Light-driven micro-tool equipped with a syringe function

Comprehensive modeling of corkscrew motion in micro-/nano-robots with general helical structures

Micro-/nano-robots (MNRs) have impressive potential in minimally invasive targeted therapeutics through blood vessels, which has disruptive impact to improving human health. However, the clinical use of MNRs has yet to happen due to intrinsic limitations, such as overcoming blood flow. These bottlenecks have not been empirically solved. To tackle them, a full understanding of MNR behaviors is necessary as the first step. The common movement principle of MNRs is corkscrew motion with a helical structure. The existing dynamic model is only applicable to standard helical MNRs. In this paper, we propose a dynamic model for general MNRs without structure limitations. Comprehensive simulations and experiments were conducted, which shows the validity and accuracy of our model. Such a model can serve as a reliable basis for the design, optimization, and control of MNRs and as a powerful tool for gaining fluid dynamic insights, thus accelerating the development of the field.

3D-printed microrobots for biomedical applications

Microrobots, which can perform tasks in difficult-to-reach parts of the human body under their own or external power supply, are potential tools for biomedical applications, such as drug delivery, microsurgery, imaging and monitoring, tissue engineering, and sensors and actuators. Compared with traditional fabrication methods for microrobots, recent improvements in 3D printers enable them to print high-precision microrobots, breaking through the limitations of traditional micromanufacturing technologies that require high skills for operators and greatly shortening the design-to-production cycle. Here, this review first introduces typical 3D printing technologies used in microrobot manufacturing. Then, the structures of microrobots with different functions and application scenarios are discussed. Next, we summarize the materials (body materials, propulsion materials and intelligent materials) used in 3D microrobot manufacturing to complete body construction and realize biomedical applications (e.g., drug delivery, imaging and monitoring). Finally, the challenges and future prospects of 3D printed microrobots in biomedical applications are discussed in terms of materials, manufacturing and advancement.

Liquid Crystalline Network Microstructures for Stimuli Responsive Labels with Multi-Level Encryption

Two-photon direct laser writing enables the fabrication of shape-changing microstructures that can be exploited in stimuli responsive micro-robotics and photonics. The use of Liquid Crystalline Networks (LCN) allows to realize 3D micrometric objects that can contract along a specific direction in response to stimuli, such as temperature or light. In this paper, the fabrication of free-standing LCN microstructures is demonstrated as graphical units of a smart tag for simple physical and optical encryption. Using an array of identical pixels, information can be hidden to the observer and revealed only upon application of a specific stimulus. The reading mechanism is based on the shape-change of each pixel under stimuli and their color that combine together in a two-level encryption label. Once the stimulus is removed, the pixels recover their original shape and the message remains completely hidden. Therefore, an opto-mechanical equivalent of an "invisible ink" is realized. This new concept paves the way for introducing enhanced functionalities in smart micro-systems within a single lithography step, spanning from storage devices with physical encryption to complex motion actuators.

Light-driven soft microrobots based on hydrogels and LCEs: development and prospects

In the daily life of mankind, microrobots can respond to stimulations received and perform different functions, which can be used to complete repetitive or dangerous tasks. Magnetic driving works well in robots that are tens or hundreds of microns in size, but there are big challenges in driving microrobots that are just a few microns in size. Therefore, it is impossible to guarantee the precise drive of microrobots to perform tasks. Acoustic driven micro-nano robot can achieve non-invasive and on-demand movement, and the drive has good biological compatibility, but the drive mode has low resolution and requires expensive experimental equipment. Light-driven robots move by converting light energy into other forms of energy. Light is a renewable, powerful energy source that can be used to transmit energy. Due to the gradual maturity of beam modulation and optical microscope technology, the application of light-driven microrobots has gradually become widespread. Light as a kind of electromagnetic wave, we can change the energy of light by controlling the wavelength and intensity of light. Therefore, the light-driven robot has the advantages of programmable, wireless, high resolution and accurate spatio-temporal control. According to the types of robots, light-driven robots are subdivided into three categories, namely light-driven soft microrobots, photochemical microrobots and 3D printed hard polymer microrobots. In this paper, the driving materials, driving mechanisms and application scenarios of light-driven soft microrobots are reviewed, and their advantages and limitations are discussed. Finally, we prospected the field, pointed out the challenges faced by light-driven soft micro robots and proposed corresponding solutions.

