MRI based nano- and microrobotics show good potential for new targeted therapies tackling e.g. cancer. In this paper, a system developed for the propulsion and navigation of small ferromagnetic objects only using clinical MRI systems is evaluated in experiments. The experiments include propulsion of an untethered ferromagnetic object against a pulsatile flow in a pipe system, navigation of an untethered object filled with ferromagnetic nanoparticles around obstacles in a free environment, and the choosing of a branch in a closed flow-less channel system when propelling an untethered ferromagnetic object. The system is found to deal with the tasks efficiently.

This paper presents a selection of image processing methods and algorithms, which are needed to enable the reliable automation of robotic tasks at the micro and nanoscale. Application examples are automatic assembly of new nanoscale electronic elements or automatic testing of material properties. Due to the very small object dimensions targeted here, the scanning electron microscope is the appropriate image sensor. The methods described in this paper can be categorized into procedures of object recognition and object tracking. Object recognition deals with the problem of finding and labeling nanoscale objects in an image scene, whereas tracking is the process of continuously following the movement of a specific object. Both methods carried out subsequently enable fully automated robotic tasks at the micro- and nanoscale. A selection of algorithms is demonstrated and found suitable.

In this paper, the concept and first results of a novel toolbox for nanoscale characterization are presented. A nanorobotic AFM system is being developed and integrated into a high resolution SEM/FIB system allowing nanoanalysis, -manipulation and -structuring. The compact and modular AFM setup enables probe- as well as sample-scanning and uses self-sensing AFM cantilevers. Image fusion algorithms are developed to merge SEM and AFM information for hybrid analysis of nanoscale objects. A commercial AFM controller is embedded into a special control system architecture that allows for automation of nanomanipulation sequences.

One of the key challenges of microsystem- and nanotechnologies is the automation of robot-based nanomanipulation. However, there is limited sensor feedback due to lack of appropriate sensors. Sensor feedback is required for repeatable actuator movements from macro- down to the nanoscale. This complicates the design of reliable automation processes. In this paper, the development of an automated robot-based toolbox for cell injection and handling is presented. This toolbox includes several sensor methods, bridging several orders of magnitude as feedback for automation. A non-linear support vector machine (SVM) is applied for classification of the viability of cells as feedback for quality control. A visual servoing algorithm for position tracking of the injection needle as well as an injection force sensor have been developed. First automation results and the control system are explained.

This paper describes the concept of a new kind of soft-tissue navigation system for minimally invasive intra-cardiac micro surgery like valve resection. Via a specialized trocar all instruments and a valve isolation chamber system [1] are inserted to generate a separate operation space around the valve. The instruments are at least a novel shape memory alloy actuated laser fibre and two endoscopic optic fibres. Via the endoscopic optic fibres a stereoscopic view on the operation field is provided while the laser is used for resection of a calcified valve. The guidance of the laser is controlled by the navigation system on basis of a three dimensional virtual model. The model is build out of preoperative taken static CT images merged with intra-operative taken ultrasonic images and the stereoscopic images generated from the endoscopic optic fibres. With the virtual model the intervention will be supported by visualization of the operation field on the one hand and control of the guidance of the laser actor on the other hand. Thus the system provides an undisturbed view to the operating field without limiting factors like bodily fluids and the small aditus of minimally invasive surgery. The guidance of the surgical instruments is easier and the intervention faster and safer for the patient.