磁驱微纳机器人用细胞原位培养系统的设计

doi:10.3901/JME.2022.01.001

机械工程学报 ›› 2022, Vol. 58 ›› Issue (1): 1-9.doi: 10.3901/JME.2022.01.001

• 机器人及机构学 • 下一篇

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磁驱微纳机器人用细胞原位培养系统的设计

孙浩然, 王林, 于世民, 代礼周, 张广玉, 李天龙

哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150001

收稿日期:2021-01-04 修回日期:2021-05-12 出版日期:2022-01-05 发布日期:2022-03-19
通讯作者: 李天龙(通信作者),男,1988年出生,博士,副教授,博士研究生导师。主要研究方向为医用机器人驱动及控制技术。E-mail:tianlongli@hit.edu.cn
作者简介:孙浩然,男,1998年出生。主要研究方向为微纳机器人的驱动控制系统的设计。E-mail:20s008013@stu.hit.edu.cn
基金资助:
国家自然科学基金资助项目（52175009）。

Design of Cell in Situ Culture System for Magnetic Propelled Micro-nanorobot

SUN Haoran, WANG Lin, YU Shimin, DAI Lizhou, ZHANG Guangyu, LI Tianlong

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2021-01-04 Revised:2021-05-12 Online:2022-01-05 Published:2022-03-19

摘要/Abstract

摘要： 作为新型机器人一个重要的研究方向，微纳机器人在生物医疗领域取得了大量的成果，尤其是磁场驱动微纳机器人，由于其运动控制精准，不需与被控对象直接接触等特点被广泛应用于药物主动靶向递送中。近年来，由于缺乏对磁驱微纳机器人进行运动控制的同时又能给细胞组织提供合适环境的原位培养系统，严重制约了微纳机器人在促进细胞组织再生领域中的研究。为了实现磁场驱动微纳机器人实验过程中细胞组织的原位培养和监测，设计了一套针对磁驱微纳机器人的细胞原位培养系统，反向利用风冷散热器的原理实现系统的温度输出，并通过COMSOL软件进行了非等温流动仿真，其结果表明本套系统的加热模块的加热效果，加热执行装置的加热能力均满足需求，同时明确了培养箱的进出风口位置，而后通过温控实验验证了该套系统能够实现稳定的温度控制。该套原位培养系统的设计实用性强，适用性广，对于微纳机器人原位培养系统的研究具有一定的指导意义。

关键词: 原位培养系统, 磁驱微纳机器人, 非等温流动, 温度控制

Abstract: As an important research direction of the new robot, micro/nano robots have made a lot of achievements in the field of biomedicine. Especially micro/nano robots driven by the magnetic field are widely used in drug delivery because of its precise motion control and no direct contact with the controlled object. In recent years, due to the lack of in-situ culture system which can control the motion of magnetically driven micro-nano robots and provide suitable temperature environment for cell tissue at the same time, the application and research of micro/nano robots in promoting cell tissue regeneration are seriously restricted. A set of cells in situ culture system for magnetically driven micro-nano robots is designed to realize the in-situ culture and monitoring of cell tissue in the experiment of magnetically driven micro/nano robots. The temperature output of the system is realized by using the principle of air-cooled radiator in reverse. The non-isothermal flow simulation is carried out by COMSOL software. These simulation results show that the heating effect of the heating module and the heating capacity of the heating actuator could meet the demand. At the same time, the position of the inlet and outlet of the incubator was defined by these. Then the temperature control experiment verified that the system could achieve stable temperature control. The design of the system has strong practicability, wide applicability and guiding significance for the research of micro/nano robots in situ culture system.

Key words: in situ culture system, magnetically driven micro-nano robots, non-isothermal flow simulation, temperature control

中图分类号:

TG156

孙浩然, 王林, 于世民, 代礼周, 张广玉, 李天龙. 磁驱微纳机器人用细胞原位培养系统的设计[J]. 机械工程学报, 2022, 58(1): 1-9.

SUN Haoran, WANG Lin, YU Shimin, DAI Lizhou, ZHANG Guangyu, LI Tianlong. Design of Cell in Situ Culture System for Magnetic Propelled Micro-nanorobot[J]. Journal of Mechanical Engineering, 2022, 58(1): 1-9.

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磁驱微纳机器人用细胞原位培养系统的设计

Design of Cell in Situ Culture System for Magnetic Propelled Micro-nanorobot

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