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Chong WH, Chan DJC, Liu CZ, Lim J. Navigating the microenvironment with flip and turn under quadrupole magnetophoretic steering control: Nanosphere- and nanorod-coated microbead. Electrophoresis 2024; 45:357-368. [PMID: 38044267 DOI: 10.1002/elps.202300042] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/26/2023] [Revised: 10/07/2023] [Accepted: 11/20/2023] [Indexed: 12/05/2023]
Abstract
The spatiotemporal accuracy of microscale magnetophoresis has improved significantly over the course of several decades of development. However, most of the studies so far were using magnetic microbead composed of nanosphere particle for magnetophoretic actuation purpose. Here, we developed an in-house method for magnetic sample analysis called quadrupole magnetic steering control (QMSC). QMSC was used to study the magnetophoretic behavior of polystyrene microbeads decorated with iron oxide nanospheres-coated polystyrene microbeads (IONSs-PS) and iron oxide nanorods-coated polystyrene microbeads (IONRs-PS) under the influence of a quadrupole low field gradient. During a 4-s QMSC experiment, the IONSs-PS and IONRs-PS were navigated to perform 180° flip and 90° turn formations, and their kinematic results (2 s before and 2 s after the flip/turn) were measured and compared. The results showed that the IONRs-PS suffered from significant kinematic disproportion, translating a highly uneven amount of kinetic energy from the same magnitude of magnetic control. Combining the kinematic analysis, transmission electron microscopy micrographs, and vibrating sample magnetometry measurements, it was found that the IONRs-PS experienced higher fluid drag force and had lower consistency than the IONSs-PS due to its extensive open fractal nanorod structure on the bead surface and uneven magnetization, which was attributed to its ferrimagnetic nature.
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Affiliation(s)
- Wai Hong Chong
- School of Chemical Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia
| | - Derek Juinn Chieh Chan
- School of Chemical Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia
| | - Chun-Zhao Liu
- State Key Laboratory of Biochemical Engineering & Key Laboratory of Green Process and Engineering, Institute of Process Engineering, Chinese Academy of Sciences, Beijing, P. R. China
- State Key Laboratory of Bio-fibers and Eco-textiles, Institute of Biochemical Engineering, Affiliated Qingdao Central Hospital, College of Materials Science and Engineering, Qingdao University, Qingdao, P. R. China
| | - JitKang Lim
- School of Chemical Engineering, Universiti Sains Malaysia, Nibong Tebal, Penang, Malaysia
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2
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Li H, Teal D, Liang Z, Kwon H, Huo D, Jin A, Fischer P, Fan DE. Precise electrokinetic position and three-dimensional orientation control of a nanowire bioprobe in solution. NATURE NANOTECHNOLOGY 2023; 18:1213-1221. [PMID: 37500771 DOI: 10.1038/s41565-023-01439-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/26/2022] [Accepted: 06/01/2023] [Indexed: 07/29/2023]
Abstract
Owing to Brownian-motion effects, the precise manipulation of individual micro- and nanoparticles in solution is challenging. Therefore, scanning-probe-based techniques, such as atomic force microscopy, attach particles to cantilevers to enable their use as nanoprobes. Here we demonstrate a versatile electrokinetic trap that simultaneously controls the two-dimensional position with a precision of 20 nm and 0.5° in the three-dimensional orientation of an untethered nanowire, as small as 300 nm in length, under an optical microscope. The method permits the active transport of nanowires with a speed-dependent accuracy reaching 90 nm at 2.7 μm s-1. It also allows for their synchronous three-dimensional alignment and rotation during translocation along complex trajectories. We use the electrokinetic trap to accurately move a nanoprobe and stably position it on the surface of a single bacterial cell for sensing secreted metabolites for extended periods. The precision-controlled manipulation underpins developing nanorobotic tools for assembly, micromanipulation and biological measurements with subcellular resolution.
