マルチスケールロボティクスの未来	

名古屋大学大学院工学研究科
マイクロ・ナノシステム工学専攻

福田敏男	

福田敏男 Toshio Fukuda••

President, IEEE Robotics and Automation Society(1998-1999)
Editor-in-Chief, IEEE/ASME Trans. Mechatronics(2000-2002)
Director, IEEE Division X, Systems and Control(2001-2002)
President, Japan Society of Fuzzy Theory andIntelligent Informatics (2003-2005)
EIC, J. Advanced Computational Intelligence &Intelligent Informatics, J. Micromechatronics, J.
Robotics and Mech.
Founding President, IEEE Nanotechnology
Council(2002- 2005)
Prof. UC Berkeley(2010), Seoul National Univ.,
CAS IA, BIT, SUT, NCTU, Diakin Univ. , etc.
Director, IEEE Region 10 (2013-14)•

PhD: 89, Books>= 20: papers>=2,000

•
•
•
•
•
•

鉄腕アトムのロボット学	
  福田敏男著	  
集英社 (2003/4/4)	

マルチスケール Multi-scale from Macro to Nanometer
A	

T	
C	
G	
Ants	

Bacteria	

DNA

Buildings	

nano-meter
10-9 mmicro-meter10-6 m10-3 mmili-meter
1m

meter
103 m

1nm

1µm

1mm

1m

1km

Atom

Blood Cells	

Human	

106 m 109 m

Earth	

福田研究室マルチスケールロボティクス	
 Fukuda Laboratory

Multi-scale Robotics
nm

µm

mm

cm

m

Face Robot

Nanorobotic Manipulation

Catheter Surgery Simulator

Brachiation Robot

Robotic Manipulation

Laser Micro Manipulation

Multi-locomotion Robot
3
Multi-mobile Root

サイボーグのためのデバイス	
 Devices for Cyborg: Cybernetic organism
Global	  communica<on	
  device	  (GPS,	
  Radio	
  Transmitter…)	
  Computation/Memory	  devices	
  Super	
  vision	
  device	  Tac<le	  sensing	
  device	  Super	
  sound	
  device	  Enhancement	
  Sensing	
  (touch,	  taste,	  hearing,	
  eyesight,	
  and	
  smell)	
  

ロボット	
（機械）	

Energy	  supply	
  system	
  融合化	
Ar<ﬁcial	
  organs/<ssues	  Super	
  protec<on	
  system	  Muscle	  strength	
  devices	
  

動物	
（生物）	

マイクロ・ナノ制御工学グループ	

Monkey-type Robot

Multi-locomotion Robot

Multi-task Planning for Multirobot

Robotics Human
Interface
Micro/Nano Robotic System
Mechatronics
Multi-scale Robotics

Object Tracking Based on
Cognitive System

Liposome

PipetteNanorobotic System

Intelligent Cane

Robot –Human CoAssembly

Medical Simulator

Single Cell Manipulation/3D Cell AssemblyFukuda Lab., Nagoya University

NHK (Japan)

NHK (Japan)

BBC “Robo Monkey”（UK）	

社会貢献	
 Social Activity
KBC “Robot Special”（Korea）	

NHK (Japan)
News (Japan)

Live News (Japan)

福田研究室の研究の推移 Research Shift of Fukuda Laboratory
Medical Robotics

Intelligent Robotics

Micro Surgery
SystemEndovascular
Surgery Simulation
EVE

Cell Assembly
SystemMicroNano
Robotics

System Cell
Engineering

Micro-Nano
Autonomous
Robot

Micro
CatheterDeviceRobot-Human
Corporation

MultiLocomotion
Robot

Brachiation
Robot

HumanmachineInterface

Robot Hand/
Tactile Device

Single Cell
Manipulation
Micro-Nano
Sensor/Actuator

Vibration
Mobile Robot
Control
SystemSystemMillimeter
Meter
scale
Micrometer
scale
scale
Nanometer
scale

KUKANCHIInteractive
Human-Space
Design andIntelligence

Distributed
Autonomous
Robotics

Swarm
Robotics
Cellular
Robotic
SystemCEBOTMulti-ScaleEng.

