High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly

Area of Science:

• Robotics
• Biotechnology
• Microtechnology

Background:

• Micromanipulation in liquid presents challenges due to adhesion forces and viscosity.
• Automated pick-and-place operations are crucial for precise microobject assembly.

Purpose of the Study:

• To develop a reliable micromanipulation system for fast and precise assembly of microobjects, including biological cells.
• To overcome challenges in liquid-based micromanipulation.

Main Methods:

• Utilized a microhand with dexterous motion for stable grasping.
• Employed an automated stage for rapid object transport.
• Implemented local stream and dynamic releasing techniques for object detachment.
• Integrated vision-based techniques for object and fingertip recognition.

Main Results:

• Achieved manipulation speeds faster than 800 ms/sphere with a 100% success rate (N=100).
• Successfully extended the technique to 2D and 3D assembly by compensating for positional errors.
• Demonstrated the assembly of 80-120 µm microbeads and NIH3T3 cell spheroids.

Conclusions:

• The developed automated micromanipulation system significantly enhances speed and precision.
• The system effectively addresses challenges in liquid-based microobject handling.
• This technique shows promise for complex microassembly tasks in biotechnology and beyond.