Prof. Quan Zhou Prof. Hélder A. Santos Dr. Christos Tapeinos Oğulcan Işıtman, PhD Student
Project description:
A deep understanding of cell uptake mechanism of nanoparticles is extremely important for disease diagnosis and treatment. Current methods are often statistical in nature, and do not characterize the specific interactions between the nanoparticles and the cells. Consequently, a quantitative understanding of the actual uptake process is often lacking and hard to achieve. In this project, we aim to quantitatively study the nanoparticle uptake process in cells by analyzing the motion of different type of magnetic nanoparticles under different force profiles. This novel and unique approach will help to understand how the different surface chemistries and functionalization of the nanoparticles affect the nanoparticle-cell internalization process, from a totally new perspective, not studied before. This will have a great impact in the future design of nanoparticles for biomedical applications.
Robotic Electromagnetic Needles for single micro/nano particle manipulation
Cellular binding force measurement
Publications
2022
Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles
Ogulcan Isitman, Hakan Kandemir, Gokhan Alcan, and 2 more authors
In 2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2022
Magnetic manipulation of particles at close vicinity is a challenging task. In this paper, we propose simultaneous and independent manipulation of two identical particles at close vicinity using two mobile robotic electromagnetic needles. We developed a neural network that can predict the magnetic flux density gradient for any given needle positions. Using the neural network, we developed a control algorithm to solve the optimal needle positions that generate the forces in the required directions while keeping a safe distance between the two needles and particles. We applied our method in five typical cases of simultaneous and independent microparticle manipulation, with the closest particle separation of 30 μm.
@inproceedings{isitman2022,title={Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles},author={Isitman, Ogulcan and Kandemir, Hakan and Alcan, Gokhan and Cenev, Zoran and Zhou, Quan},booktitle={2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)},pages={1--6},year={2022},organization={IEEE},doi={10.1109/MARSS55884.2022.9870468},dimensions={true}}
2021
Non-contact cooperative manipulation of magnetic microparticles using two robotic electromagnetic needles
In this paper, we report a cooperative manipulation method for non-contact robotic electromagnetic needle manipulation system. We employ two 3 degrees of freedom (DOF) robotic electromagnetic needles to achieve an over-actuated manipulator, which can move the particle to any position in the planar workspace from any direction. The redundant DOFs, combined with an optimization-based control approach, enable the manipulator to achieve accurate path following and avoid the collision of needles. Using visual servoing, the developed controller can achieve line following accuracy of 0.33±0.32 μm, square following accuracy of 0.77±0.55 μm, and circle following accuracy of 0.89±0.66 μm with a 4.5 μm diameter superparamagnetic particle. The manipulator can also manipulate a particle along complex paths such as infinity symbol and letter symbols.
@article{isitman21,title={Non-contact cooperative manipulation of magnetic microparticles using two robotic electromagnetic needles},author={I{\c{s}}{\i}tman, O{\u{g}}ulcan and Bettahar, Houari and Zhou, Quan},journal={IEEE Robotics and Automation Letters},volume={7},number={2},pages={1605--1611},year={2021},publisher={IEEE},doi={10.1109/LRA.2021.3137546},url={https://ieeexplore.ieee.org/abstract/document/9661434},dimensions={true},}