Fukuda Lab., Nagoya University

福田研究室の主な研究の進展	

Stream of TimeIchikawa	
  Nakajima	
  Itoigawa	
  

Kaji	
  ma	
  
Ikemoto	  Motoo	
  Ikeda	
  Jatomiko	
  Matsuno	  Sakamoto	
  

Abe	
  

Wakuda	  Kobayashi	
   Yamaji	
  

Ito	
  

Higashi	  Nakanishi	
  

Chen	
  
Shi

	
  Hoshino	  Ishihara	
  

Wada	
  

Ushida	
  

Yang	
  

Morishima	
  
to	
  

Fujiyoshi	  Takeuchi	
  Saito	  Hosaka	  Shimojima	
  

I	
  

Shibata	
  Nishihara	
  Shiotani	
  Takagawa	
  Tanimoto	
  

Guo	
  

Fujisawa	
  

Doi	
  

Uematsu	
  Yoneda	
  
Xue	
  

T	
  okita	
  Arakawa	  Kawauchi	
  Kojima	  Zyada	  Yu	
  Kiguchi	
  

Kwon	
  

Kozuka	
  
Shen	
  

HaTori	
  

Arai	
  

Satoh	  Haitham	  Mitsumoto	
  Imamura	
  

Dong	
  

Kawahashi	
  

Wada	
  

Cai	
  

Mizoguchi	  Sekiyama	  Kurashige	
  Kubota	  Tercero	
  
Ooe	
  

Kawaji	
  

Kim	
  

Hasegawa	  Ahmad	
  

Chen	
  

Lu	
  

Uchida	
  

Kaga	
  

Shoji	
  Ueyama	  Ishigami	
  

Liu	
  

Isogai	
  

Goto	
  

Hosokai	  Maruyama	  Aoyama	   Rokunuzzaman	  Nogawa	  Negishi	  Takahashi	
  

1994

マン-マシン共生	
 Human Machine Symbiosis

Artificial arm Artificial leg

1. Cell Level

3. Human and Unit Level"Multi" robot and "multi" human

5. “Multi" human andIndividual Levelg

StomachHeartLung

2. Organic Device
Level

one-to-one coordination "Multi" robot and "multi" humanthrough the network

4. Human and Individual
Level

6. Network Levelマルチスケールロボティクス	
 Multi-scale Robotics

Multi-scale Robotics

セル構造化ロボット	

Concept of CEBOT

CEBOT: Cellular robotic system

セル構造化ロボット研究	

Research on CEBOT

CEBOT mark I (1985)

CEBOT mark II (1988)

CEBOT mark III (1989)

CEBOT mark IV (1992)

セル構造化ロボット研究	

Research on CEBOT
Computer- CPU : M68040- OS : VxWorks (RTOS)- Bus : VME
Communication- Wireless LAN
Frequency 2471-2497MHz
Speed
2Mbps
Distance up to 60m

Robot I

Robot II

Robot IIICEBOT mark V (1995)

Sensor- CCD camera (Robot II)- Ultra sonic (Robot I)- Infrared (Robot II, III)
Others- DC motor x 2- Battery (12V x 2)

自律分散ロボットシステム	
Work on Distributed Autonomous Robotic Systems- Coupling mechanisms- Structure reconfiguration
methods- Distributed sensing andcooperative navigation

CEBOT mark V and Mobile
manipulator-Swarm Intelligence-Micro Autonomous Robotic
System (MARS)
Flexible Transfer System(FTS)21世紀COEプログラム （2003-2008）	
Micro-Nano Mechatronics for Information-Based Society
Objectives of the Program

We aim to deepen the understanding of the nano-mechanical science (nano sciences in mechanicalengineering) and, by combining micro-nano-mechatronics technologies, we will develop systems
technology that will become the next generation infrastructure of an advanced information-based society.
We will provide seamless support to further research and education in order to establish novel
technologies that will apply nano technology to actual devices and systems, especially using mechanicalengineering approaches.