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Affiliation(s)
- Huaizhi Li
- Materials Science and Engineering Program, Texas Materials Institute, University of Texas at Austin, Austin, TX, USA
| | - Daniel Teal
- Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA
| | - Zexi Liang
- Materials Science and Engineering Program, Texas Materials Institute, University of Texas at Austin, Austin, TX, USA
| | - Hyunah Kwon
- Institute for Molecular Systems Engineering and Advanced Materials, Heidelberg University, Heidelberg, Germany
- Max Planck Institute for Medical Research, Heidelberg, Germany
| | - David Huo
- Department of Biomedical Engineering, University of Texas at Austin, Austin, TX, USA
| | - Alison Jin
- Chandra Family Department of Electrical and Computer Engineering, University of Texas at Austin, Austin, TX, USA
| | - Peer Fischer
- Institute for Molecular Systems Engineering and Advanced Materials, Heidelberg University, Heidelberg, Germany
- Max Planck Institute for Medical Research, Heidelberg, Germany
| | - Donglei Emma Fan
- Materials Science and Engineering Program, Texas Materials Institute, University of Texas at Austin, Austin, TX, USA.
- Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA.
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Wang X, Wang T, Chen X, Law J, Shan G, Tang W, Gong Z, Pan P, Liu X, Yu J, Ru C, Huang X, Sun Y. Microrobotic Swarms for Intracellular Measurement with Enhanced Signal-to-Noise Ratio. ACS NANO 2022; 16:10824-10839. [PMID: 35786860 DOI: 10.1021/acsnano.2c02938] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
In cell biology, fluorescent dyes are routinely used for biochemical measurements. The traditional global dye treatment method suffers from low signal-to-noise ratios (SNR), especially when used for detecting a low concentration of ions, and increasing the concentration of fluorescent dyes causes more severe cytotoxicity. Here, we report a robotic technique that controls how a low amount of fluorescent-dye-coated magnetic nanoparticles accurately forms a swarm and increases the fluorescent dye concentration in a local region inside a cell for intracellular measurement. Different from existing magnetic micromanipulation systems that generate large swarms (several microns and above) or that cannot move the generated swarm to an arbitrary position, our system is capable of generating a small swarm (e.g., 1 μm) and accurately positioning the swarm inside a single cell (position control accuracy: 0.76 μm). In experiments, the generated swarm inside the cell showed an SNR 10 times higher than the traditional global dye treatment method. The high-SNR robotic swarm enabled intracellular measurements that had not been possible to achieve with traditional global dye treatment. The robotic swarm technique revealed an apparent pH gradient in a migrating cell and was used to measure the intracellular apparent pH in a single oocyte of living C. elegans. With the position control capability, the swarm was also applied to measure calcium changes at the perinuclear region of a cell before and after mechanical stimulation. The results showed a significant calcium increase after mechanical stimulation, and the calcium increase was regulated by the mechanically sensitive ion channel, PIEZO1.
