State Key Laboratory of Mechanics and Control of Mechanical Structures , Nanjing University of Aeronautics and Astronautics , Nanjing , Jiangsu 210016 , China.
College of Materials Science and Engineering , Nanjing Tech University , Nanjing , Jiangsu 211816 , China.
ACS Nano. 2019 Oct 22;13(10):11443-11452. doi: 10.1021/acsnano.9b04930. Epub 2019 Aug 21.
Micro/nanorobotic systems capable of targeted transporting and releasing hold considerable promise for drug delivery, cellular surgery, biosensing, nano assembling, . However, on-demand precise control of the micro/nanorobot movement remains a major challenge. In particular, a practical interface to realize instant and customized interactions between human and micro/nanorobots, which is quite essential for developing next generation intelligent micro/nanorobots, has seldom been explored. Here, we present a human-microrobot user interface to perform direct and agile recognition of user commands and signal conversion for driving the microrobot. The microrobot platform is built based on locally enhanced acoustic streaming which could precisely transport microparticles and cells along a given pathway, while the interface is enabled by tuning the actuation frequency and time with different instructions and inputs. Our numerical simulations and experimental demonstrations illustrate that microparticles can be readily transported along the path by the acoustic robotic system, due to the vibration-induced locally enhanced acoustic streaming and resultant propulsion force. The acoustic robotic platform allows large-scale parallel transportation for microparticles and cells along given paths. The human microrobot interface enables the micromanipulator to response promptly to the users' commands input by typing or music playing for accurate transport. For example, the music tone of a playing melody is used for manipulating a cancer cell to a targeted position. The interface offers several attractive capabilities, including tunable speed and orientation, quick response, considerable delivery capacities, high precision and favorable controllability. We expect that such interface will work as a compelling and versatile platform for myriad potential scenarios in transportation units of microrobots, single cell analysis instruments, lab-on-chip systems, microfactories, .
能够进行靶向运输和释放的微/纳机器人系统在药物输送、细胞手术、生物传感、纳米组装等方面具有广阔的应用前景。然而，对微/纳机器人运动的按需精确控制仍然是一个主要挑战。特别是，需要有一种实用的接口来实现人与微/纳机器人之间的即时和定制交互，这对于开发下一代智能微/纳机器人是非常必要的，但这一接口很少被探索。在这里，我们提出了一种人机微机器人接口，用于直接、灵活地识别用户命令，并进行信号转换以驱动微机器人。微机器人平台是基于局部增强声流构建的，这种声流可以精确地沿着给定路径运输微颗粒和细胞，而接口则通过调整不同指令和输入的驱动频率和时间来实现。我们的数值模拟和实验演示表明，由于振动诱导的局部增强声流和由此产生的推进力，微颗粒可以很容易地沿着声流机器人系统的路径运输。声流机器人平台允许沿着给定路径进行大规模的并行微颗粒和细胞运输。人机微机器人接口使微操纵器能够快速响应用户的命令输入，通过打字或播放音乐来实现精确的运输。例如，播放旋律的音乐音调可用于将癌细胞操纵到目标位置。该接口具有几个吸引人的功能，包括可调速度和方向、快速响应、较大的输送能力、高精度和良好的可控性。我们期望这种接口将成为微机器人运输单元、单细胞分析仪器、片上实验室系统、微工厂等领域中各种潜在场景的强大、通用平台。