4グローバルCOEプログラム	
 GCOE Program (2008-2013.3)	
生物学・医学  ナノ制御学

実用化に結びつけるための研究分野融合と産学連携	
世界をリードする人材	

ナノ計測学
21世紀COE

分野融合とシステム化	

ナノ材料学

Global COE
マイクロナノ
設計・製造
技術	

先端医療・
バイオ技術	

ナノ設計・製造学
17／39

産業界	

GCOEの組織 	
GCOE Organization

Basic researchNano	
  control	
  engineering	  T. Fukuda

F. AraiC.-M. HoNano	
  design	
  and	  manufacturing	  K. SatoApplied research

G. Obinata

UCLA

E. Shamoto

N. Umehara

K. Isobe

School of medicine

T. Niimi

K. Fukuzawa

Y. Ju

I. NaruseNano	
  materials	
  science	  A. Sasoh

Advanced	
  bio/medical	
  technology	  M. UedaNano	
  measurement	
  engineering	  J. Usukura

O. TakaiN. OnoM. Okido

研究者の連携	
 Collaboration network between members
UCLA
Nano Measurement
Engineering

Nano Control
Engineering

Nano Design and
Manufacturing

Nano Materials
Science
Regenerative Medicine

科学研究費補助金「特定領域研究」
平成17年度発足特定領域	
（2005-2009）	
申請領域名	

マルチスケール操作によるシステム細胞工学	

申請代表者 	名古屋大学大学院工学研究科／高等研究院
教授・福田 敏男	http://www.chem.scphys.kyoto-u.ac.jp/nonnonWWW/bio/index-j.html

本領域のねらい	
RNA
DNA

組織	

ミトコンドリア	

解析	
統合	

・	
・	
・	

分子レベル	

解析	
統合	

組織レベル	

細胞レベル	
相互作用	

相互作用	
「部分」	

「個」	
機能発現・制御	

複合微生物系	

「集団・環境」	
機能発現・制御	

「システム細胞工学」	
工学技術を基盤として細胞機能の統合的理解を目指す新しい学問領域	

1. システム細胞工学を創成する．	
2. 細胞を構成する要素の素機能および構成要素の統合機能，制御様式を解明する．	
3. 細胞機能を模倣したり，機能を制御するための基礎研究を行う．	
特定領域研究 マルチスケール操作によるシステム細胞工学 成果報告書	
hTp://www.mext.go.jp/a_menu/shinkou/hojyo/chukan-­‐jigohyouka/1301312.htm	
  1

本領域の特色：研究体制	

工 	
学（制御班）	

ナノデバイス	

バイオチップ	バイオ（再構成班）	

リポソーム	

蛋白質合成	

ナノ・マイクロマニピュレータ	メディカル（組織班）	

角膜再生	

テーラード血管モデル	

工学を中心とした横断的研究	
2

基盤技術の分担と融合	
局所制御	
入力	
操作技術	

バイオ（再構成班）	

•	
  環境制御	• 刺激	
• 遺伝子操作	
など	

発現制御	
人工細胞モデル	工 学	

•	  環境制御	• 刺激	
• 遺伝子操作	
など	

観察・計測	

相互作用	（制御班）	
操作技術	

出力	

入力	

出力	
機能制御	
組織	

観察・計測	

相互作用	

メディカル（組織班）	
特定領域研究 マルチスケール操作によるシステム細胞工学 成果報告書	
hTp://www.mext.go.jp/a_menu/shinkou/hojyo/chukan-­‐jigohyouka/1301312.htm	
  4

工学に基づく基盤技術	
cm

µm

nm
細胞内	

組織内	

細胞群	

遺伝子導入	

計測	
環境制御	

遺伝子導入	

タンパク質
合成	

局所刺激	
力計測	

固定	

位置決め	

引張り	
流体力学ストレス	
分離・孤立化	

せん断	

勾配制御	

リポソーム	

10 µm

高効率遺伝子発現	

大腸菌の固定	

無細胞発現系の構築	

遺伝子の発現計測と制御	

1.	
  発現制御	遺伝子発現計測	2.	
  局所制御	特定領域研究 マルチスケール操作によるシステム細胞工学 成果報告書	
hTp://www.mext.go.jp/a_menu/shinkou/hojyo/chukan-­‐jigohyouka/1301312.htm	
  分化の促進	