Opto-fluidically multiplexed assembly and micro-robotics

Techniques for high-definition micromanipulations, such as optical tweezers, hold substantial interest across a wide range of disciplines. However, their applicability remains constrained by material properties and laser exposure. And while microfluidic manipulations have been suggested as an alternative, their inherent capabilities are limited and further hindered by practical challenges of implementation and control. Here we show that the iterative application of laser-induced, localized flow fields can be used for the relative positioning of multiple micro-particles, irrespectively of their material properties. Compared to the standing theoretical proposal, our method keeps particles mobile, and we show that their precision manipulation is non-linearly accelerated via the multiplexing of temperature stimuli below the heat diffusion limit. The resulting flow fields are topologically rich and mathematically predictable. They represent unprecedented microfluidic control capabilities that are illustrated by the actuation of humanoid micro-robots with up to 30 degrees of freedom, whose motions are sufficiently well-defined to reliably communicate personal characteristics such as gender, happiness and nervousness. Our results constitute high-definition micro-fluidic manipulations with transformative potential for assembly, micro-manufacturing, the life sciences, robotics and opto-hydraulically actuated micro-factories.

Light-controlled soft bio-microrobot

Micro/nanorobots hold exciting prospects for biomedical and even clinical applications due to their small size and high controllability. However, it is still a big challenge to maneuver micro/nanorobots into narrow spaces with high deformability and adaptability to perform complicated biomedical tasks. Here, we report a light-controlled soft bio-microrobots (called "Ebot") based on Euglena gracilis that are capable of performing multiple tasks in narrow microenvironments including intestinal mucosa with high controllability, deformability and adaptability. The motion of the Ebot can be precisely navigated via light-controlled polygonal flagellum beating. Moreover, the Ebot shows highly controlled deformability with different light illumination duration, which allows it to pass through narrow and curved microchannels with high adaptability. With these features, Ebots are able to execute multiple tasks, such as targeted drug delivery, selective removal of diseased cells in intestinal mucosa, as well as photodynamic therapy. This light-controlled Ebot provides a new bio-microrobotic tool, with many new possibilities for biomedical task execution in narrow and complicated spaces where conventional tools are difficult to access due to the lack of deformability and bio-adaptability.

Optical Manipulation of Soft Matter

Optical manipulation has emerged as a pivotal tool in soft matter research, offering superior applicability, spatiotemporal precision, and manipulation capabilities compared to conventional methods. Here, an overview of the optical mechanisms governing the interaction between light and soft matter materials during manipulation is provided. The distinct characteristics exhibited by various soft matter materials, including liquid crystals, polymers, colloids, amphiphiles, thin liquid films, and biological soft materials are highlighted, and elucidate their fundamental response characteristics to optical manipulation techniques. This knowledge serves as a foundation for designing effective strategies for soft matter manipulation. Moreover, the diverse range of applications and future prospects that arise from the synergistic collaboration between optical manipulation and soft matter materials in emerging fields are explored.

An acoustically controlled helical microrobot

As a next-generation toolkit, microrobots can transform a wide range of fields, including micromanufacturing, electronics, microfluidics, tissue engineering, and medicine. While still in their infancy, acoustically actuated microrobots are becoming increasingly attractive. However, the interaction of acoustics with microstructure geometry is poorly understood, and its study is necessary for developing next-generation acoustically powered microrobots. We present an acoustically driven helical microrobot with a length of 350 μm and a diameter of 100 μm that is capable of locomotion using a fin-like double-helix microstructure. This microrobot responds to sound stimuli at ~12 to 19 kHz and mimics the spiral motion of natural microswimmers such as spirochetes. The asymmetric double helix interacts with the incident acoustic field, inducing a propulsion torque that causes the microrobot to rotate around its long axis. Moreover, our microrobot has the unique feature of its directionality being switchable by simply tuning the acoustic frequency. We demonstrate this locomotion in 2D and 3D artificial vasculatures using a single sound source.

Field-Controlled Microrobots Fabricated by Photopolymerization

Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.

Microfluidic Approaches for Microactuators: From Fabrication, Actuation, to Functionalization

Microactuators can autonomously convert external energy into specific mechanical motions. With the feature sizes varying from the micrometer to millimeter scale, microactuators offer many operation and control possibilities for miniaturized devices. In recent years, advanced microfluidic techniques have revolutionized the fabrication, actuation, and functionalization of microactuators. Microfluidics can not only facilitate fabrication with continuously changing materials but also deliver various signals to stimulate the microactuators as desired, and consequently improve microfluidic chips with multiple functions. Herein, this cross-field that systematically correlates microactuator properties and microfluidic functions is comprehensively reviewed. The fabrication strategies are classified into two types according to the flow state of the microfluids: stop-flow and continuous-flow prototyping. The working mechanism of microactuators in microfluidic chips is discussed in detail. Finally, the applications of microactuator-enriched functional chips, which include tunable imaging devices, micromanipulation tools, micromotors, and microsensors, are summarized. The existing challenges and future perspectives are also discussed. It is believed that with the rapid progress of this cutting-edge field, intelligent microsystems may realize high-throughput manipulation, characterization, and analysis of tiny objects and find broad applications in various fields, such as tissue engineering, micro/nanorobotics, and analytical devices.

