micro-manipulators. The technique developed reply to a need in the micro-manipulation field as none of the common techniques found covers this range and requirements.
Preliminary experiments were conducted in order to calibrate a proper configuration for the flows to catch and manipulate the target. The experiments using the chemical visualization tool and various setup/prototypes demonstrated that for a 1mm target, a good configuration is:
1.5-4mm gap between the wall and the nozzle head (3mm in our case) and a nozzle diameter/nozzle circular gap of ø0.33mm/0.820mm. These parameters are represented in figure 7.1. Using this setup we confirmed the feasibility of the holding process and step motion.
Figure 7.1: Experimental configuration – proportions respected.
The chemical visualization tool developed was used during the preliminary experiment and proved to be a relevant tool to conduct direct observation of a flow. It has been primarily used to determine the nature of the flow/target interaction and the behavior of the flow under specific conditions (linear/turbulent) without requiring the use of simulation. It is extremely efficient in our case considering the easy setup and affordable costs but has its limitations.
Spectacular images of the flow-target interaction were made, as shown in figure 7.2. The exposure of the target to chemicals makes it impossible to use as a vision tool in the final system;
it is a relevant tool only for preliminary experiments. It offers a much longer observation time than the regular ink injection visualization techniques; over 20min of potential vision compared to tens of seconds in closed environment for the ink solution. Another major drawback is the system exposure to chemicals. In our case it doesn’t damage it critically but micro-channel systems built in clean room can be sensitive to acid or basic environment.
Figure 7.2: Chemical visualization example. A strong flow is blown against a target glued to a wall.
Note that the use of such tool can easily determine a laminar/turbulent flow’s behavior without using the Reynold number. The Reynold number remain an experimental estimation, using a user’s constant with a gray area in-between certain values. Crucial information about the ideal flowrates, distance between the nozzle and the target and nozzle size could be extracted, supporting the design of the system.
The use of the chemical tool enabled us to conduct direct observations of the flow-target interaction and supported the design of an analytical model. The hypothesis used were decided using the results of the preliminary experiments. The objective of this model was to bring information about the nature of the stability of the target in order to optimize the configuration of the system. The model’s predictions are in adequation with the observation using the real system. A balance between viscous and pressure forces as well as the wall friction and adhesion maintain the target in the stable location. A modification of one of the flow’s parameters modify the stable location of the target. In the current situation the observation indicates that the pressure forces are still dominant over the viscous forces for the 1mm fish egg target.
Using all the information gathered, a system was designed to conduct tests and attempt advance manipulation tasks (other than holding). The specifications of the system are available in section 6, the system can be crafted using a regular NC machine with the proper drills and end mill from an ABC material, which make it doable and affordable for a broad range of potential user. Despite its simple requirements, the results were satisfying.
A manipulation procedure was designed to efficiently catch and manipulate the target and information about potential further optimization were extracted from the experiments. The target ø1mm fish egg bio target was successfully caught inside the control chamber and a step motion could be carried within a maximum 500µm stroke. The flow condition desired were successfully achieved; a better flow control system will enable enhanced control and mobility.
The current setup shows a 100µm displacement of the target for a 3.8µL/s difference between the flows when 2 of the flows are minimal (10uL/s); hence a microliter per second flow control resolution would enable a 25µm positioning precision of the target within the chamber. The figure 7.3 present a short summary of the control achievements and configuration of the target.
Figure 7.3: Target control and motion achievements.
The manipulation technique was confirmed to be relevant for a 1mm target scale.
(a) Configuration used and theoretical stable location area of the target (b) Stable holding configuration of the target.
(c) Step motion of the target
(d) Roll-without-slide motion of the target
improvement and modification, discussed in the next section. The functionalization of the system still has to be tested to find applications for this device.
Future works
Technology
As an innovative project several discoveries were made, the main one being the confirmation of the flow manipulation techniques feasibility for bio micro manipulation. As the micro scale actually regroup a broad range of scale inside itself, the actual focus of this research is on the 10-3~10-4m scale. The tests were conducted on a 1mm target since a miniaturization of the system and all the implications (design, production, assembly…) is required to ensure the feasibility of the manipulation using a similar configuration for a smaller target. As mentioned in the theoretical part, there is a balance between pressure efforts and viscous efforts in the current configuration, leading to the creation of a stable location for the target. But decreasing the scale actually affects the balance between the pressure and viscosity. A 100µm target shall be a reasonable target for this manipulation technique but the micro physical environment will change in a scale smaller than that. One of the objectives for future works is the design of a smaller system for smaller targets to conduct further tests. Determination of the lower limit of the targets’ size would bring useful information about the limitations of this technique.