細胞形態・分化誘導	

3.	
  機能制御	5

スーパーシミュレータ Super-simulator

Future Goal/Direction (Example)	
In vitro simulator of In
vivo environment 	

Super-simulator26	
  hTp://www.micro-­‐nano.jp/en/project.html	

福田研究室の研究領域	
Research Works of Fukuda Lab

Multi-scale Robotics
m
cm

mm

µm
nm

• Multi-locomotion Robots• Multi-mobile-robot Corporation• Interface Robotics• Grasping, Tactile Sensing• Medical Robotics -Vascular Model and
Scaffold• Bio-micro Manipulation for Single Cell
Manipulation• Nanodevice/Nanomanipulation26

ブラキエーションロボット

Brachiator I~III

What is brachiation?
:A interesting form of long-armed
apes’ locomotion
n
n
n

Dynamics of the pendulum
Under-actuated mechanical system
Variable constraint system

Brachiator
Fukuda et al. (1986)

Brachiator II
Saito et al. (1993)

Brachia<on	

Brachiator III
Saito et al. (19962)7

マルチロコモーションロボット
Multi-Locomotion TypesnIn many cases, one creature has multiple types of locomotion in order toimprove its mobility.
nThe motivation of our study is to develop a robot mechanism and a control architecture
which can achieve multiple locomotion.

Concept of Multi-Locomotion Robot(MLR)28マルチロコモーションロボットの推移
Prototype of the Multi-locomotion Robot

Gorilla Robot I(2000)

Gorilla Robot II(2001)

Gorilla Robot III(2002)
29マルチロコモーションロボット	
Realization of Multi-locomotion• In many cases, one creature has multiple types of locomotion in order to improve its
mobility.
• The motivation of our study is to develop a robot mechanism and a control architecture
which can achieve multiple locomotion.

Kajima et al.(IROS2003)
Yoneda et al.(IROS2008)

Doi et al.(ICRA2004)

Aoyama et al.(IROS2008)

Multi-locomotion Robotics Systems; Fukuda et al.; ISBN:978-3642301346

Lu et al.(IR3O
0 S2010)

Experimental	
  Video	
  -­‐from	
  Ladder	  Climbing	
  to	
  Brachiation	
  Brachiation	  Ladder	  Climbing	  Z. Lu et al., Proc. in Int. Conf. Int. Robots and Systems 2010 (IROS 2010)

Multi-Locomotion
Robotic Systems

New Concepts of Bio-inspired Robotics
Toshio Fukuda, Yasuhisa Hasegawa,
Kosuke Sekiyama, Tadayoshi Aoyama
SpringerISBN 978-3-642-30134-6, May 2012	

福田研究室の研究領域	
Research Works of Fukuda Lab

Multi-scale Robotics
m
cm

mm

µm
nm

• Multi-locomotion Robots• Multi-mobile-robot Corporation• Interface Robotics• Grasping, Tactile Sensing• Medical Robotics -Vascular Model and
Scaffold• Bio-micro Manipulation for Single Cell
Manipulation• Nanodevice/Nanomanipulation
	

9	
  

ケインロボット Cane Robotn

Assistant Functions and Objects
Help the elders walking in daily lifen Assist the patients for recovering the motion functionn To guide the user for walking and avoiding the obstaclesn

Lower-extremity
Muscle Weakness

Lower-extremity
Rehabilitation

Guide andAvoid Obstacle
34

インテリジェントケインノコンセプト	
Concept of Intelligent Cane Robot
station

Guidance and obstacle avoidance

Rehabilitation andevaluation！

Emergency aid

Assist for sitting
and standing up	Can be used invarious environments

Fall detection
and prevention

Easy operation35

現在までの研究活動 Previous research
1. Human Walking Intention Estimation (2008)1

2. Fall Detection (2009)2u!"
Left Leg

ITD

uRight Leg

Gait Phase Diagram
1. Jian Huang, Pei Di, Intelligent Robots and Systems, 2008. IROS 2008.
IEEE/RSJ International Conference on