On-Chip Optical Trapping with High NA Metasurfaces

Optical trapping of small particles typically requires the use of high NA microscope objectives. Photonic metasurfaces are an attractive alternative to create strongly focused beams for optical trapping applications in an integrated platform. Here, we report on the design, fabrication, and characterization of optical metasurfaces with a numerical aperture up to 1.2 and trapping stiffness greater than 400 pN/μm/W. We demonstrate that these metasurfaces perform as well as microscope objectives with the same numerical aperture. We systematically analyze the impact of the metasurface dimension on the trapping performance and show efficient trapping with metasurfaces with an area as small as 0.001 mm². Finally, we demonstrate the versatility of the platform by designing metasurfaces able to create multisite optical tweezers for the trapping of extended objects.

Photothermal Nanomaterials: A Powerful Light-to-Heat Converter

All forms of energy follow the law of conservation of energy, by which they can be neither created nor destroyed. Light-to-heat conversion as a traditional yet constantly evolving means of converting light into thermal energy has been of enduring appeal to researchers and the public. With the continuous development of advanced nanotechnologies, a variety of photothermal nanomaterials have been endowed with excellent light harvesting and photothermal conversion capabilities for exploring fascinating and prospective applications. Herein we review the latest progresses on photothermal nanomaterials, with a focus on their underlying mechanisms as powerful light-to-heat converters. We present an extensive catalogue of nanostructured photothermal materials, including metallic/semiconductor structures, carbon materials, organic polymers, and two-dimensional materials. The proper material selection and rational structural design for improving the photothermal performance are then discussed. We also provide a representative overview of the latest techniques for probing photothermally generated heat at the nanoscale. We finally review the recent significant developments of photothermal applications and give a brief outlook on the current challenges and future directions of photothermal nanomaterials.

A review on microrobots driven by optical and magnetic fields

Due to their small sizes, microrobots are advantageous for accessing hard-to-reach spaces for delivery and measurement. However, their small sizes also bring challenges in on-board powering, thus usually requiring actuation by external energy. Microrobots actuated by external energy have been applied to the fields of physics, biology, medical science, and engineering. Among these actuation sources, light and magnetic fields show advantages in high precision and high biocompatibility. This paper reviews the recent advances in the design, actuation, and applications of microrobots driven by light and magnetic fields. For light-driven microrobots, we summarized the uses of optical tweezers, optoelectronic tweezers, and heat-mediated optical manipulation techniques. For magnetically driven microrobots, we summarized the uses of torque-driven microrobots, force-driven microrobots, and shape-deformable microrobots. Then, we compared the two types of field-driven microrobots and reviewed their advantages and disadvantages. The paper concludes with an outlook for the joint use of optical and magnetic field actuation in microrobots.

Resonant-Opto-Thermomechanical Oscillator (ROTMO): A Low-Power, Large Displacement, High-Frequency Optically Driven Microactuator

A light-driven micromechanical oscillator is presented, which can be operated by a low optical power (in the mW, or even the µW range), can produce large mechanical displacements (>5-100 µm), and can be designed to operate at frequencies from sub-kHz up to more than 200 kHz. The actuation of the oscillator is achieved by an asymmetrically metal-coated optical microwire configured into a silica micromechanical oscillator. The metalized optical microwire confines and absorbs the light strongly over a short distance, which results in a controlled optical power conversion into heat, and, consequently, into mechanical actuation through the temperature rise and the difference in thermal expansions of the silica microwire and the asymmetrically applied metal layer. Mechanical displacements are amplified further by the resonance operation of the oscillator, which is driven by a low-power, harmonic optical excitation signal generated by a current-modulated laser diode. Proper selection of the micromechanical oscillator's geometrical configuration and materials allows for a high-frequency operation at large mechanical displacements of the oscillator, while relying on low excitation optical power. The presented concept of a fully optically driven micromechanical oscillator may, thus, present a basis for realization of new classes of actuated micro-opto-mechanical Systems and similar photonics microdevices.

Conservation of orbital angular momentum and polarization through biological waveguides

A major roadblock to the development of photonic sensors is the scattering associated with many biological systems. We show the conservation of photonic states through optically self-arranged biological waveguides, for the first time, which can be implemented to transmit light through scattering media. The conservation of optical properties of light through biological waveguides allows for the transmission of high bandwidth information with low loss through scattering media. Here, we experimentally demonstrate the conservation of polarization state and orbital angular momentum of light through a self-arranged biological waveguide, several centimeters long, in a sheep red blood cell suspension. We utilize nonlinear optical effects to self-trap cells, which form waveguides at 532 nm and 780 nm wavelengths. Moreover, we use the formed waveguide channels to couple and guide probe beams without altering the information. The formed biological waveguides are in a sub-diffusive scattering regime, so the photons’ information degrades insignificantly over several centimeters of propagation through the scattering media. Our results show the potential of biological waveguides as a methodology for the development of novel photonic biosensors, biomedical devices that require optical wireless communication, and the development of new approaches to noninvasive biomedical imaging.

Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly

In recent years, microbubbles have been widely used in the field of microrobots due to their unique properties. Microbubbles can be easily produced and used as power sources or tools of microrobots, and the bubbles can even serve as microrobots themselves. As a power source, bubbles can propel microrobots to swim in liquid under low-Reynolds-number conditions. As a manipulation tool, microbubbles can act as the micromanipulators of microrobots, allowing them to operate upon particles, cells, and organisms. As a microrobot, microbubbles can operate and assemble complex microparts in two- or three-dimensional spaces. This review provides a comprehensive overview of bubble applications in microrobotics including propulsion, micromanipulation, and microassembly. First, we introduce the diverse bubble generation and control methods. Then, we review and discuss how bubbles can play a role in microrobotics via three functions: propulsion, manipulation, and assembly. Finally, by highlighting the advantages and current challenges of this progress, we discuss the prospects of microbubbles in microrobotics.

Fabry-Perot Interferometer Based on a Fiber-Tip Fixed-Supported Bridge for Fast Glucose Concentration Measurement

Blood glucose concentration is important for metabolic homeostasis in humans and animals. Many diabetic patients need to detect blood glucose daily which burdens community hospitals and family healthcare. Optical fiber sensors are widely used in biomedical detection because of their compact structure, fast response, high sensitivity, low cost, and ease of operation. In this work, we constructed a Fabry-Perot (FP) cavity biosensor for the fast detection of glucose concentration in serum. The femtosecond laser micromachining was applied to fabricate the FP cavity by printing the fiber-tip fixed-supported bridge at the end face of the optical fiber. An additional hemisphere was printed at the center of the outer surface of the bridge to avoid multi-beam interference. The results demonstrated that the proposed biosensor had high refractive index (RI) detection sensitivity, roughly 1039 nm/RIU at a wavelength of 1590 nm, and the detection sensitivity for glucose was around 0.185 nm/ (mg/mL) at a wavelength of 1590 nm. Due to its high sensitivity, compact structure, and fast response, the FP cavity biosensor has great potential to be applied in family healthcare for glucose concentration detection of diabetic patients.

Light-driven microdrones

When photons interact with matter, forces and torques occur due to the transfer of linear and angular momentum, respectively. The resulting accelerations are small for macroscopic objects but become substantial for microscopic objects with small masses and moments of inertia, rendering photon recoil very attractive to propel micro- and nano-objects. However, until now, using light to control object motion in two or three dimensions in all three or six degrees of freedom has remained an unsolved challenge. Here we demonstrate light-driven microdrones (size roughly 2 μm and mass roughly 2 pg) in an aqueous environment that can be manoeuvred in two dimensions in all three independent degrees of freedom (two translational and one rotational) using two overlapping unfocused light fields of 830 and 980 nm wavelength. To actuate the microdrones independent of their orientation, we use up to four individually addressable chiral plasmonic nanoantennas acting as nanomotors that resonantly scatter the circular polarization components of the driving light into well-defined directions. The microdrones are manoeuvred by only adjusting the optical power for each motor (the power of each circular polarization component of each wavelength). The actuation concept is therefore similar to that of macroscopic multirotor drones. As a result, we demonstrate manual steering of the microdrones along complex paths. Since all degrees of freedom can be addressed independently and directly, feedback control loops may be used to counteract Brownian motion. We posit that the microdrones can find applications in transport and release of cargos, nanomanipulation, and local probing and sensing of nano and mesoscale objects.

Intrinsic carbon nanotube liquid crystalline elastomer photoactuators for high-definition biomechanics

Photoresponsive soft actuators with the unique merits of flexibility, contactless operation, and remote control have huge potential in technological applications of bionic robotics and biomedical devices. Herein, a facile strategy was proposed to prepare an intrinsically-photoresponsive elastomer by chemically grafting carbon nanotubes (CNTs) into a thermally-sensitive liquid-crystalline elastomer (LCE) network. Highly effective dispersion and nematic orientation of CNTs in the intrinsic LCE matrix were observed to yield anchoring energies ranging from 1.65 × 10^-5 J m^-2 to 5.49 × 10^-7 J m^-2, which significantly enhanced the mechanical and photothermal properties of the photoresponsive elastomer. When embedding an ultralow loading of CNTs (0.1 wt%), the tensile strength of the LCE increased by 420% to 13.89 MPa (||) and 530% to 3.94 MPa (⊥) and exhibited a stable response to repeated alternating cooling and heating cycles, as well as repeated UV and infrared irradiation. Furthermore, the shape transformation, locomotion, and photo-actuation capabilities allow the CNT/LCE actuator to be applied in high-definition biomechanical applications, such as phototactic flowers, serpentine robots and artificial muscles. This design strategy may provide a promising method to manufacture high-precision, remote-control smart devices.