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Affiliation(s)
- Xian Wang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
- Program in Developmental and Stem Cell Biology and Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto M5G 1X8, Canada
| | - Tiancong Wang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Xin Chen
- Program in Developmental and Stem Cell Biology and Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto M5G 1X8, Canada
| | - Junhui Law
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Guanqiao Shan
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Wentian Tang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Zheyuan Gong
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Peng Pan
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
- Department of Mechanical Engineering, McGill University, Montreal H3A 0C3, Canada
| | - Xinyu Liu
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto M5S 3G9, Canada
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518172, China
| | - Changhai Ru
- School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou 215009, China
| | - Xi Huang
- Program in Developmental and Stem Cell Biology and Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto M5G 1X8, Canada
- Department of Molecular Genetics, University of Toronto, Toronto, Ontario M5S 1A8, Canada
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto M5S 3G9, Canada
- Department of Electrical and Computer Engineering, University of Toronto, Toronto M5S 3G4, Canada
- Department of Computer Science, University of Toronto, Toronto M5S 3G4, Canada
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Punyabrahma P, Bathe R, Jayanth GR. Micro-ring based manipulation of magnetized particles. THE REVIEW OF SCIENTIFIC INSTRUMENTS 2022; 93:045003. [PMID: 35489946 DOI: 10.1063/5.0072194] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/20/2021] [Accepted: 03/21/2022] [Indexed: 06/14/2023]
Abstract
The micromanipulation of untethered magnetic particles facilitates actuation, assembly, and characterization of samples for micro- and nanotechnology applications. Conventionally, macro-scale electromagnets combined with visual servo control are employed to manipulate untethered particles. Here, we propose to employ a micro-ring actuator and a strategy based on parametric excitation for manipulation of magnetized particles against a surface in a liquid medium, which does not require visual feedback. Experimentally, the system has been employed to smoothly manipulate magnetic particles of diameter in the range 30-50 µm to move along predefined trajectories. Subsequently, the particles have been demonstrated to be manipulated into a conventionally inaccessible region beneath the re-entrant walls of a micromachined silicon chip.
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Affiliation(s)
- P Punyabrahma
- Department of Instrumentation and Applied Physics, Indian Institute of Science, Bangalore 560012, India
| | - R Bathe
- International Advanced Research Centre for Powder Metallurgy and New Materials (ARCI), Hyderabad 500005, India
| | - G R Jayanth
- Department of Instrumentation and Applied Physics, Indian Institute of Science, Bangalore 560012, India
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Abstract
Nanorobotics, which has long been a fantasy in the realm of science fiction, is now a reality due to the considerable developments in diverse fields including chemistry, materials, physics, information and nanotechnology in the past decades. Not only different prototypes of nanorobots whose sizes are nanoscale are invented for various biomedical applications, but also robotic nanomanipulators which are able to handle nano-objects obtain substantial achievements for applications in biomedicine. The outstanding achievements in nanorobotics have significantly expanded the field of medical robotics and yielded novel insights into the underlying mechanisms guiding life activities, remarkably showing an emerging and promising way for advancing the diagnosis & treatment level in the coming era of personalized precision medicine. In this review, the recent advances in nanorobotics (nanorobots, nanorobotic manipulations) for biomedical applications are summarized from several facets (including molecular machines, nanomotors, DNA nanorobotics, and robotic nanomanipulators), and the future perspectives are also presented.
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Aermes C, Hayn A, Fischer T, Mierke CT. Environmentally controlled magnetic nano-tweezer for living cells and extracellular matrices. Sci Rep 2020; 10:13453. [PMID: 32778758 PMCID: PMC7417586 DOI: 10.1038/s41598-020-70428-w] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2020] [Accepted: 07/16/2020] [Indexed: 01/08/2023] Open
Abstract
The magnetic tweezer technique has become a versatile tool for unfolding or folding of individual molecules, mainly DNA. In addition to single molecule analysis, the magnetic tweezer can be used to analyze the mechanical properties of cells and extracellular matrices. We have established a magnetic tweezer that is capable of measuring the linear and non-linear viscoelastic behavior of a wide range of soft matter in precisely controlled environmental conditions, such as temperature, CO2 and humidity. The magnetic tweezer presented in this study is suitable to detect specific differences in the mechanical properties of different cell lines, such as human breast cancer cells and mouse embryonic fibroblasts, as well as collagen matrices of distinct concentrations in the presence and absence of fibronectin crosslinks. The precise calibration and control mechanism employed in the presented magnetic tweezer setup provides the ability to apply physiological force up to 5 nN on 4.5 µm superparamagnetic beads coated with fibronectin and coupled to the cells or collagen matrices. These measurements reveal specific local linear and non-linear viscoelastic behavior of the investigated samples. The viscoelastic response of cells and collagen matrices to the force application is best described by a weak power law behavior. Our results demonstrate that the stress stiffening response and the fluidization of cells is cell type specific and varies largely between differently invasive and aggressive cancer cells. Finally, we showed that the viscoelastic behavior of collagen matrices with and without fibronectin crosslinks measured by the magnetic tweezer can be related to the microstructure of these matrices.