3. Fall Prevention Strategy (2010)3

2. Pei DI, Jian Huang, Micro-Nano Mechatronics and Human Science,
2008. MHS 2008. International Symposium on

4. Optimal Posture Control (2011)4

ys
fy

f
xs
fx
l

ld

Center of the legs

3. Kohei Wakita, Jian Huang, International Conference on
Advanced Mechatronics 2010
4. Pei DI, Jian Huang, International Symposium on Robot andHuman Interactive Communication 201237

福田研究室の研究領域	
Research Works of Fukuda Lab

Multi-scale Robotics
m
cm

mm

µm
nm

• Multi-locomotion Robots• Multi-mobile-robot Corporation• Interface Robotics• Grasping, Tactile Sensing• Medical Robotics -Vascular Model and
Scaffold• Bio-micro Manipulation for Single Cell
Manipulation• Nanodevice/Nanomanipulation

38

The EVE
project

Nagoya University
Micro-Nano Systems Department
Fukuda Laboratory

Challenging the Frontierof the Surgical
Simulation since 1989

脳動脈瘤治療 Treatment of aneurysms	
Aneurysms
Blood	
  vessels	

u Problems	  	
  Brain	

Ø
Cerebral	  Aneurysm	

Ø
Ø
Ø

u Open	
  surgical	
  therapy	
  	
  
Ø
Ø
Ø

Invasive	
  open	
  surgery	
  Intraopera<ve	
   and	   postopera<ve	
   pain	
   and	   much	   bleeding,	
   cause	
   large	
   damages	
   to	   organs,	
   long	
  postopera<ve	
  stay	  in	
  hospital,	
  high	  mortality	  High	
  risk	  for	
  complica<ons	
  u Intravascular	
  surgery	
  
Ø
Ø
Ø

Late	
   iden<ﬁca<on	
   due	   to	
   few	  obvious	
  symptoms	  	
  Various	
   morphology	
   due	   to	
  complex	
  forming	  reasons	
  Massive	
   internal	
   hemorrhage;	
  Permanent	
  damage	
  to	
  organs	
  	
  
High	
   death	
   rate	   aier	
   rupture	
  of	
  aneurysms	
  Minimal	  invasion;	
  less	  bleeding;	
  short	  opera<ve	
  and	  recovery	
  <me	  	
  Treatments	
  for	
  various	
  aneurysms	
  with	  complex	  morphology	  	
  Required	
  for	
  high	  technique	
  for	
  opera<on	
  能動カテーテル	
 Active Catheters (1989-1994)
Intravascular Devices•Adds maneuverability to thecatheter•Endovascular techniques are
new in minimally invasive
surgery•Need to be compatible wit
Xrays•Requires micro systems as
catheters has about 1 mm oflumen[S.Guo, J. of Robotics Soc. of Japan. 1996]
41

カテーテル先端への力センサの組込み	 Force Sensor on catheter tip (1996)•Prevents the damage of vesselwall•A pressure sensor detects theforce applied to the catheter tip

In-Vivo Experiment•Pressure done by the catheter
to an aneurism of canine wasmeasured•Blood pressure fluctuation
was measured[M. Tanimoto, Trans. of the JSME 1997]

Force Sensor In Vivo Experiment Results42テレサージェリ	 Telesurgery (1996)•First catheter manipulation
mechanism using gum rollers•Master device as human interface
for catheter manipulation

Telesurgery System•Reduces the X-rays irradiation tophysicians•Manipulated from outside of thesurgical room
[F. Arai, IEEJ Trans. on Elec. 1997]

Experimentation inside surgical room43

シミュレーション・ベイスド・メディスン
Simulation Based Medicine
Patient Specific Vascular ModelingSpecification:

n
n
n

Information: CT or MRI.
Modeling Resolution: 13 mm
Fabrication Time: < 24 hours
44

３次元プリンティング技術による人工血管モデルの構築	
Vasculature Model Types by 3D printing technology
1st Stage
Solid Model

