Top

Published in:

2018 | OriginalPaper | Chapter

Stiffness Characterization of Biological Tissues by Means of MEMS-Technology Based Micro Grippers Under Position Control

Authors : Alvise Bagolini, Pierluigi Bellutti, Paolo Di Giamberardino, Imre J. Rudas, Vito D’Andrea, Matteo Verotti, Alden Dochshanov, Nicola P. Belfiore

Published in: Advances in Service and Industrial Robotics

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

This paper presents a method for detecting the mechanical stiffness of micro-metric biological tissues by means of compliance tests performed with a MEMS-Technology based microgripper. Thanks to an actuating rotary comb drive working in cooperation with another sensing rotary comb drive, the system is able to recognize the tissue sample stiffness. Such characterization is possible thanks to a proper control system that is applied to the whole mechanical structure.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

previous chapter Human Energy Involved in Manual and Mechanically Facilitate Harvesting of Saffron Flowers

next chapter Bio-Mechatronic Modules for Robotic Massage

Verotti M, Dochshanov A, Belfiore NP (2017) A comprehensive survey on microgrippers design: mechanical structure. J Mech Des 139(6):060801CrossRef

Dochshanov A, Verotti M, Belfiore NP (2017) A comprehensive survey on microgrippers design: operational strategy. J Mech Des 139(7):070801CrossRef

Cecil J, Vasquez D, Powell D (2005) A review of gripping and manipulation techniques for micro-assembly applications. Int J Prod Res 43(4):819–828CrossRefMATH

Cecil J, Powell D, Vasquez D (2007) Assembly and manipulation of micro devices - a state of the art survey. Rob Comput Integr Manufact 23(5):580–588CrossRef

Fantoni G, Porta M (2008) A critical review of releasing strategies in microparts handling. In: Ratchev S, Koelemeijer S (eds) Micro-assembly technologies and applications. IFIP – International Federation for Information Processing, vol 260. Springer, US, pp 223–234

Denisyuk AI, Krasavin AV, Komissarenko FE, Mukhin IS (2014) Mechanical, electrostatic, and electromagnetic mechanical, electrostatic, and electromagnetic manipulation of microobjects and nanoobjects in electron microscopes. Adv Imaging Electron Phys 186:101–140CrossRef

Wei Y, Xu Q (2015) An overview of micro-force sensing techniques. Sens Actuators, A 234:359–374CrossRef

Boudaoud M, Regnier S (2014) An overview on gripping force measurement at the micro and nano-scales using two-fingered microrobotic systems. Int J Adv Rob Syst 11(1):1–15CrossRef

Mekid S, Bashmal S, Ouakad HM (2016) Nanoscale manipulators: review of conceptual designs through recent patents. Recent Pat Nanotechnol 10(1):44–58CrossRef

10.

Jia Y, Xu Q (2013) MEMS microgripper actuators and sensors: the state-of-the-art survey. Recent Patents Mech Eng 6(2):132–142CrossRef

11.

Dodge JT Jr, Brown BG, Bolson EL, Dodge HT (1992) Lumen diameter of normal human coronary arteries: influence of age, sex, anatomic variation, and left ventricular hypertrophy or dilation. Circulation 86(1):232–246CrossRef

12.

Ingber DE (2006) Cellular mechanotransduction: putting all the pieces together again. FASEB J 20(7):811–827CrossRef

13.

Moeendarbary E, Harris AR (2014) Cell mechanics: principles, practices, and prospects. Wiley Interdisc Rev Syst Biol Med 6(5):371–388CrossRef

14.

Bagolini A, Ronchin S, Bellutti P, Chiste M, Verotti M, Belfiore NP (2017) Fabrication of novel MEMS microgrippers by deep reactive ion etching with metal hard mask. Submitted to IEEE J Microelectromech Syst

15.

Verotti M (2016) Analysis of the center of rotation in primitive flexures: uniform cantilever beams with constant curvature. Mech Mach Theory 97:29–50CrossRef

16.

