# 上海交通大学生物医学工程学院

**Source**: https://bme.sjtu.edu.cn/Web/Show/2598
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科学研究

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  [纳米、分子及再生医学](https://bme.sjtu.edu.cn/Web/Picture/259)
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  [生物医疗仪器](https://bme.sjtu.edu.cn/Web/Picture/261)
  [影像、计算机系统生物学系统](https://bme.sjtu.edu.cn/Web/Picture/262)

- [生物医疗仪器](https://bme.sjtu.edu.cn/Web/Picture/346)
- [纳米、分子及再生医学](https://bme.sjtu.edu.cn/Web/Picture/347)
- [影像、计算及系统生物医学](https://bme.sjtu.edu.cn/Web/Picture/348)

Micro-instruments and manipulation

发布时间：2021-12-14 19:05:00

Recent advances in soft materials, new
fabrication schemes, and continuum actuation have supported the development of
new micro-instruments and robotics. A fabrication scheme for miniaturized smart
soft composite actuator has been proposed, which can generate a 390 μN force
and achieve a large bending angle of 80°. Applications to grasping small and
delicate objects with single and two finger devices have been demonstrated. The
range of micro-devices developed also includes the design of a microscale
piston, with a maximum dimension of 150 micrometers, fabricated with two-photon
lithography onto the tip of 140 micrometer-diameter capillaries, as well as sub-millimeter
microfluidic chips to deliver nanoliter droplets for liquid biopsy and in vivo
drug screening. Related to these work, a microrobotic platform has been
developed for the functionalization of fibers of diameters from 140 to 830
micrometers, with a patterning precision of 5 micrometers and an orientation
error below 0.4°. This level of transfer precision would allow for the
fabrication of micro-sensor arrays and electronic circuits to perform in situ
biomarker detection and robot assisted intervention.

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**Floating magnetic microrobots for fiber functionalization**

**Principle of operation of the proposed micropiston**

**Micropiston-based compliant gripper**

**Schematic of the delivery sampling probe**

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**Selected Publications****：**

1.    Barbot
A, Tan H, Power M, et al. Floating magnetic microrobots for fiber
functionalization. Science Robotics, 2019, 4(34): eaax8336.

2.    Barbot
A, Power M, F Seichepine, et al. Liquid seal for compact micropiston actuation
at the capillary tip. Science Advances, 2020, 6(22): eaba5660.

3.    Barbot
A, Wales D, Yeatman E, and Yang G-Z. Microfluidics at fiber tip for nanoliter delivery
and sampling. Advanced Science, 2021, 8(10): 2004643.

4.    Lee
H T, Seichepine F, and Yang G-Z. Microtentacle actuators based on shape memory alloy
smart soft composite. Advanced Functional Materials, 2020, 30(34): 2002510.

5. 
Gao A, Liu N, Zhang H, Wu Z, and Yang G-Z. Spiral FBG sensors-based
contact detection for confocal laser endomicroscopy. Biosensors and
Bioelectronics, 2020, 170: 112653.