2nd Stage
3rd Stage
Membranous Model Composite Model

4th Stage
Whole Body Model

Dissection Model
2002

2003

200４	

2003
Pulsation
Reproduction

2004
StressVisualization

2005

Fukuda Lab.
Set to the Workin 2001
RP ModelIncompetent
As a Simulator

2004～	
Comprehensive
Simulator (EVE)45ファイン・バイオメディカル有限会社	

FAIN-Biomedical,Inc.
既製品	

オプション・ オーダーメイド	46
http://www.fain-biomedical.com/

Micro-Nano
Sensors

Human Blood Pressure
Linear Stepping
Master Device for Catheter Insertion
Autonomous Catheter Simulation (2008)
Mechanism (2003)
Insertion System (2006)
Tele-Surgery (1995) Mechanism (2002)

Slave Device forTelesurgery (1996)

Patient Specific Arterial
Models (2004)

Cell Culture in Scaffold(2009)PLCL Scaffold(2006)
Patient SpecificScaffold (2007)

Artery/Organ
Regeneration

Stress Analysis in Bleb
(2011)
Micro Force
Sensor (1997)
Endovascular Evaluator and Photoelastic
Effect of Arterial Models (2005)

Whole Vessel
Reproduction

Catheter
Performance
Analysis (2007)
3D Stress Analysis

Active Catheters(1989-1994)

1989

2000

Robotic Camera IVR
Simulation (2006)

2005

IVR Simulation (2008)

2008

Surgical, pathological,
immune systemsimulator2030

リニアステッピングメカニズム	
 Linear Stepping Mechanism (2003)•Variable speed of insertion and extraction ofcatheter (Feeding force 2N)• Variable rotation speed•High resolution of discrete linear motion ofcatheter (up to 0.1 mm/cicle)
70	
60	

Feeding Distance (mm)• Easy to clean

Rotation50	

6mm/cycle

40	

3.5mm/cycle

30	
20	

1.5mm/cycle

10	

0.1mm/cycle0	0	

Forwardat Variable Speed
F. Arai et al., ICRA 2002

1

	
2

	
3

	
4	

Time (sec)5	

Forward feeding characteristics on several
reciprocating distance of grasping unit48

患者個人に応じた人工血管モデルによるシミュレーション	
Simulation using Patient-Specific Vasculature Models
Whole Body Tomogram

Vasculature
Morphology
Extraction

Resolution: 0.35 x 0.35 x 0.7 [mm]Treatment Simulation

Endovascular Evaluator

Vasculature

Patient-Specific Silicone
T. Fukuda, C. Tercero, Microsurgery, Pan Stanford Pub.

[Ikeda, JRM 2005]49	
  光弾性効果によるカテーテル操作評価 Photo-elastic Evaluation by Artificial Model
Experimental Result

Hardware Setup

Observed Image[S. Ikeda, in Proc. of MICCAI 2005](a) Analyzed Magnitude(b) Analyzed Direction

人工血管シミュレータによる手術シミュレータ Blood Vessel Simulator and Surgical Operation System

T. Fukuda et al., IEEE Industrial Electronics Magazine, Vol. 4,pp. 13-22, 2010.

Pan Stanford Pub, edited by Toshio FUKUDA and Carlos Tercelo,ISBN 978-981-4364-69-0 (Hard cover)ISBN 978-981-4364-70-6 ( eBook)

福田研究室の研究領域	
Research Works of Fukuda Lab

Multi-scale Robotics
m
cm

mm

µm
nm

• Mul<-­‐locomo<on	
  Robots	  • Mul<-­‐mobile-­‐robot	
  Corporation	
  • Interface	  Robotics	
  • Grasping,	
  Tac<le	
  Sensing	  • Medical	
  Robotics	
  -­‐Vascular	  Model	  and	
  Scaffold-­‐	  • Bio-­‐micro	
  Manipulation	
  for	
  Single	
  Cell	  Manipulation	  • Nanodevice/Nanomanipulation	
  
