Soft Micromanipulation Robot for Real-Time Adaptive Multimodal Operation

Micromanipulation robots hold immense promise for biomedical applications, yet they remain fundamentally limited by three persistent challenges: cross-scale target heterogeneity, spatially constrained workspaces, and integrated multimodal operation requirements. Here, a soft micromanipulation robot (SMR) capable of omnidirectional, micrometer-precision manipulation via a hollow multi-notch agonist-antagonist mechanism is presented. Combining ± 180° bending and 360° rotation for full-angle operation, this bio-inspired design achieves 14 µm positioning accuracy, enabling reliable handling of single-cell-sized objects. The SMR adapts in situ to sensitive biosamples and limited workspaces, supporting diverse manipulation modes including aspiration, transfer, programmable assembly, targeted microinjection, and localized cutting of biospecimens. To evaluate biomedical applicability, an assembly experiment with human kidney cell spheres, which is essential for establishing co-culture models in new drug development is designed. The SMR successfully aspirated, transferred, and precisely positioned multiple assembloids onto ring-shaped biochips, achieving programmable assembly within limited workspaces. The SMR has the potential to be a flexible and adaptable platform for performing delicate operations in various biomedical scenarios, such as in vitro modeling, drug testing, and microscale surgery.