Feng Lin, Zhou Qiang, Song Bin, Feng Yanmin, Cai Jun, Jiang Yonggang, Zhang Deyuan
School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China.
Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China.
Micromachines (Basel). 2018 Nov 13;9(11):590. doi: 10.3390/mi9110590.
We propose an innovative design of millirobot, which can achieve donor cell suction, delivery, and injection in a mammalian oocyte on a microfluidic chip. The millirobot body contains a hollow space that produces suction and ejection forces for the injection of cell nuclei using a nozzle at the tip of the robot. Specifically, a controller changes the hollow volume by balancing the magnetic and elastic forces of a membrane along with the motion of stages in the XY plane. A glass capillary attached to the tip of the robot contains a nozzle that is able to absorb and inject cell nuclei. The millirobot provides three degrees of freedom and generates micronewton forces. We demonstrate the effectiveness of the proposed millirobot through an experiment of the absorption and ejection of 20-µm particles from the nozzle using magnetic control in a microfluidic chip.
我们提出了一种创新的微型机器人设计，它能够在微流控芯片上对哺乳动物卵母细胞实现供体细胞的抽吸、输送和注射。微型机器人主体包含一个中空空间，该空间利用机器人尖端的喷嘴产生用于注射细胞核的吸力和喷射力。具体而言，一个控制器通过平衡膜的磁力和弹力以及XY平面内平台的运动来改变中空体积。连接到机器人尖端的玻璃毛细管包含一个能够吸收和注射细胞核的喷嘴。该微型机器人提供三个自由度并产生微牛顿力。我们通过在微流控芯片中使用磁控从喷嘴吸收和喷射20微米颗粒的实验，证明了所提出的微型机器人的有效性。
