Feeling paramagnetic micro-particles trapped inside gas bubbles: A tele-manipulation study

Islam S.M. Khalil, Youssef Michel, Baiquan Su, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)

    Abstract

    Surface tension forces, pressure forces, and drag forces arise once a micro-particle comes into contact with a gas bubble or a biological cell in diverse physical and biomedical applications such as targeted therapy, sorting, and characterization of cancer cells. We experimentally demonstrate that these forces can be estimated, scaled-up to the sensory range of a human operator, and sensed during a transparent bilateral tele-manipulation using an electromagnetic system and a haptic device. We find good agreement between the estimated interaction forces and the measured forces using a calibrated microforce sensing probe. The maximum interaction force between a trapped paramagnetic micro-particle and an oxygen bubble is estimated to be 4 ßN. The estimated interaction force is scaled-up and used in the design of a tele-manipulation system (haptic device and an electromagnetic system) that enables motion control of the bubble in a two-dimensional space, while sensing the interaction forces with the bubble. We demonstrate experimentally that the operator senses maximum interaction force (surface tension, pressure, and drag forces) with the same order of magnitude as the calculated theoretical forces. The estimation of interaction forces at this scale provides broad possibilities in targeted therapy and characterization of cancer cells.

    Original languageEnglish
    Title of host publication2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)
    PublisherIEEE
    Pages225-230
    Number of pages6
    ISBN (Electronic)9781509029457
    ISBN (Print)978-1-5090-2946-4
    DOIs
    Publication statusPublished - 18 Jan 2017
    Event6th International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale 2016 - Chongqing, China
    Duration: 18 Jul 201622 Jul 2016
    Conference number: 6

    Conference

    Conference6th International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale 2016
    Abbreviated title3M-NANO 2016
    CountryChina
    CityChongqing
    Period18/07/1622/07/16

    Fingerprint

    sensory feedback
    trapped particles
    Drag
    Surface tension
    manipulators
    bubbles
    Gases
    Cells
    Motion control
    Sorting
    gases
    Contacts (fluid mechanics)
    Oxygen
    interactions
    drag
    therapy
    interfacial tension
    cancer
    electromagnetism
    operators

    Cite this

    Khalil, I. S. M., Michel, Y., Su, B., & Misra, S. (2017). Feeling paramagnetic micro-particles trapped inside gas bubbles: A tele-manipulation study. In 2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) (pp. 225-230). [7824920] IEEE. https://doi.org/10.1109/3M-NANO.2016.7824920
    Khalil, Islam S.M. ; Michel, Youssef ; Su, Baiquan ; Misra, Sarthak. / Feeling paramagnetic micro-particles trapped inside gas bubbles : A tele-manipulation study. 2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). IEEE, 2017. pp. 225-230
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    abstract = "Surface tension forces, pressure forces, and drag forces arise once a micro-particle comes into contact with a gas bubble or a biological cell in diverse physical and biomedical applications such as targeted therapy, sorting, and characterization of cancer cells. We experimentally demonstrate that these forces can be estimated, scaled-up to the sensory range of a human operator, and sensed during a transparent bilateral tele-manipulation using an electromagnetic system and a haptic device. We find good agreement between the estimated interaction forces and the measured forces using a calibrated microforce sensing probe. The maximum interaction force between a trapped paramagnetic micro-particle and an oxygen bubble is estimated to be 4 {\ss}N. The estimated interaction force is scaled-up and used in the design of a tele-manipulation system (haptic device and an electromagnetic system) that enables motion control of the bubble in a two-dimensional space, while sensing the interaction forces with the bubble. We demonstrate experimentally that the operator senses maximum interaction force (surface tension, pressure, and drag forces) with the same order of magnitude as the calculated theoretical forces. The estimation of interaction forces at this scale provides broad possibilities in targeted therapy and characterization of cancer cells.",
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    Khalil, ISM, Michel, Y, Su, B & Misra, S 2017, Feeling paramagnetic micro-particles trapped inside gas bubbles: A tele-manipulation study. in 2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)., 7824920, IEEE, pp. 225-230, 6th International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale 2016, Chongqing, China, 18/07/16. https://doi.org/10.1109/3M-NANO.2016.7824920

    Feeling paramagnetic micro-particles trapped inside gas bubbles : A tele-manipulation study. / Khalil, Islam S.M.; Michel, Youssef; Su, Baiquan; Misra, Sarthak.

    2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). IEEE, 2017. p. 225-230 7824920.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    T1 - Feeling paramagnetic micro-particles trapped inside gas bubbles

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    AU - Khalil, Islam S.M.

    AU - Michel, Youssef

    AU - Su, Baiquan

    AU - Misra, Sarthak

    PY - 2017/1/18

    Y1 - 2017/1/18

    N2 - Surface tension forces, pressure forces, and drag forces arise once a micro-particle comes into contact with a gas bubble or a biological cell in diverse physical and biomedical applications such as targeted therapy, sorting, and characterization of cancer cells. We experimentally demonstrate that these forces can be estimated, scaled-up to the sensory range of a human operator, and sensed during a transparent bilateral tele-manipulation using an electromagnetic system and a haptic device. We find good agreement between the estimated interaction forces and the measured forces using a calibrated microforce sensing probe. The maximum interaction force between a trapped paramagnetic micro-particle and an oxygen bubble is estimated to be 4 ßN. The estimated interaction force is scaled-up and used in the design of a tele-manipulation system (haptic device and an electromagnetic system) that enables motion control of the bubble in a two-dimensional space, while sensing the interaction forces with the bubble. We demonstrate experimentally that the operator senses maximum interaction force (surface tension, pressure, and drag forces) with the same order of magnitude as the calculated theoretical forces. The estimation of interaction forces at this scale provides broad possibilities in targeted therapy and characterization of cancer cells.

    AB - Surface tension forces, pressure forces, and drag forces arise once a micro-particle comes into contact with a gas bubble or a biological cell in diverse physical and biomedical applications such as targeted therapy, sorting, and characterization of cancer cells. We experimentally demonstrate that these forces can be estimated, scaled-up to the sensory range of a human operator, and sensed during a transparent bilateral tele-manipulation using an electromagnetic system and a haptic device. We find good agreement between the estimated interaction forces and the measured forces using a calibrated microforce sensing probe. The maximum interaction force between a trapped paramagnetic micro-particle and an oxygen bubble is estimated to be 4 ßN. The estimated interaction force is scaled-up and used in the design of a tele-manipulation system (haptic device and an electromagnetic system) that enables motion control of the bubble in a two-dimensional space, while sensing the interaction forces with the bubble. We demonstrate experimentally that the operator senses maximum interaction force (surface tension, pressure, and drag forces) with the same order of magnitude as the calculated theoretical forces. The estimation of interaction forces at this scale provides broad possibilities in targeted therapy and characterization of cancer cells.

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    SP - 225

    EP - 230

    BT - 2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

    PB - IEEE

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    Khalil ISM, Michel Y, Su B, Misra S. Feeling paramagnetic micro-particles trapped inside gas bubbles: A tele-manipulation study. In 2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). IEEE. 2017. p. 225-230. 7824920 https://doi.org/10.1109/3M-NANO.2016.7824920