Research Archive
A variety of different methods exist for gathering three-dimensional information for micro- and nanoscale objects in an electron microscope. We apply structure-from-motion techniques as efficient, high-precision alternatives to traditional stereo methods which allow for automated utilization of a large number of sampled images. Using helical nanobelts to generate localized rotational motions quickly provides large data sets with frequent measurements, alleviates the demand of high-precision actuators, allows 360 degree rotations, and provides a useful tool for micro- and nanomanipulation.
Real-time visual feedback from electron microscopes are typically noisy and pose significant challenges to an image processing system. This work proposes using rigid model based algorithms for object tracking in a scanning electron microscope. The use of domain specific knowledge by the introduction of two- or three-dimensional object models can be used to provide extra information to the tracking process and increase the system precision.
Rolled-up techniques have enabled a group of structures with nanometer-scale dimensions. These helical nanostructures can be fabricated in a controllable way. The high degree of precision with their shape/position, large compatibility with varied materials, their ultra-high flexibility and their piezo-resistivity indicate their potential as functional elements of NEMS.
Dielectrophoretic Nanoassembly of Nanotubes onto Nanoelectrodes: Dielectrophoretic assembly of carbon nanotubes onto nanoelectrodes has been demonstrated. The success in assembling single MWNTs onto nanoelectrode pairs suggests great potential for integrating nanosized functional elements onto nanoelectrodes, thus enabling nanoelectronics and NEMS applications.
Undoubtedly one of the most promising fields of application for nanorobotics are biomedical tasks in a biological environment. While we do have a track record in nanomanipulation and assembly in high-vacuum, the environment in a biological cell or the human body is aqueous and has thus very different requirements. This work aims at optical tracking of devices the visualisation of morphological changes in such conditions.
One possible way to enable more complex minimally invasive medical procedures, ranging from diagnosis and targeted drug delivery to complex surgical interventions, is to develop robotic systems that can self-assemble inside the body. We are currently addressing the challenge of assembly and disassembly of these devices using permanent magnetic systems.
Future retinal therapies will be partially automated in order to increase the surgeons' ability to operate near the sensitive structure of the human eye retina. Untethered robotic devices that achieve the desired precision have been proposed, but require localization information for their control. Since the interior of the human eye is externally observable, vision can be used for localization.
The fruit fly (Drosophila melanogaster), shown in Figure 1, is a model organism studied by biologists for almost a century, and possesses a highly developed flight control system that provides the insect with the capability to perform robust stable flight, as well as exceedingly rapid and precise turning maneuvers.
BioMicrorobotics is an emerging field that combines the exciting new tools and capabilities enabled by Micro- and Nano-Technology with the established theory and techniques of robotics for biomedical applications. At IRIS we are developing sub-mm sized untethered microrobots and magnetic actuation and steering systems with a focus on ophthalmic applications.
Magnetic actuators are capable of generating large bi-directional forces with long working lengths. They are widely used in the macro world and are of growing interest to the micro world. Many papers have been published on the use of magnetics where their unique characteristics make them the actuation method of choice in specific situations.