53	
  

３次元細胞構築コンセプト 3D Cell Assembly	
Macro	  Scale

ExamplesOrgan	
  System	  LiverOuter	  Layer

Blood	
  Vessel

Organ

Internal	
  Layer

TissueEndosporium	
  LayerCell	
  (Basic	  Func<onal	
  Unit)Single	  Cell

Nuclear,	
  cell	  cytoplasm,	  Mitochondria…

A	

DNA

T	
C	
G	

3D	
  
Structure

Protein,	
  DNA,…
Micro	
  ScaleComponents

Mul<-­‐scale	
  Systemバイオ・シンセシスのためのアプローチ Approach	
  for	
  Biosynthesis	  Bio-­‐synthesis	
  in	
  3D	
  Space	  for	
  • Bionic-­‐simulator	
  • Regeneration	
  engineering	  • InvesDgation	
  of	
  biological	
  System	
  …	
  Platelet
Production

Paltelet	  ProducDon	
  
from	
  
Megakaryoc	
  
yte	
  

1D Assembly

Assembly	  by	
   Electro-­‐	
  deposiDon	
  Assembly	
  by	
  Thermal-­‐	  gel	
  probe	  2D Structure

Rolling	
   up	
  Hydro-­‐gel	
  ﬁbers	
   on	
  scaffold	
  Direct	  assembly	
  of	
  magneDc	
  hydro-­‐gel	
  ﬁbers	
  

3D Structure

Assembly	
  of	
  Micro-­‐	
  structures	
  encapsulat	  ed	
  cells	
  Assembly	
  of	
  Cells	  sheets	
  in	
  
3D	
  space	  Biodegrada	  ble	
  Scaffold	
  Hollow fiber(PLCL)

200 µmWrapping

Outer layer

Cell sheet

Inner layer
Inner
Surface

Cross section of scaffold

Micro-­‐Nano	
  FabricaDon/Measurement/Assembly/Tools…	
  ﾏｲｸﾛﾅﾉﾏﾆﾋﾟｭﾚｰｼｮﾝによるバイオアセンブリ	
 Bio-Assembly by Micro-Nano Manipulation
200 µmOuter layer
Inner layer
Inner
Surface

Cross section of scaffold

3D Scaffold for Blood
Vessel Structure

Single Cell Manipulation/
Analysis by Nanotools

Platelets Production from
Megakaryocytes

Assembly by thermal gel
probe

Micro-Assemblyof Hydro-gel Fibers

Robotics control for realizationof In vivo system in In vitro
environment

Assembly by Magnetic
Hydro-gel Fibers

Hollow fiber(PLCL)

Wrapping
Cell sheet

Wrapping by Cell Sheets

Cell-assembly byElectro Deposition

2D/3D Cell Assembly with
Photo-linkable Resin

Research objective
Cell cha

Application

・・・	
Evaluation of new
medicines

SystemTissue engineering	
  Drug screening
Probe manipulation

Cell analysis

Laser manipulation

Outletracterization

	
  	
  

Inlet
	
  

	
  

	
  	
  

Cell cultureandharvesting

Micro valve

modularization

Elemental
devicesNano scale filter

Semi-closed
microchip

Cell sorter

Micro
Micro
pomp
pump

Micro pump

Probe device
・・・	Trans. JSME, 2009

Applied Physics Letters, 2013 J. Micro-Bio Robotics, 2013

Fabrication

Fabrication results of microheater

High resistanceAuCr

Cr and Au
sputtering

Micropipette

Conductive wire(Cu, φ80 µm)

Glass
Joule heat

Conductive
wire~ 70 µm

100 µmAfter pulling glass tubes
M. Takeuchi, Journal of Micro-Bio Robotics, 2013, DOI:10.1007/s12213-013-0060-x

100 µm

100 µmAfter gold sputtering
58

Fixation force measurement - evaluation Fixation force was measured by changing the size of handled micronbead.
Ø Microbead size: 20 µm and 50 µm
Ø The embedded surface area of the microbead: 25 % to 35 %20 µm microbead

50 µm microbead

6.3 times
50 µm

50 µm
Surface area of 20 µm microbead

Surface area of 50 µm microbead

Experimental results of fixation force measurement
Handling objects
Fixation force [µN]
50 µm microbead

