Targeting of cell mockups using sperm-shaped microrobots in vitro

Islam S.M. Khalil; Ahmet Fatih Tabak; Abdelrahman Hosney; Anke Klingner; Marwan Shalaby; Reham M. Abdel-Kader; Mohamed Serry; Metin Sitti

doi:10.1109/BIOROB.2016.7523675

Targeting of cell mockups using sperm-shaped microrobots in vitro

Islam S.M. Khalil, Ahmet Fatih Tabak, Abdelrahman Hosney, Anke Klingner, Marwan Shalaby, Reham M. Abdel-Kader, Mohamed Serry, Metin Sitti

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

Abstract

Sperm-shaped microrobots are controlled under the influence of weak oscillating magnetic fields (milliTesla range) to selectively target cell mockups (i.e., gas bubbles with average diameter of 200 μm). The sperm-shaped microrobots are fabricated by electrospinning using a solution of polystyrene, dimethylformamide, and iron oxide nanoparticles. These nanoparticles are concentrated within the head of the microrobot, and hence enable directional control along external magnetic fields. The magnetic dipole moment of the microrobot is characterized (using the flip-Time technique) to be 1.4×10-11 A.m2, at magnetic field of 28 mT. In addition, the morphology of the microrobot is characterized using Scanning Electron Microscopy images. The characterized parameters and morphology are used in the simulation of the locomotion mechanism of the microrobot to prove that its motion depends on breaking the time-reversal symmetry, rather than pulling with the magnetic field gradient. We experimentally demonstrate that the microrobot can controllably follow S-shaped, U-shaped, and square paths, and selectively target the cell mockups using image guidance and under the influence of the oscillating magnetic fields.

Original language	English
Title of host publication	2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	495-501
Number of pages	7
ISBN (Electronic)	978-1-5090-3287-7
ISBN (Print)	978-1-5090-3288-4
DOIs	https://doi.org/10.1109/BIOROB.2016.7523675
Publication status	Published - 26 Jul 2016
Externally published	Yes
Event	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - University Town, Singapore, Singapore, Singapore Duration: 26 Jun 2016 → 29 Jun 2016 Conference number: 6 http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics

Publication series

Name	2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Publisher	IEEE
Volume	2016
ISSN (Print)	2155-1774
ISSN (Electronic)	2155-1782

Conference

Conference	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Abbreviated title	BioRob 2016
Country/Territory	Singapore
City	Singapore
Period	26/06/16 → 29/06/16
Internet address	http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics

Keywords

n/a OA procedure

Access to Document

10.1109/BIOROB.2016.7523675

Cite this

Khalil, I. S. M., Tabak, A. F., Hosney, A., Klingner, A., Shalaby, M., Abdel-Kader, R. M., Serry, M., & Sitti, M. (2016). Targeting of cell mockups using sperm-shaped microrobots in vitro. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 (pp. 495-501). Article 7523675 (2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob); Vol. 2016). IEEE. https://doi.org/10.1109/BIOROB.2016.7523675

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title = "Targeting of cell mockups using sperm-shaped microrobots in vitro",

abstract = "Sperm-shaped microrobots are controlled under the influence of weak oscillating magnetic fields (milliTesla range) to selectively target cell mockups (i.e., gas bubbles with average diameter of 200 μm). The sperm-shaped microrobots are fabricated by electrospinning using a solution of polystyrene, dimethylformamide, and iron oxide nanoparticles. These nanoparticles are concentrated within the head of the microrobot, and hence enable directional control along external magnetic fields. The magnetic dipole moment of the microrobot is characterized (using the flip-Time technique) to be 1.4×10-11 A.m2, at magnetic field of 28 mT. In addition, the morphology of the microrobot is characterized using Scanning Electron Microscopy images. The characterized parameters and morphology are used in the simulation of the locomotion mechanism of the microrobot to prove that its motion depends on breaking the time-reversal symmetry, rather than pulling with the magnetic field gradient. We experimentally demonstrate that the microrobot can controllably follow S-shaped, U-shaped, and square paths, and selectively target the cell mockups using image guidance and under the influence of the oscillating magnetic fields.",