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Affiliation(s)
- Christian Aermes
- Faculty of Physics and Earth Science, Peter Debye Institute of Soft Matter Physics, Biological Physics Division, University of Leipzig, Linnéstr. 5, 04103, Leipzig, Germany
| | - Alexander Hayn
- Faculty of Physics and Earth Science, Peter Debye Institute of Soft Matter Physics, Biological Physics Division, University of Leipzig, Linnéstr. 5, 04103, Leipzig, Germany
| | - Tony Fischer
- Faculty of Physics and Earth Science, Peter Debye Institute of Soft Matter Physics, Biological Physics Division, University of Leipzig, Linnéstr. 5, 04103, Leipzig, Germany
| | - Claudia Tanja Mierke
- Faculty of Physics and Earth Science, Peter Debye Institute of Soft Matter Physics, Biological Physics Division, University of Leipzig, Linnéstr. 5, 04103, Leipzig, Germany.
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Timonen JVI, Grzybowski BA. Tweezing of Magnetic and Non-Magnetic Objects with Magnetic Fields. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2017; 29:1603516. [PMID: 28198579 DOI: 10.1002/adma.201603516] [Citation(s) in RCA: 26] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/04/2016] [Revised: 10/06/2016] [Indexed: 06/06/2023]
Abstract
Although strong magnetic fields cannot be conveniently "focused" like light, modern microfabrication techniques enable preparation of microstructures with which the field gradients - and resulting magnetic forces - can be localized to very small dimensions. This ability provides the foundation for magnetic tweezers which in their classical variant can address magnetic targets. More recently, the so-called negative magnetophoretic tweezers have also been developed which enable trapping and manipulations of completely nonmagnetic particles provided that they are suspended in a high-magnetic-susceptibility liquid. These two modes of magnetic tweezing are complimentary techniques tailorable for different types of applications. This Progress Report provides the theoretical basis for both modalities and illustrates their specific uses ranging from the manipulation of colloids in 2D and 3D, to trapping of living cells, control of cell function, experiments with single molecules, and more.
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Affiliation(s)
- Jaakko V I Timonen
- Department of Applied Physics, Aalto University School of Science, Espoo, 02150, Finland
| | - Bartosz A Grzybowski
- Center for Soft and Living Matter, Ulsan National Institute of Science and Technology, Ulsan, 44919, South Korea
- Department of Chemistry, Ulsan National Institute of Science and Technology, Ulsan, 44919, South Korea
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8
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Yan X, Cheah CC, Ta QM, Pham QC. Stochastic Dynamic Trapping in Robotic Manipulation of Micro-Objects Using Optical Tweezers. IEEE T ROBOT 2016. [DOI: 10.1109/tro.2016.2539378] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
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9
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Haghighi R, Cheah CC. Optical Manipulation of Multiple Groups of Microobjects Using Robotic Tweezers. IEEE T ROBOT 2016. [DOI: 10.1109/tro.2015.2513750] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Chen L, Offenhäusser A, Krause HJ. Magnetic tweezers with high permeability electromagnets for fast actuation of magnetic beads. THE REVIEW OF SCIENTIFIC INSTRUMENTS 2015; 86:044701. [PMID: 25933874 DOI: 10.1063/1.4916255] [Citation(s) in RCA: 23] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/04/2023]
Abstract
As a powerful and versatile scientific instrument, magnetic tweezers have been widely used in biophysical research areas, such as mechanical cell properties and single molecule manipulation. If one wants to steer bead position, the nonlinearity of magnetic properties and the strong position dependence of the magnetic field in most magnetic tweezers lead to quite a challenge in their control. In this article, we report multi-pole electromagnetic tweezers with high permeability cores yielding high force output, good maneuverability, and flexible design. For modeling, we adopted a piece-wise linear dependence of magnetization on field to characterize the magnetic beads. We implemented a bi-linear interpolation of magnetic field in the work space, based on a lookup table obtained from finite element simulation. The electronics and software were custom-made to achieve high performance. In addition, the effects of dimension and defect on structure of magnetic tips also were inspected. In a workspace with size of 0.1 × 0.1 mm(2), a force of up to 400 pN can be applied on a 2.8 μm superparamagnetic bead in any direction within the plane. Because the magnetic particle is always pulled towards a tip, the pulling forces from the pole tips have to be well balanced in order to achieve control of the particle's position. Active video tracking based feedback control is implemented, which is able to work at a speed of up to 1 kHz, yielding good maneuverability of the magnetic beads.
