Multi-Scale Robotics: A Numerical Investigation on Mobile Micro-Tweezers for Micro-Manipulation with Extreme...

Area of Science:

• Biotechnology
• Robotics
• Fluid Dynamics

Background:

• Automated cell sorting is crucial for biological research and diagnostics.
• Existing micro-tweezers systems require further development for precise live cell manipulation.
• Robotic control of micro-scale fluid dynamics offers new possibilities for cell handling.

Purpose of the Study:

• To develop and model an automated micro-tweezers system for intelligent live cell sorting.
• To investigate the use of a forced vortex generated by a rotating magnetic field for cell capture.
• To establish a robotic system for precise control of micro-scale vortex manipulation.

Main Methods:

• A superparamagnetic spherical micro-object was rotated using a controlled magnetic field from permanent magnets.
• An open-kinematic chain and an adaptive PI-control scheme were employed for magnetic field articulation.
• A mathematical model was developed to analyze the dynamics of the micro-tweezer system and fluid forces.

Main Results:

• A forced vortex was successfully formed, capable of capturing a single live cell through radial pressure gradients and inertial effects.
• Numerical simulations confirmed the theoretical possibility of capturing and towing a bacterium cell.
• The system demonstrated the ability to meet extreme tracking references for motion control.

Conclusions:

• The developed automated micro-tweezers system shows promise for precise and intelligent sorting of live cells.
• The study validates the use of magnetic fields to generate controlled vortices for micro-object manipulation.
• This robotic approach offers a foundation for advanced cell-based assays and biotechnological applications.