Heat-Mediated Optical Manipulation

Progress in optical manipulation has stimulated remarkable advances in a wide range of fields, including materials science, robotics, medical engineering, and nanotechnology. This Review focuses on an emerging class of optical manipulation techniques, termed heat-mediated optical manipulation. In comparison to conventional optical tweezers that rely on a tightly focused laser beam to trap objects, heat-mediated optical manipulation techniques exploit tailorable optothermo-matter interactions and rich mass transport dynamics to enable versatile control of matter of various compositions, shapes, and sizes. In addition to conventional tweezing, more distinct manipulation modes, including optothermal pulling, nudging, rotating, swimming, oscillating, and walking, have been demonstrated to enhance the functionalities using simple and low-power optics. We start with an introduction to basic physics involved in heat-mediated optical manipulation, highlighting major working mechanisms underpinning a variety of manipulation techniques. Next, we categorize the heat-mediated optical manipulation techniques based on different working mechanisms and discuss working modes, capabilities, and applications for each technique. We conclude this Review with our outlook on current challenges and future opportunities in this rapidly evolving field of heat-mediated optical manipulation.

Laser Actuated Microgripper Using Optimized Chevron-Shaped Actuator

In this paper, we propose a laser actuated microgripper that can be activated remotely for micromanipulation applications. The gripper is based on an optothermally actuated polymeric chevron-shaped structure coated with optimized metallic layers to enhance its optical absorbance. Gold is used as a metallic layer due to its good absorption of visible light. The thermal deformation of the chevron-shaped actuator with metallic layers is first modeled to identify the parameters affecting its behavior. Then, an optimal thickness of the metallic layers that allows the largest possible deformation is obtained and compared with simulation results. Next, microgrippers are fabricated using conventional photolithography and metal deposition techniques for further characterization. The experiments show that the microgripper can realize an opening of 40 µm, a response time of 60 ms, and a generated force in the order of hundreds of µN. Finally, a pick-and-place experiment of 120 µm microbeads is conducted to confirm the performance of the microgripper. The remote actuation and the simple fabrication and actuation of the proposed microgripper makes it a highly promising candidate to be utilized as a mobile microrobot for lab-on-chip applications.

Reconfigurable multi-component micromachines driven by optoelectronic tweezers

There is great interest in the development of micromotors which can convert energy to motion in sub-millimeter dimensions. Micromachines take the micromotor concept a step further, comprising complex systems in which multiple components work in concert to effectively realize complex mechanical tasks. Here we introduce light-driven micromotors and micromachines that rely on optoelectronic tweezers (OET). Using a circular micro-gear as a unit component, we demonstrate a range of new functionalities, including a touchless micro-feed-roller that allows the programming of precise three-dimensional particle trajectories, multi-component micro-gear trains that serve as torque- or velocity-amplifiers, and micro-rack-and-pinion systems that serve as microfluidic valves. These sophisticated systems suggest great potential for complex micromachines in the future, for application in microrobotics, micromanipulation, microfluidics, and beyond.

Light-driven micromotors can convert energy to motion in sub-millimeter dimensions. Here, the authors extend this concept and introduce reconfigurable micromachines with multiple components, driven by optoelectronic tweezers, and demonstrate new functionalities.

Fiber-tip polymer clamped-beam probe for high-sensitivity nanoforce measurements

Micromanipulation and biological, material science, and medical applications often require to control or measure the forces asserted on small objects. Here, we demonstrate for the first time the microprinting of a novel fiber-tip-polymer clamped-beam probe micro-force sensor for the examination of biological samples. The proposed sensor consists of two bases, a clamped beam, and a force-sensing probe, which were developed using a femtosecond-laser-induced two-photon polymerization (TPP) technique. Based on the finite element method (FEM), the static performance of the structure was simulated to provide the basis for the structural design. A miniature all-fiber micro-force sensor of this type exhibited an ultrahigh force sensitivity of 1.51 nm μN-1, a detection limit of 54.9 nN, and an unambiguous sensor measurement range of ~2.9 mN. The Young's modulus of polydimethylsiloxane, a butterfly feeler, and human hair were successfully measured with the proposed sensor. To the best of our knowledge, this fiber sensor has the smallest force-detection limit in direct contact mode reported to date, comparable to that of an atomic force microscope (AFM). This approach opens new avenues towards the realization of small-footprint AFMs that could be easily adapted for use in outside specialized laboratories. As such, we believe that this device will be beneficial for high-precision biomedical and material science examination, and the proposed fabrication method provides a new route for the next generation of research on complex fiber-integrated polymer devices.