12.5±3.7

20 µm microbead

2.0±0.8

6.3 times

Fixation force is proportional to the embedded surface area to the gel.
M. Takeuchi, Journal of Micro-Bio Robotics, 2013, DOI:10.1007/s12213-013-0060-x

59

3D assembly of microbeads
3D microstructure was assembled made of φ
50 µm microbeads.
icrobead (φ50 µm)

urce
MicromanipulatorMbemal gelV Voltage so

GeT Pro10 wt% PNIPAAm

50 µm

Ther

GeT Probe
100 µmMicrobead( replay speed: 10 times faster)

Assembly of 3 dimensional structure was achieved.
M. Takeuchi, Journal of Micro-Bio Robotics, 2013, DOI:10.1007/s12213-013-0060-x

60

福田研究室の研究領域	
Research Works of Fukuda Lab

Multi-scale Robotics
m
cm

mm

µm
nm

• Multi-locomotion Robots• Multi-mobile-robot Corporation• Interface Robotics• Grasping, Tactile Sensing• Medical Robotics -Vascular Model and
Scaffold• Bio-micro Manipulation for Single Cell
Manipulation• Nanodevice/Nanomanipulation

61

ナノマニピュレーションによる単一細胞ナノサージェリシステム	
Ｓｉｎｇｌｅ 	Ｃｅｌｌ	
 Ｎａｎｏ－ｓｕｒｇｅｒｙ Ｓｙｓｔｅｍ	

Single Cell Electrical Single Cell Stiffness
Measurement
Measurement•Nano-probe•Dual-Nano-probe•Nano-fork•Nano-putter

Diagnosis

Extraction

Cell-Cell Adhesion
Cell-Cell Adhesion
Force
Force
Measurement
Measurement

Cutting

Single Cell
Nano-surgery
SystemInjection•Nano-knife

EmbeddedSingle Cell
Measurement

Single Cell Cutting•Nano-injector
IEEE Transactions on Nanotechnology, Vol. 7 Issue 5, pp. 607-616, 2008
IEEE Transactions on Nanobioscience, Vol. 7 Issue 3, pp. 185-193, 2008
IEEE Transactions on Nanobioscience, Vol. 9, No. 1, pp. 12-23, 2010
Nanotechnology, Vol. 24, Number 14, 145703, 2013
Nanotechnology, vol. 22, No. 30, p. 305701, 2011.
Ultramicroscopy, 111, 8, 1176-1183, 2011
IEEE Transactions on Nanotechnology, Vol. 10 Issue 2, pp. 226-236, 2011
IEEE Transactions on Nanobioscience, Vol. 11 No. 1, pp. 70-78, 2012
IEEE Transactions on Nanotechnology, Vol. 11, No. 2, pp. 298-306, 2012

Semi-wet
Environment
62

ナノフォークによる単一細胞の付着力計測	
Adhesion Force Measurement of Single Cell by Nanofork
Dynamic Sticking Forces Measurement

Perspective view
HandleTines' support

Pulling upward by
Nanomanipulator

Three tines
10 µm

Nano-fork fabricated by FIB
Cross Section View

TOP VIEW

30 µm
	
  

4 µm

	
  

Line-patterned substrate fabricated by
Nano-imprinting

Measuring the sticking forces by thedeflection of each cantilevers
M. A. Ridzuan et al., Proc. of IEEE Conf. on Nanotechnology 2010 (IEEE-Nano 2010).

ナノピッカーによる単一細胞の細胞間付着力計測結果	

Y. Shen et. Al, Biochemical and Biophysical Research Communication, vol. 409, no. 2, pp. 160-165, 2011.

66

Micro-Nanorobotic Manipulation Systems
and Their Applications
Toshio Fukuda, Fumihito Arai, Masahiro Nakajima, Springer (to be published)Micro-Nano Mechatronics- New Trends in Material, Measurement, Control, Manufacturing and Their
Applications in Biomedical EngineeringEdited by Toshio Fukuda, Tomohide Niimi and Goro Obinata, ISBN 978-953-51-1104-7,
364 pages, Publisher: InTech, Chapters published June 05, 2013