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Affiliation(s)
- La Chen
- Institute of Bioelectronics (ICS-8/PGI-8), Forschungszentrum Jülich GmbH, 52425 Jülich, Germany
| | - Andreas Offenhäusser
- Institute of Bioelectronics (ICS-8/PGI-8), Forschungszentrum Jülich GmbH, 52425 Jülich, Germany
| | - Hans-Joachim Krause
- Institute of Bioelectronics (ICS-8/PGI-8), Forschungszentrum Jülich GmbH, 52425 Jülich, Germany
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Punyabrahma P, Jayanth GR. A magnetic micro-manipulator for application of three dimensional forces. THE REVIEW OF SCIENTIFIC INSTRUMENTS 2015; 86:025004. [PMID: 25725878 DOI: 10.1063/1.4907709] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/04/2023]
Abstract
Magnetic manipulation finds diverse applications in actuation, characterization, and manipulation of micro- and nano-scale samples. This paper presents the design and development of a novel magnetic micro-manipulator for application of three-dimensional forces on a magnetic micro-bead. A simple analytical model is proposed to obtain the forces of interaction between the magnetic micro-manipulator and a magnetic micro-bead. Subsequently, guidelines are proposed to perform systematic design and analysis of the micro-manipulator. The designed micro-manipulator is fabricated and evaluated. The manipulator is experimentally demonstrated to possess an electrical bandwidth of about 1 MHz. The ability of the micro-manipulator to apply both in-plane and out-of-plane forces is demonstrated by actuating permanent-magnet micro-beads attached to micro-cantilever beams. The deformations of the micro-cantilevers are also employed to calibrate the dependence of in-plane and out-of-plane forces on the position of the micro-bead relative to the micro-manipulator. The experimentally obtained dependences are found to agree well with theory.
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Affiliation(s)
- P Punyabrahma
- Department of Instrumentation and Applied Physics, Indian Institute of Science, Bangalore 560012, India
| | - G R Jayanth
- Department of Instrumentation and Applied Physics, Indian Institute of Science, Bangalore 560012, India
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Cheng P, Jhiang SM, Menq CH. Real-time visual sensing system achieving high-speed 3D particle tracking with nanometer resolution. APPLIED OPTICS 2013; 52:7530-7539. [PMID: 24216655 DOI: 10.1364/ao.52.007530] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/02/2013] [Accepted: 10/04/2013] [Indexed: 06/02/2023]
Abstract
This paper presents a real-time visual sensing system, which is created to achieve high-speed three-dimensional (3D) motion tracking of microscopic spherical particles in aqueous solutions with nanometer resolution. The system comprises a complementary metal-oxide-semiconductor (CMOS) camera, a field programmable gate array (FPGA), and real-time image processing programs. The CMOS camera has high photosensitivity and superior SNR. It acquires images of 128×120 pixels at a frame rate of up to 10,000 frames per second (fps) under the white light illumination from a standard 100 W halogen lamp. The real-time image stream is downloaded from the camera directly to the FPGA, wherein a 3D particle-tracking algorithm is implemented to calculate the 3D positions of the target particle in real time. Two important objectives, i.e., real-time estimation of the 3D position matches the maximum frame rate of the camera and the timing of the output data stream of the system is precisely controlled, are achieved. Two sets of experiments were conducted to demonstrate the performance of the system. First, the visual sensing system was used to track the motion of a 2 μm polystyrene bead, whose motion was controlled by a three-axis piezo motion stage. The ability to track long-range motion with nanometer resolution in all three axes is demonstrated. Second, it was used to measure the Brownian motion of the 2 μm polystyrene bead, which was stabilized in aqueous solution by a laser trapping system.