All-optical manipulation of photonic membranes

We demonstrate the all-optical manipulation of polymeric membranes in microfluidic environments. The membranes are decorated with handles for their use in holographic optical tweezers systems. Our results show that due to their form factor the membranes present a substantial increase in their mechanical stability, respect to micrometric dielectric particles. This intrinsic superior stability is expected to improve profoundly a wide range of bio-photonic applications that rely on the optical manipulation of micrometric objects.

Opto-Thermophoretic Manipulation

The optical manipulation of tiny objects is significant to understand and to explore the unknown in the microworld, which has found many applications in materials science and life science. Physically speaking, these technologies arise from direct or indirect optomechanical coupling to convert incident optical energy to mechanical energy of target objects, while their efficiency and functionalities are determined by the coupling behavior. Traditional optical tweezers stem from direct light-to-matter momentum transfer, and the generation of an optical gradient force requires high optical power and rigorous optics. As a comparison, the opto-thermophoretic manipulation techniques proposed recently originate from high-efficiency opto-thermomechanical coupling and feature low optical power. Through rational design of the light-generated temperature gradient and exploring the mechanical response of diverse targets to the temperature gradient, a variety of opto-thermophoretic techniques were developed, which exhibit broad applicability to a wide range of target objects from colloid materials to biological cells to biomolecules. In this review, we will discuss the underlying mechanism of thermophoresis in different liquid environments, the cutting-edge technological innovation, and their applications in colloidal science and life science. We also provide a brief outlook on the existing challenges and anticipate their future development.

3D printing of functional microrobots

3D printing (also called "additive manufacturing" or "rapid prototyping") is able to translate computer-aided and designed virtual 3D models into 3D tangible constructs/objects through a layer-by-layer deposition approach. Since its introduction, 3D printing has aroused enormous interest among researchers and engineers to understand the fabrication process and composition-structure-property correlation of printed 3D objects and unleash its great potential for application in a variety of industrial sectors. Because of its unique technological advantages, 3D printing can definitely benefit the field of microrobotics and advance the design and development of functional microrobots in a customized manner. This review aims to present a generic overview of 3D printing for functional microrobots. The most applicable 3D printing techniques, with a focus on laser-based printing, are introduced for the 3D microfabrication of microrobots. 3D-printable materials for fabricating microrobots are reviewed in detail, including photopolymers, photo-crosslinkable hydrogels, and cell-laden hydrogels. The representative applications of 3D-printed microrobots with rational designs heretofore give evidence of how these printed microrobots are being exploited in the medical, environmental, and other relevant fields. A future outlook on the 3D printing of microrobots is also provided.

Applications of Optically Controlled Gold Nanostructures in Biomedical Engineering

Since their inception, optical tweezers have proven to be a useful tool for improving human understanding of the microscopic world with wide-ranging applications across science. In recent years, they have found many particularly appealing applications in the field of biomedical engineering which harnesses the knowledge and skills in engineering to tackle problems in biology and medicine. Notably, metallic nanostructures like gold nanoparticles have proven to be an excellent tool for OT-based micromanipulation due to their large polarizability and relatively low cytotoxicity. In this article, we review the progress made in the application of optically trapped gold nanomaterials to problems in bioengineering. After an introduction to the basic methods of optical trapping, we give an overview of potential applications to bioengineering specifically: nano/biomaterials, microfluidics, drug delivery, biosensing, biophotonics and imaging, and mechanobiology/single-molecule biophysics. We highlight the recent research progress, discuss challenges, and provide possible future directions in this field.

Biomimetic soft micro-swimmers: from actuation mechanisms to applications

Underwater robot designs inspired by the behavior and morphological characteristics of aquatic animals can provide reinforced mobility and energy efficiency. In the past two decades, the emerging materials science and integrated circuit technology have been combined and applied to various types of bionic soft underwater miniaturized robots by researchers around the world. Further, the potential applications of biomimetic soft micro-swimmers in the biological and medical fields have been explored. Here, this paper reviews the development of biomimetic soft tiny swimmers, which are designed based on a variety of intelligent materials and control strategies. This review focuses on the various actuation mechanisms of soft tiny swimmers reported in the past two decades and classifies these robots into four categories: fish-like, snake-like, jellyfish-like and microbial-inspired ones. Besides, this review considers the practical challenges faced by actuation mechanisms of each type of robot, and summarizes and prospects how these challenges affect the potential applications of robots in real environments.

