Closed-Loop Control Strategy For Acoustic Microrobot Based On Vibration Of Microstructure

Precise and robust motion control of micro/nano-particles holds great promise for the next generation of lab-on-chip systems and micro-machine devices. Here, we present a new method to precisely control the motion of microparticles. This system utilizes vision feedback to help the microparticle automatically adjust its position and eventually make sure the final positional deviation of the micro-particle is lower than the program setting value. Numerical simulations and experimental demonstrations show the way microparticles approach near the linear manipulator and attach to it. After attaching, locally enhanced acoustic streaming generated around the linear manipulator would transport the microparticles along the given pathway. Through vision feedback control, the real-time picture of the microparticle can be collected and analyzed by a computer to recognize the particle and find its location, thus the output signal can be adjusted to move the microparticle toward the target. With its favorable controllability, this vision feedback control strategy can be tailored to meet the needs in clinical applications and largely facilitate the microrobot transportation systems.