Verotti M, Dochshanov A, Belfiore NP (2017) Compliance synthesis of CSFH MEMS-based microgrippers. J Mech Des Trans ASME 139(2):022301CrossRef

17.

Verotti M, Crescenzi R, Balucani M, Belfiore NP (2015) MEMS-based conjugate surfaces flexure hinge. J Mech Des Trans ASME 137(1):012301CrossRef

18.

Belfiore NP, Broggiato GB, Verotti M, Balucani M, Crescenzi R, Bagolini A, Bellutti P, Boscardin M (2015) Simulation and construction of a MEMS CSFH based microgripper. Int J Mech Control 16(1):21–30

19.

Cecchi R, Verotti M, Capata R, Dochshanov AM, Broggiato GB, Crescenzi R, Balucani M, Natali S, Razzano G, Lucchese F, Bagolini A, Bellutti P, Sciubba E, Belfiore NP (2015) Development of micro-grippers for tissue and cell manipulation with direct morphological comparison. Micromachines 6(11):1710–1728CrossRef

20.

Belfiore NP, Prosperi G, Crescenzi R (2014) A simple application of conjugate profile theory to the development of a silicon micro tribometer. In: ASME 2014 12th Biennial conference on engineering systems design and analysis, ESDA 2014, vol 2. Web Portal ASME (American Society of Mechanical Engineers)

21.

Belfiore NP, Verotti M, Crescenzi R, Balucani M (2013) Design, optimization and construction of MEMS-based micro grippers for cell manipulation. In: ICSSE 2013 - IEEE international conference on system science and engineering, proceedings, pp 105–110

22.

Belfiore NP, Emamimeibodi M, Verotti M, Crescenzi R, Balucani M, Nenzi P (2013) Kinetostatic optimization of a MEMS-based compliant 3 DOF plane parallel platform. In: ICCC 2013 - IEEE 9th international conference on computational cybernetics, proceedings, pp 261–266

23.

Belfiore NP, Verotti M, Di Giamberardino P, Rudas IJ (2012) Active joint stiffness regulation to achieve isotropic compliance in the euclidean space. J Mech Rob 4(4):041010CrossRef

24.

Balucani M, Belfiore NP, Crescenzi R, Verotti M (2011) The development of a MEMS/NEMS-based 3 D.O.F. compliant micro robot. Int J Mech Control 12(1):3–10

25.

Zanetti EM, Perrini M, Bignardi C, Audenino AL (2012) Bladder tissue passive response to monotonic and cyclic loading. Biorheology 49(1):49–63

26.

Terzini M, Bignardi C, Castagnoli C, Cambieri I, Zanetti EM, Audenino AL (2016) Ex vivo dermis mechanical behavior in relation to decellularization treatment length. Open Biomed Eng J 10:34–42CrossRef

27.

Tu C-C, Fanchiang K, Liu C-H (2005) \(1 \times N\) rotary vertical micromirror for optical switching applications. In: 2005 Proceedigns SPIE, MOEMS and miniaturized systems V, 14, 11 April 11 2005, vol 5719

28.

Hou MT-K, Huang J-Y, Jiang S-S, Yeh JA (2008) In-plane rotary comb-drive actuator for a variable optical attenuator. J Micro/Nanolithog MEMS MOEMS 7(4):043015-6

29.

Kim K, Liu X, Zhang Y, Sun Y (2008) Nanonewton force-controlled manipulation of biological cells using a monolithic mems microgripper with two-axis force feedback. J Micromech Microeng 18(5):8

Title: Stiffness Characterization of Biological Tissues by Means of MEMS-Technology Based Micro Grippers Under Position Control
Authors: Alvise Bagolini
Pierluigi Bellutti
Paolo Di Giamberardino
Imre J. Rudas
Vito D’Andrea
Matteo Verotti
Alden Dochshanov
Nicola P. Belfiore
Publisher: Springer International Publishing
Book: Advances in Service and Industrial Robotics
Print ISBN: 978-3-319-61275-1

Electronic ISBN: 978-3-319-61276-8

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-61276-8_100