Optical Tweezers Exploring Neuroscience

Over the past decade, optical tweezers (OT) have been increasingly used in neuroscience for studies of molecules and neuronal dynamics, as well as for the study of model organisms as a whole. Compared to other areas of biology, it has taken much longer for OT to become an established tool in neuroscience. This is, in part, due to the complexity of the brain and the inherent difficulties in trapping individual molecules or manipulating cells located deep within biological tissue. Recent advances in OT, as well as parallel developments in imaging and adaptive optics, have significantly extended the capabilities of OT. In this review, we describe how OT became an established tool in neuroscience and we elaborate on possible future directions for the field. Rather than covering all applications of OT to neurons or related proteins and molecules, we focus our discussions on studies that provide crucial information to neuroscience, such as neuron dynamics, growth, and communication, as these studies have revealed meaningful information and provide direction for the field into the future.

Addressable Acoustic Actuation of 3D Printed Soft Robotic Microsystems

A design, manufacturing, and control methodology is presented for the transduction of ultrasound into frequency-selective actuation of multibody hydrogel mechanical systems. The modular design of compliant mechanisms is compatible with direct laser writing and the multiple degrees of freedom actuation scheme does not require incorporation of any specific material such as air bubbles. These features pave the way for the development of active scaffolds and soft robotic microsystems from biomaterials with tailored performance and functionality. Finite element analysis and computational fluid dynamics are used to quantitatively predict the performance of acoustically powered hydrogels immersed in fluid and guide the design process. The outcome is the remotely controlled operation of a repertoire of untethered biomanipulation tools including monolithic compound micromachinery with multiple pumps connected to various functional devices. The potential of the presented technology for minimally invasive diagnosis and targeted therapy is demonstrated by a soft microrobot that can on-demand collect, encapsulate, and process microscopic samples.

Femtosecond laser programmed artificial musculoskeletal systems

Natural musculoskeletal systems have been widely recognized as an advanced robotic model for designing robust yet flexible microbots. However, the development of artificial musculoskeletal systems at micro-nanoscale currently remains a big challenge, since it requires precise assembly of two or more materials of distinct properties into complex 3D micro/nanostructures. In this study, we report femtosecond laser programmed artificial musculoskeletal systems for prototyping 3D microbots, using relatively stiff SU-8 as the skeleton and pH-responsive protein (bovine serum albumin, BSA) as the smart muscle. To realize the programmable integration of the two materials into a 3D configuration, a successive on-chip two-photon polymerization (TPP) strategy that enables structuring two photosensitive materials sequentially within a predesigned configuration was proposed. As a proof-of-concept, we demonstrate a pH-responsive spider microbot and a 3D smart micro-gripper that enables controllable grabbing and releasing. Our strategy provides a universal protocol for directly printing 3D microbots composed of multiple materials.

Voxels Optimization in 3D Laser Nanoprinting

Voxels, the 3D equivalent of 2D pixels, are obtained by individual point exposures in 3D laser nanoprinting, and are the building blocks of laser printed 3D micro/nano-structures, and their optimization is important in determining the resolution of printed 3D objects. Here, we report what is believed the first detailed study of the voxel size dependence on the z-potion of the laser spot in 3D nano-printing. That is, we study the evolution and the low-limit size (diameter and length) of voxels fabricated in the vicinity of the substrate/resin interface. We use two-photon absorption in a photopolymerizable resin, and we vary the position of the laser’s focal spot, with respect to the cover glass/resin interface; i.e. in the longitudinal direction (z-direction). We found that the minimum lateral and the longitudinal sizes of complete voxels depend on the extent of penetration of the laser focal spot inside the resin. Truncated voxels, which are fabricated by partial overlap of the resin and the laser spot, allow for the fabrication of nano-features that are not diffraction limited, and we achieved near 100 nm feature sizes in our 3D fabricated objects. Our work is of central interest to 3D nanoprinting, since it addresses the spatial resolution of 3D printing technology, and might have potential impact for industry.

Next-Generation Optical Nanotweezers for Dynamic Manipulation: From Surface to Bulk

Optical traps based on strongly confined electromagnetic fields at metal-dielectric interfaces are far more efficient than conventional optical tweezers. Specifically, these near-field nanotweezers allow the trapping of smaller particles at lower optical intensities, which can impact diverse research fields ranging from soft condensed matter physics to materials science and biology. A major thrust in the past decade has been focused on extending the capabilities of plasmonically enhanced nanotweezers beyond diffusion-limited trapping on surfaces such as to achieve dynamic control in the bulk of fluidic environments. Here, we review the recent efforts in optical nanotweezers, especially those involving hybrid forcing schemes, covering both surface and bulk-based techniques. We summarize the important capabilities demonstrated with this promising approach, with niche applications in reconfigurable nanopatterning and on-chip assembly as well as in sorting and separating colloidal nanoparticles.

Optical Micromachines for Biological Studies

Optical tweezers have been used for biological studies since shortly after their inception. However, over the years research has suggested that the intense laser light used to create optical traps may damage the specimens being studied. This review aims to provide a brief overview of optical tweezers and the possible mechanisms for damage, and more importantly examines the role of optical micromachines as tools for biological studies. This review covers the achievements to date in the field of optical micromachines: improvements in the ability to produce micromachines, including multi-body microrobots; and design considerations for both optical microrobots and the optical trapping set-up used for controlling them are all discussed. The review focuses especially on the role of micromachines in biological research, and explores some of the potential that the technology has in this area.

