Knot tying is a critical task in robotic surgery, which considerably important for surgical success and postoperative recovery. Despite of the well-established protocols significant progress using medical robots at macro scale, need automatedly mechanically robust knots on mini-incisions remains largely unmet, particularly with relieved suture deformation, avoided slippage, reduced workspace consumption, enhanced precision biomechanical compatibility. Here, we propose an innovative dual-arm...

Acoustic holography is a promising technique for contactless manipulation, remote sensing, and energy harvesting. It involves retrieving holograms used to modulate acoustic sources reconstructing target fields. The performance of reconstruction primarily determined by two key criteria, including the spatial bandwidth product, which measures pixel number representing information capacity, resolution, quantifies size supporting detail gain. However, existing techniques face limitations in...

This paper reports a novel and easy-to-fabricate MEMS first-order Bessel beam acoustic transducer (BBAT) for particle trapping electrically controllable rotating, in terms of the design, fabrication, characterization, experiments. The BBAT is primarily composed bulk lead zirconate titanate (PZT) ceramic polydimethylsiloxane (PDMS) membrane, bonded by SU-8 photoresist. encloses customized air-cavities order to generate Archimedes’ spiral source. We prototyped 2.32 MHz with which was capable...

Brain-Computer Interface (BCI) has gained remarkable prominence in biomedical community. While BCI holds vast potential across diverse domains, the implantation of neural electrodes poses multifaceted challenges to fully explore power BCI. Conventional rigid face problem foreign body reaction induced by mechanical mismatch biological tissue, while flexible electrodes, though more preferential, lack controllability during implantation. Researchers have explored various strategies, from...

Nanorobotic manipulation inside Scanning Electron Microscope (SEM) is widely used in nanomaterial characterization and assembly tasks. However, tedious time-consuming hardware regulations, like axis alignment, are still critical mandatory to keep the functionality of nanorobot systems. This paper proposes a novel zooming-free hand-eye self-calibration method for nanorobotic SEM circumvent regulation problem, which applicable wide range system configurations. The relationship calibration...

The paper proposes a compact Bessel beam acoustic transducer (BBAT) using MEMS technique. Encoding the first order Archimedean spiral grating with air-cavity lens on 1mm thick bulk lead zirconate titanate (PZT), generates which exerts lateral radiation force objects positive impedance contrast to center of wavefront. In addition, transports angular momentum, thus yields streaming in propagate direction. fabricated acting as tweezer is demonstrated trap Polystyrene (PS) particle water surface...

Despite of the promising advancements in last decade, majority scanning electron microscope (SEM)-based nanomanipulation tasks remain manually performed. Even automated tasks, human intervention is required, at least during task preparatory stage, where both object interest and robot end-effector are adequately enclosed field view (FOV) SEM moderate magnification. This paper proposes a fully visual servo control method for workspace navigation nanorobot that actively maintains position...

The paper investigates the problem of visual tracking on moving object in nanomanipulation inside scanning electron microscope (SEM). Image noise is a primary concern when dealing with problem, which includes inherent statistical and that induced by motion distortion. A method SEM image denoising algorithm proposed. well incorporated robot innovatively leveraging Jacobian matrix technique. denosing removes provides more realistic image. On basis, template matching utilized to achieve plane....

As a promising non-contact and non-invasive manipulation technology, acoustic particle (APM) has wide application potential in fields like material science, chemical analysis, biomedical engineering, etc., particularly given its mechanical vibration nature impressive biocompatibility. One of the key research areas APM is designing implementing different beams for scenarios. Bessel beams, both zeroth-order or high order form, have thus gained great attention academia excellent propagation...

Noncontact particle manipulation (NPM) technology has significantly extended mankind's analysis capability into micro and nano scale, which in turn greatly promoted the development of material science life science. Though NPM by means electric, magnetic, optical field achieved great success, from robotic perspective, it is still labor-intensive since professional human assistance somehow mandatory early preparation stage. Therefore, developing automated noncontact trapping moving particles...

Acoustic holography is a newly emerging and promising technique to dynamically generate arbitrary desired holographic acoustic field in 3D space for contactless robotic manipulation. The latest technology supporting complex dynamic reconstruction through phased transducer array (PTA), where the phase profile of emitted wave from discrete transducers controlled independently by sophisticated circuits modulate interference field. While forward kinematics based manipulation system simple...

Phase-only acoustic holography is a fundamental and promising technique for contactless robotic manipulation. Through independently controlling phase-only hologram (POH) of phase array transducers (PAT) simultaneously driving each channel by sophisticated circuits, certain field dynamically generated in working medium (e.g., air, water or biological tissues) at moment. The profile PAT required precisely as per arbitrary expected the sake versatile stable However, most conventional methods...

Acoustic particle patterning has garnered significant attention within the realms of biotechnology and analytical chemistry due to its promising applications. This technique can be realized through utilization either surface acoustic waves (SAWs) or bulk (BAWs). While SAWs-based boasts remarkable spatial resolution, it is confined manipulation proximate solid transducer. In contrast, BAWs-based permits intricate three-dimensional substantial volumes fluids. Notably, realm Bessel beams also...

Acoustic particle trapping is a promising technology due to its non-contact and non-invasive nature, which makes it safe for use in various applications such as noninvasive operation. One of the most effective reliable methods particles bottle-like trap. This trap utilizes low-pressure zone surrounded by high-pressure acoustic waves particles, are then stabilized upward force from bottom. However, current generating fields expensive has low fabrication precision, phase-controlled arrays or...

Acoustic manipulation has a wide range of applications in medicine and bioscience due to its contactless high penetration capabilities. The twin trap been shown be particularly effective acoustic trapping mode. However, most current studies utilize phase-controlled array generate the field, which is both complicated bulky. In this paper, we present compact easy-to-fabricate Fresnel Lens Twin Trapping Transducer for particles. This transducer fabricated using MEMS processes, enabling...

Acoustic particle trapping demonstrates significant potential across various disciplines, encompassing biology, chemistry, and engineering. One particularly noteworthy technique is the utilization of acoustic Bessel beams, distinguished by their exceptional attributes, such as diffraction-free properties, self-healing capabilities, concentrated energy. Consequently, these beams have proven to be effective for applications. Specifically, implementation high order (HOBB) allows capture...