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In this paper we present a hardware architecture with software implementation able to track free swimming single 2μm in diameter MC-1 bacterium. The computer vision system operates at up to 77 fps at full speed and up to 24 fps when recording full 512×512 pixels frame from coupled-charge device (CCD) array. Closed-loop control with lock-in tracking is achieved using the Otsu Segmentation Method (OSM)...
We introduce a method of motion control for bacterial microrobots using oxygen gradients. The bacteria (magnetotactic coccus strain MC-1) have a strong preference for a particular oxygen concentration and reverse swimming direction in order to remain at that oxygen concentration. At the same time, MC-1 consume oxygen, changing the dynamics of the system. We propose that we can use this behavior to...
The field of medical nanorobotics exploits nanometer-scale components and phenomena to enable new or at least to enhance existing medical diagnostic and interventional procedures. The best route for such miniature robots to access the various regions inside the human body is certainly the vascular network which is constituted of nearly 100,000 km of blood vessels. The variations in blood vessels diameters...
Preliminary experiments showed that MC-1 magnetotactic bacteria (MTB) could be used for the delivery of therapeutic agents to tumoral lesions. Each bacterium can provide a significant thrust propulsion force generated by two flagella bundles exceeding 4pN. Furthermore, a chain of single-domain magnetosomes embedded in the cell allows computer directional control and tracking using a magnetic resonance...
This paper investigates the influence of the magnetosome's chain, the motility, and the bacterial cell of MC-1 magnetotactic bacteria (MTB) on the Magnetic Resonance imaging (MRI) contrast. Because of its embedded magnetic nanoparticles, that allow magnetic guidance and imaging contrast generation under MRI, magnetotactic bacteria are being considered for therapeutic drug delivery to tumors. In order...
Magnetic Resonance Targeting (MRT) uses MRI for gathering tracking data to determine the position of microscale entities with the goal of guiding them towards a specific target in the body accessible through the vascular network. At full capabilities, a MRT platform designed to treat a human would consist of a clinical MRI scanner running special algorithms and upgraded to provide propulsion gradient...
Bacteria can be used as computer-controlled bioactuators and means of propulsion for microrobots and other micro-scaled entities to accomplish precise operations as first proposed by our research group in [1] and demonstrated later experimentally in [2]. The last reference confirmed that the propulsion force provided by the flagella being connected to molecular motors embedded in the bacterial cell,...
We show that a combination of various types of nanorobots will prove to be more important as we attend to enhance targeting in the smallest blood vessels found in the human microvasculature. As such, various interdependent concepts for the implementation of these different types of medical bio-nanorobots including nanorobots propelled in the microvasculature by flagellated bacteria to target deep...
The use of a clinical MRI system for propelling and controlling the displacement of a ferromagnetic core along a pre-planned path in the blood vessels has been validated experimentally by our group. The results of the experiment suggest that a MRI platform could not only be used as an imaging or diagnostic tool, but also as an interventional platform. One important medical intervention where such...
This paper presents a hybrid bacteria and microparticles detection platform based on a CMOS technology. Vertical face to face microelectrode arrays are implemented onto CMOS chips by connecting the metal and via layers together. A CMOS post-processing procedure based on Deep Reactive Ion Etching (DRIE) is used to release the microelectrodes and to construct microchannels in between. With medium flow...
This paper presents a novel technique for bacteria detection. The proposed system uses MC-1 magnetotactic bacteria and measures impedance to detect the presence of pathogenic bacteria. An electrode array is connected to respective cells that are fully integrated for impedance detection. The simulated performance shows that the circuit that was designed is robust. It can detect impedances ranging from...
The proposed Magnetotactic Bacteria (MTB) based bio-carrier has the potential to greatly improve pathogenic bacteria detection time, specificity, and sensitivity. Microbeads are attached to the MTB and are modified with a coating of an antibody or phage that is specific to the target pathogenic bacteria. Using magnetic fields, the modified MTB are swept through a solution and the target bacteria present...
MC-1 Magnetotactic Bacteria (MTB) are studied for their potential use as bio-carriers for drug delivery. The exploitation of the flagella combined with nanoparticles magnetite or magnetosomes chain embedded in each bacterium and used to change the swimming direction of each MTB through magnetotaxis provide both propulsion and steering in small diameters blood vessels. But for guiding these MTB towards...
An integrated biosensor for the detection of micron-size biological entities using magnetotactic bacteria (MTB) being guided under the control of an external magnetic field of a few Gauss is briefly described. The proposed biosensor will be implemented onto a silicon substrate compatible with standard CMOS technologies. To validate the proposed concept, a microfluidic device and a microelectronic...
A MEMS structure based on standard CMOS process is presented. It consists in the fabrication of micro-reservoirs in which will be embedded magnetotactic bacteria (MTB) to form a propulsion system for a 550 mum x 650 mum fully autonomous micro- robot to be operated in an aqueous medium. Due to magnetotaxis inherent in each bacterium, the motility of the MTB can be exploited. Furthermore, a directional...
Magnetic resonance imaging characteristics of novel potential drug delivery agents are investigated. Candidate carriers considered in this study are iron-cobalt (Fe-Co) nanoparticles, magnetotactic bacteria (MTB), and magnetite (Fe3O4) microparticles. The micro and nanoparticles are highly magnetic and can be steered using gradient coils. MTB, on the other hand, are microorganisms that naturally follow...
This paper proposes a microsensor designed for the detection of a single microparticle that has potential to be extended to nanoparticles. The complete system, comprised of a sensing microelectrode array, a microelectronic circuit and a microfluidic device, is implemented on a conventional complementary metal oxide semiconductor (CMOS) chip. To establish a Lab-on-Chip system intended for detecting...
Magnetotactic bacteria (MTB) can be controlled by an externally applied magnetic field. Their fast migration speed and quick response time, along with their capability to achieve 4 pN thrust force, make them well suited for micro-bio-actuators and bio-carriers. Here, we use conventional methods of microlithographyto construct a microfluidic device to evaluate the activity of MTB in microchannels....
The initial design of a 500 mumtimes200 mum untethered microrobot for future operations in an aqueous medium is briefly described. Electrical energy requirement is minimized by exploiting the motility of magnetotactic bacteria embedded in special reservoirs and used to propel the microrobot. An embedded control microcircuit powered through photovoltaic cells is developed to control the swimming directions...
This paper proposes a novel micro-carrier based on magnetotactic bacteria (MTB). To confirm the feasibility of such carriers, the thrust force of the bacteria is evaluated. By measuring the swimming speed of MC-1 bacteria in an unbounded medium, a thrust of 4 pN generated by a single MC-1 bacterium is found. The effects on the MTB's swimming speed under the control of micro-electromagnets and influenced...
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