Another major improvement in the manipulation would be an orientation control of the target using the roll-without-slide motion as an advantage. Precisely controlling the trajectory of the target rolling on the surface of the wall shall enable the operator through an algorithm to re-orientate the target at the desired location.
The 3-flow configuration was chosen as a first logical setup for the confirmation of the potential of the micro-flow manipulation technique but the manipulation precision could benefit from more complex configurations. Possibilities are numerous but the physical limitations might come from the practical technical aspects of crafting complex devices supplied with precisely coordinated micro flows as well as the design of a model including the possibility of several flows interaction with each other as well as the target (congestion of the environment). An example of
different configuration that could be considered and their hypothetical pros and cons is given in figure 7.4.
Figure 7.4: Different potential advanced flow configurations.
The system presented here have been designed using the information gathered during preliminary experiments and using the results of the chemical visualization tool tests. It can conduct the manipulation tasks desired and a procedure has been designed to assist the operator.
In a future version a few optimization will be done. The angles of the control chamber will be modified to ease the evacuation of eventual air bubbles trapped inside (minor issue) and speed up the target ascension during its attraction inside the chamber. The volume occupied by the manipulation system can also be decreased to enable its use is more compact environments. The pipe adaptor might be modified to ease the connection to the flow control system or potential flow control sensors, depending on the results of the development of these tools in a side project.
The positioning of the system is currently done manually by the operator using linear translation stages but this task will be automated in the future (side project). The functionalization of the wall is discussed in the next “Application” sub-section.
Another focus in the future development of the system will be the assistance of the operator through sensors equipment, vision processing and improvement and the automation of the task. Supporting the data collection shall improve the reliability of the measurement and fasten the further improvement of this system.
Application tasks
The research focused on the manipulation system for a scale/range that isn’t covered by the other micro-manipulation techniques. The potential application are related to bio-engineering and bio-medical field. In order to conduct operations or measurements on the target, the wall surface and the volume behind it may have to be functionalized. Hence, one of the concerns in the future works will be to enable the installation of additional tools within the wall.
Figure 7.5: Target against the wall – Target constituents’ representation.
As an example; figure 7.6 display a potential functionalization of the wall to conduct micro injection tasks. Such procedures are sometimes necessary to inject a marker inside the target, alter its composition or ensure the ingestion of a foreign body (insemination, virus contamination…). Such technique may have applications on the filling of micro-capsules as well.
Figure 7.6: Functionalized wall example: micro injection.
Another application is the direct study of the target’s properties. An example is given is figure 7.7 as it displays a wall equipped with force sensors arrays (right) to measure locally the efforts applied on the target by a variation of the flow (left). Combined with a vision sensing and processing equipment the effort/deformation properties of the target could be extracted. This
could represent a huge advance in the mechanical characterization of bio-targets and mechanical properties control and observation of micro-capsules.
General schematic (left) and situational example (right).
Figure 7.7: Functionalized wall example: Micro force sensors arrays.
As a general manipulator, the system developed can be adapted to fulfill a wide range or requirements for the desired tasks. The necessity of system adaptation is considered during the design but the actual application tasks is to be designed by doctors and peoples working in the bio/medical field.
Tools developed
The overall performances of the system can be improved through a better control of the flow. A control of the flowrates with a micro-liter level of precision between the working range [5µL/s~50µL/s] is strongly desired. Different design/ideas/principles were considered, using the Archimedes principle as a pressure generator with an innovative flow control system in-between.
The current prototype developed in a side project is a channel-gate flow control system; a pressurized room is generated using the Archimedes principle and a channel-gate system enable the operator to open or close certain channels, controlling the flow rate and connection to the pressurized room.
The equipment of the system with reliable sensors for flow measurements and improved vision settings would improve the accuracy and ease of the manipulation and the data extracted.
Two side projects are currently focusing on a flow measurement sensor for the nozzles and a vision-based actuation for the manipulator.
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