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13
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Zhang Z, Long F, Menq CH. Three-Dimensional Visual Servo Control of a Magnetically Propelled Microscopic Bead. IEEE T ROBOT 2013. [DOI: 10.1109/tro.2012.2229671] [Citation(s) in RCA: 25] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
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Abu-Nimeh FT, Salem FM. An integrated open-cavity system for magnetic bead manipulation. IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS 2013; 7:31-42. [PMID: 23853277 DOI: 10.1109/tbcas.2012.2191151] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/02/2023]
Abstract
Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.
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Affiliation(s)
- F T Abu-Nimeh
- Electrical and Computer Engineering Department, Michigan State University, East Lansing, MI 48824, USA.
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Zhang Z, Menq CH. Design and Modeling of a 3-D Magnetic Actuator for Magnetic Microbead Manipulation. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2011; 16:10.1109/TMECH.2011.2105500. [PMID: 24382943 PMCID: PMC3875236 DOI: 10.1109/tmech.2011.2105500] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/03/2023]
Abstract
This paper presents the design, implementation, modeling, and analyses of a hexapole magnetic actuator that is capable of 3-D manipulation of a magnetic microbead. The magnetic actuator employs six sharp-tipped magnetic poles placed in hexapole configuration, six actuating coils, and a magnetic yoke. The magnetic poles concentrate the magnetic flux generated by the coils to the workspace, resulting in a high magnetic field with a large field gradient for magnetic force generation on the magnetic microbead. A lumped-parameter magnetic force model is then established to characterize nonlinearity of the magnetic force exerting on the magnetic microbead with respect to the applied currents to the coils and the position dependence of the magnetic force in the workspace. The force generation capability of the designed system is then explored using the force model. Moreover, an inverse force model is derived and its effect on the magnetic actuation capability is investigated. The inverse force model facilitates the implementation of a feedback control law to stabilize and control the motion of a magnetic microbead. Experimental results in terms of the magnetic force in relation to stable motion control of a magnetic microbead are used to validate the force model.
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Affiliation(s)
- Zhipeng Zhang
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210 USA. He is now with the GE Global Research Center, Niskayuna, NY 12309 USA ( )
| | - Chia-Hsiang Menq
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210 USA ( )
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Abu-Nimeh FT, Salem FM. An integrated open-cavity system for magnetic bead separation and manipulation. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2011; 2011:8388-8391. [PMID: 22256293 DOI: 10.1109/iembs.2011.6092069] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/31/2023]
Abstract
Superparamagnetic beads are generally used in biomedical assays to manipulate, maneuver, separate, and transport bio-materials. We present a low-cost integrated system designed in bulk 0.5 μm process to automate the manipulation and separation process of magnetic beads. The system consists of an 8 × 8 coil-array suitable for a single bead manipulation, or collaborative manipulation using pseudoparallel executions. The size of a single coil is 30 μm × 30 μm and the driver DC current source supports 8 different levels up to 1.5 mA. The total power consumption of the entire system is 9 mW when running at full power and it occupies an area of 248 μm × 248 μm.
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Affiliation(s)
- Faisal T Abu-Nimeh
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA.
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