clusters and algorithms that can be tested on the same sample or different samples, which vary from being more durable to interchangeable, making it simple to observe whether or not the charge is distributed throughout the circuit evenly. The first step in this study was to test the precision of the experiments mechanism by factoring in the interference pattern by creating a simple electrical circuit element hologram and observing it. First, a hologram of the Arduino circuit in its non-working state was made, then the interference of its working state was observed alongside the hologram by implementing the code, the two states were also compared. By doing so, the possibility of being able to compare and contrast the states of varying code clusters create on the circuit by hologram was tested. The main purpose of our study is to be able to make software comparisons using holographic interferometry in circuit analysis. It was observed that users are able to easily record the hologram, without the use of other mechanisms or a laboratory, in order to use them in testing

Enhanced Fluid Mixing in Microchannels Using Levitated Magnetic Microrobots: A Numerical Study

The efficient mixing of fluids at microscale dimensions presents challenges due to the dominant laminar flow regime which restricts convective mixing. This study introduces a numerical analysis of a novel microrobotic mixing system with a levitated propeller robot, driven by magnetic fields, within a Y-shaped microchannel with a square cross-section (500 × 500 μm). Our research investigates the fluid mixing effectiveness facilitated by the microrobot through various levitation heights and orientations to enhance the mixing index (MI). This index is tested under different conditions by leveraging the dynamics of the propeller robot, characterized by adjustable roll and pitch angles and varying levitation heights. The numerical simulations, conducted using COMSOL® (Finite Element Method, FEM) software, integrate Maxwell’s equations for magnetic field interaction with momentum and transport-diffusion equations to analyze fluid dynamics within the microchannel. Results indicate that the propeller robot can achieve an MI of up to 98.94% at a 150 μm levitation height and 1500 rpm propeller speed within 3 s. Additionally, the study examines the impact of propeller speed, Reynolds number, and robot length on mixing performance, providing comprehensive guidance for optimizing microscale fluid mixing in lab-on-a-chip applications

The observation of imperfections in medical implants by holographic interferometry and the comparisons of these observations to other methods

The purpose of this study is to be able visually display and discuss the possible issues faced with medical implants in patients, by the use of holograph. Although this issue can be solved in many different ways, the object of this study aims to use current technology in order to facilitate the use of holograph technology, which can easily be used in classroom or home settings, in order to be able to assess the stability of the testing method at hand. With this method, it is easy to assess the reasoning behind the shortened lifespan of an implant by optically comparing its original state to its current state. We can also see that the use of holographic technology is 100 times more cost-effective and easy to apply than other conventional methods. The main axis of this method shows us holographic interferometry utilizing interference pattern made up of constructive and destructive waves. This study focuses highly on this method of utilizing technology that can easily turn even mobile phones into laboratories by concentrating on image processing technology, in turn creating an interface which can meet the needs of many researchers. With this study, it will be possible to create high-quality, cost-effective, and user-friendly test devices, which can be used in order to educate and fabricate

Untethered Microrobot Motion Mechanism With Increased Longitudinal Force

Abstract The importance of an untethered microrobotic platform that can operate on high flowrate microfluidic channels for in vitro applications is increasing rapidly. This article presents a method to manipulate a microrobot in a fluidic chip when high flowrates (4 ml/min, 82.304 mm/s) are applied. This method is based on a novel permanent magnet-based diamagnetic levitation configuration. This configuration includes a thin layer of pyrolytic graphite, which is placed just below the microrobot. In this way, microrobot stability and manipulation capability are increased. Also, we aim to increase the longitudinal forces imposed on the microrobot to withstand the drag force proportional to the flowrate. Hence, magnetic field lines are generated more linearly around the microrobot by a different combination of permanent magnets. The proposed magnetic configuration, named “KERKAN configuration,” significantly improves the microrobot’s longitudinal forces. In this configuration, two different ring-shaped ferromagnetic magnets are used. One of the magnets has a smaller diameter than the other magnet. A combination of one smaller and one bigger magnet is placed above and below the microrobot. To validate the advantages of this configuration, analytical and simulation studies are conducted. Their results are then compared with experimental results. Experimental results are on par with analytical and simulation studies. KERKAN configuration has a lower displacement than the next best configuration at the highest flowrate we applied (relatively 3301 μm, %21.8).</jats:p

Micro-UFO (Untethered Floating Object): A Highly Accurate Microrobot Manipulation Technique

A new microrobot manipulation technique with high precision (nano level) positional accuracy to move in a liquid environment with diamagnetic levitation is presented. Untethered manipulation of microrobots by means of externally applied magnetic forces has been emerging as a promising field of research, particularly due to its potential for medical and biological applications. The purpose of the presented method is to eliminate friction force between the surface of the substrate and microrobot. In an effort to achieve high accuracy motion, required magnetic force for the levitation of the microrobot was determined by finite element method (FEM) simulations in COMSOL (version 5.3, COMSOL Inc., Stockholm, Sweden) and verified by experimental results. According to position of the lifter magnet, the levitation height of the microrobot in the liquid was found analytically, and compared with the experimental results head-to-head. The stable working range of the microrobot is between 30 µm to 330 µm, and it was confirmed in both simulations and experimental results. It can follow the given trajectory with high accuracy (&lt;1 µm error avg.) at varied speeds and levitation heights. Due to the nano-level positioning accuracy, desired locomotion can be achieved in pre-specified trajectories (sinusoidal or circular). During its locomotion, phase difference between lifter magnet and carrier magnet has been observed, and relation with drag force effect has been discussed. Without using strong electromagnets or bulky permanent magnets, our manipulation approach can move the microrobot in three dimensions in a liquid environment