self-propelled helical nanobelt robots for biomedical applications gilgueng hwang, stéphane...
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Self-propelled Helical Nanobelt Robots for Biomedical Applications
Gilgueng HWANG, Stéphane REGNIER, Sinan HALIYO
http://www.isir.fr
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In-vivo mobile nanorobots ?
1. Power source +2. Actuation/propulsion3. Sensing4. Controlled bio-
mechanical & chemical interactions +
5. External monitoring +6. Wireless communication7. Intelligence © Copyright 1996 by Scientific
American
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Artificial bacteria flagella
Mag. bacteria
S. MarcescensBacteria
Catalytic propulsion
Molecular motor
Behkam et al., APL, 90, 2008
Noji et al., CELL, 93, 1998
Honda et al., IEEE Mag., 32, 1996
Zhang et al.,APL,94,2009
Mei et al., Adv. Mat., 20, 2008
Mei et al., IEEE Bio., 55, 2008
Flagella swimming
Actuation/propulsion
Magnetic swimmingAbbot et al.,IJRR,94,2009
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Controlled bio-mechanical interactions Optical & Magnetic tweezers
Flaser Fviscosité
External manipulation of passive particles
Millimeter to micrometer range Piconewton force range Indirect force measurement:
Optical detection + Interaction models
In-vitro only
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A new active tool: Helical NanobeltsBilayer Configuration
Strained Bilayer
Model by Atomic Lattice Mismatch
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HNB design & fabrication
16
464
2121
42
1
2321
22
212
31
41
2
1
dddd
dE
Eddddddd
E
E
r
d1, d2: layer thickness. E: Young modulus
: mismatch between bilayer. : Poisson’s ratio of the bilayer
Self-scrolling principle
GaAs Substrate
MBE Deposition of GaAs/AlGaAs/InGaAs/GaAs
Positive Photolithography
Cr/Ni/Au Evaporation
Wet Etch ReleaseRIE
Negative Photolithography
Lift-Off
(a)
(c)
(b)
(g)
(f)
(e)
(d)
Metal connectors
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Piezoresistive Force Sensing
10μm
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Piezoresistance coefficient 249~890X higher than
boron doped P+ Si cantilever
Piezo. Coef.Πl
ρ[E-10Pa-1]
Si Bulk -1.7~-9.4
Bn-Si -4
SiNW -3.5~-355
CNT -400
HNB -399~-3560
Hwang et al., ACS Nano Lett., 9, 554, 2009
Compared to other piezoresistors
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Biocompatible force-sensing
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And They Swim !
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Electro-osmotic Actuation
EH
v NRrtotal
3
2 0
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Swimming performance
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Electric vs magnetic field Electric field provides the power source and
the direction: the robot is self-propelled through elecro-osmosis
Single Flagellum Multiflagella
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Bio-chemical interactions
www.golem-project.euDesign of DNA sequences for controllable micro-scale assembly
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Nanoscale transport (coming soon)
Reconfigurable Assembly
Transport direction
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Magnetic Resonance Imaging
Near Infrared Fluorescent Imaging
Altınolu et al. ©2008 ACS Nano
External monitoring
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Actuation mechanismsApproach
Design parameters
Electrical Motor Optical Motor Mechanical motor
Remote Power Source
AC/DC electric field Pulse wave laser (near infrared laser)
Mechanical energy (oscillation, stress)
Energy Conversion mechanism
Electro-osmosisDielectrophoresis
Photoconductivity Piezoelectricity
Motions Gradient Pulling / Helical propellerElastic tail oscillation / Pumping by torsion motion
Geometry Single/multiflagella (for SWARM behavior)Single/dual chirality (linear to rotary conversion) helical structure
p-n junction (diode) or quantum well for rotating and pumping
Material InGaAs/GaAs (incorporation with ZnO or Al increases piezo effect)InGaAs/InP (different resonance frequencies)
Surface Chemistry
Hydrophobic surface functionalizationTarget specific biological functionalization
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Potential applications ?
Treatment of thrombosis
Targeted drug delivery
In-vivo detection / lab-on-chip analysis
Neural probing