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author = "Khalil, {Islam S.M.} and Tabak, {Ahmet Fatih} and Abdelrahman Hosney and Anke Klingner and Marwan Shalaby and Abdel-Kader, {Reham M.} and Mohamed Serry and Metin Sitti",

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Khalil, ISM, Tabak, AF, Hosney, A, Klingner, A, Shalaby, M, Abdel-Kader, RM, Serry, M & Sitti, M 2016, Targeting of cell mockups using sperm-shaped microrobots in vitro. in 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016., 7523675, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), vol. 2016, IEEE, Piscataway, NJ, pp. 495-501, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 26/06/16. https://doi.org/10.1109/BIOROB.2016.7523675

Targeting of cell mockups using sperm-shaped microrobots in vitro. / Khalil, Islam S.M.; Tabak, Ahmet Fatih; Hosney, Abdelrahman et al.
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. Piscataway, NJ: IEEE, 2016. p. 495-501 7523675 (2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob); Vol. 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Targeting of cell mockups using sperm-shaped microrobots in vitro

AU - Khalil, Islam S.M.

AU - Tabak, Ahmet Fatih

AU - Hosney, Abdelrahman

AU - Klingner, Anke

AU - Shalaby, Marwan

AU - Abdel-Kader, Reham M.

AU - Serry, Mohamed

AU - Sitti, Metin

N1 - Conference code: 6

PY - 2016/7/26

Y1 - 2016/7/26

N2 - Sperm-shaped microrobots are controlled under the influence of weak oscillating magnetic fields (milliTesla range) to selectively target cell mockups (i.e., gas bubbles with average diameter of 200 μm). The sperm-shaped microrobots are fabricated by electrospinning using a solution of polystyrene, dimethylformamide, and iron oxide nanoparticles. These nanoparticles are concentrated within the head of the microrobot, and hence enable directional control along external magnetic fields. The magnetic dipole moment of the microrobot is characterized (using the flip-Time technique) to be 1.4×10-11 A.m2, at magnetic field of 28 mT. In addition, the morphology of the microrobot is characterized using Scanning Electron Microscopy images. The characterized parameters and morphology are used in the simulation of the locomotion mechanism of the microrobot to prove that its motion depends on breaking the time-reversal symmetry, rather than pulling with the magnetic field gradient. We experimentally demonstrate that the microrobot can controllably follow S-shaped, U-shaped, and square paths, and selectively target the cell mockups using image guidance and under the influence of the oscillating magnetic fields.

AB - Sperm-shaped microrobots are controlled under the influence of weak oscillating magnetic fields (milliTesla range) to selectively target cell mockups (i.e., gas bubbles with average diameter of 200 μm). The sperm-shaped microrobots are fabricated by electrospinning using a solution of polystyrene, dimethylformamide, and iron oxide nanoparticles. These nanoparticles are concentrated within the head of the microrobot, and hence enable directional control along external magnetic fields. The magnetic dipole moment of the microrobot is characterized (using the flip-Time technique) to be 1.4×10-11 A.m2, at magnetic field of 28 mT. In addition, the morphology of the microrobot is characterized using Scanning Electron Microscopy images. The characterized parameters and morphology are used in the simulation of the locomotion mechanism of the microrobot to prove that its motion depends on breaking the time-reversal symmetry, rather than pulling with the magnetic field gradient. We experimentally demonstrate that the microrobot can controllably follow S-shaped, U-shaped, and square paths, and selectively target the cell mockups using image guidance and under the influence of the oscillating magnetic fields.

KW - n/a OA procedure

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PB - IEEE

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Khalil ISM, Tabak AF, Hosney A, Klingner A, Shalaby M, Abdel-Kader RM et al. Targeting of cell mockups using sperm-shaped microrobots in vitro. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. Piscataway, NJ: IEEE. 2016. p. 495-501. 7523675. (2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)). doi: 10.1109/BIOROB.2016.7523675

Targeting of cell mockups using sperm-shaped microrobots in vitro

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