Moein Mehrtash Personal Webpage

Research Interest:

Medical Robotics:

In the past few years, the use of magnetically generated forces and torques has emerged as a promising technique that can provide both sufficient power and precise control. Early in my research career at the MagLev Microrobotic Laboratory at the University of Waterloo, I worked on the magnetic navigation of a capsule-robot for the diagnosis and treatment of human gastrointestinal diseases. Working on this medical robot allowed me to pursue my research interests in the dynamics and control of a magnetic-untethered microrobotic system (MUMS), which has demonstrated the capability to propel miniature devices, steer catheters, enable the safe micro-manipulation of biological samples, and navigate capsule endoscopes within the human body, schematically shown in following figure. The multi-disciplinary nature of this research allows me to gain further insights into the control of electro-mechanical systems, hardware-in-the-loop simulations, instrumentation, haptics, and sensing devices.

1 Schematic demonstration of magnetic-untethered microrobotic system

KeyWords: Magnetic-powered Robotics in Minimally Invasive Medical Device, Magnetic Navigation and Control Of Capsule Endoscope, Controlled and Targeted Drug Delivery Using Magnetic Levitation

Micro-system Technology:

There is an emerging need to develop bio-compatible micro- and nano-devices for biological research and biomedical application due to their significant impact on the improvement in people’s lives. Such systems are employed for cell/scaffold micromanipulations, cell injections, and targeted drug delivery. Because of their distinguishable cell-friendly nature, magnetic-based systems are one of the most widely developing technologies that have been extensively explored for 3D cell culturing, cell manipulation, and targeted drug delivery for therapeutic and diagnostic applications. A part of my research is the improvement of automated control magnetic-based devices for cell manipulation and injection, as my recent work in force-controlled micro-manipulation is related to this field.

KeyWords: Magnetic-actuated Micro-manipulator For Cell Manipulation and Injection, Micro-sensor, and Micro-assembly

Mechatronics: Instrumented Robotics, Design and Control Of Mechatronic Systems, Cooperative Robotics, System Identification, and Virtual Reality Interface

Research Background:

University of Waterloo | Mechanical and Mechatronics Engineering
200 University Avenue West
Waterloo, Ontario, Canada N2L 3G1

MagLev Microrobotic Lab

Moein Mehrtash, PhD.