I graduated from Université Paris Saclay and joined the Hamlyn Centre for robotic surgery in Imperial College in 2017.
My main work focuses on the functionalization of fibre bundle to develop new sensing and actuation mechanism for tethered robotic assisted surgery. I am particularly interested in the design of microfluidic on fibre toward in-vivo sensing, precise drug delivery and liquid sampling as well as the positioning and control of this fibre. I also focus on untethered manipulation of magnetic microrobot for microfabrication as well as drug and cell delivery.
Keywords : Microrobotics, Medical robotic, Mechanics, Surface tension, Pneumatic actuation, Magnetic actuation, Microfluidics
Research Gallery and Overview
Floating magnetic microrobots for fiber functionalization
Magnetic microrobot can also serve microfabrication purpose. In the following picture floating microrobot are used to grab a floating pattern and align it with a immerse 3D structure. By raising the structure up, the pattern wraps to the structure. This wet transfer methods is well known in material science but microrobotics allows it be used with a precision below 5 µm. To perform the grasping the two microrobots have different magnetisation properties.
With the reduction of dimension pneumatic force becomes really interesting as surfacing force become dominant over volumetric force.
Therefore we investigate the fabrication of micropiston using surface tension as a sealant. This work could be decisive for the fabrication of active micro catheter achieving biopsy at the cellular level.
Multimodal motion on helical magnetic microrobot.
As the dimension reduce it becomes impossible to embedded motor and complex degree of freedom inside microrobot. Magnetic microrobot use an external magnetic field to propel, therefore the complexity of their control is limited. To compensate for this lost, we use the interaction of the surface to develop three different kind of motion. This different motions each have specific advantages which make the microrobot more robust.
more info on https://www.nature.com/articles/srep19041
This allow the integration of microrobot inside microfluidic chip where they could potentially use as force sensor after their integration inside microfluidic chip.
In the next video the microrobot push on microbead stuck on the surface. By gradually increasing the pushing force until the bead detachment, the adhesion force can be measured.
more info at https://www.sciencedirect.com/science/article/pii/S0924424717303709
- Antoine Barbot, Haijie Tan, Maura Power, Florent Seichepine, and Guang-Zhong Yang. (2019). Floating magnetic microrobots for fiber functionalization. Science Robotics, 4(34), eaax8336. Link to paper
- Antoine Barbot, Dominique Decanini, and Gilgueng Hwang. The rotation of microrobot simplifies 3d control inside microchannels. Scientific reports, 8(1):438, 2018
- Antoine Barbot, Dominique Decanini, and Gilgueng Hwang. Helical microrobot for force sensing inside microfluidic chip. Sensors and Actuators A: Physical, 266:258–272, 2017
- Antoine Barbot, Dominique Decanini, and Gilgueng Hwang. On-chip microfluidic multimodal swimmer toward 3d
navigation. Scientific Reports, 6:19041, 2016
- Nicolas Beyrand, Laurent Couraud, Antoine Barbot, Dominique Decanini, and Gilgueng Hwang. Multi-flagella helical microswimmers for multiscale cargo transport and reversible targeted binding. In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on robotics, pages 1403–1408. IEEE, 2015
- Antoine Barbot, Dominique Decanini, and Gilgueng Hwang. Wireless obstacle detection and characterization by multimodal helical nanoswimmers. In Robotics and Automation (ICRA), 2015 IEEE International Conference on robotics, pages 3525–3530. IEEE, 2015
- Antoine Barbot, Dominique Decanini, and Gilgueng Hwang. Controllable roll-to-swim motion transition of helical nanoswimmers. In Intelligent Robots and Systems (IROS), 2014 IEEE/RSJ International Conference on robotics, pages 4662–4667. IEEE, 2014