Auxiliary Optomechanical Tools for 3D Cell Manipulation

Advances in laser and optoelectronic technologies have brought the general concept of optomechanical manipulation to the level of standard biophysical tools, paving the way towards controlled experiments and measurements of tiny mechanical forces. Recent developments in direct laser writing (DLW) have enabled the realization of new types of micron-scale optomechanical tools, capable of performing designated functions. Here we further develop the concept of DLW-fabricated optomechanically-driven tools and demonstrate full-3D manipulation capabilities over biological objects. In particular, we resolved the long-standing problem of out-of-plane rotation in a pure liquid, which was demonstrated on a living cell, clamped between a pair of forks, designed for efficient manipulation with holographic optical tweezers. The demonstrated concept paves the way for the realization of flexible tools for performing on-demand functions over biological objects, such as cell tomography and surgery to name just few.

Tele-Robotic Platform for Dexterous Optical Single-Cell Manipulation

Single-cell manipulation is considered a key technology in biomedical research. However, the lack of intuitive and effective systems makes this technology less accessible. We propose a new tele–robotic solution for dexterous cell manipulation through optical tweezers. A slave-device consists of a combination of robot-assisted stages and a high-speed multi-trap technique. It allows for the manipulation of more than 15 optical traps in a large workspace with nanometric resolution. A master-device (6+1 degree of freedom (DoF)) is employed to control the 3D position of optical traps in different arrangements for specific purposes. Precision and efficiency studies are carried out with trajectory control tasks. Three state-of-the-art experiments were performed to verify the efficiency of the proposed platform. First, the reliable 3D rotation of a cell is demonstrated. Secondly, a six-DoF teleoperated optical-robot is used to transport a cluster of cells. Finally, a single-cell is dexterously manipulated through an optical-robot with a fork end-effector. Results illustrate the capability to perform complex tasks in efficient and intuitive ways, opening possibilities for new biomedical applications.

Plasmonic Tweezers towards Biomolecular and Biomedical Applications

With the capability of confining light into subwavelength scale, plasmonic tweezers have been used to trap and manipulate nanoscale particles. It has huge potential to be utilized in biomolecular research and practical biomedical applications. In this short review, plasmonic tweezers based on nano-aperture designs are discussed. A few challenges should be overcome for these plasmonic tweezers to reach a similar level of significance as the conventional optical tweezers.

The optoelectronic microrobot: A versatile toolbox for micromanipulation

Microrobotics extends the reach of human-controlled machines to submillimeter dimensions. We introduce a microrobot that relies on optoelectronic tweezers (OET) that is straightforward to manufacture, can take nearly any desirable shape or form, and can be programmed to carry out sophisticated, multiaxis operations. One particularly useful program is a serial combination of "load," "transport," and "deliver," which can be applied to manipulate a wide range of micrometer-dimension payloads. Importantly, microrobots programmed in this manner are much gentler on fragile mammalian cells than conventional OET techniques. The microrobotic system described here was demonstrated to be useful for single-cell isolation, clonal expansion, RNA sequencing, manipulation within enclosed systems, controlling cell-cell interactions, and isolating precious microtissues from heterogeneous mixtures. We propose that the optoelectronic microrobotic system, which can be implemented using a microscope and consumer-grade optical projector, will be useful for a wide range of applications in the life sciences and beyond.

Automated Indirect Transportation of Biological Cells with Optical Tweezers and a 3D Printed Microtool

Optical tweezers are widely used for noninvasive and precise micromanipulation of living cells to understand biological processes. By focusing laser beams on cells, direct cell manipulation with optical tweezers can achieve high precision and flexibility. However, direct exposure to the laser beam can lead to negative effects on the cells. These phenomena are also known as photobleaching and photodamage. In this study, we proposed a new indirect cell micromanipulation approach combined with a robot-aided holographic optical tweezer system and 3D nano-printed microtool. The microtool was designed with a V-shaped head and an optical handle part. The V-shaped head can push and trap different sizes of cells as the microtool moves forward by optical trapping of the handle part. In this way, cell exposure to the laser beam can be effectively reduced. The microtool was fabricated with a laser direct writing system by two-photon photopolymerization. A control strategy combined with an imaging processing algorithm was introduced for automated manipulation of the microtool and cells. Experiments were performed to verify the effectiveness of our approach. First, automated microtool transportation and rotation were demonstrated with high precision. Second, indirect optical transportations of cells, with and without an obstacle, were performed to demonstrate the effectiveness of the proposed approach. Third, experiments of fluorescent cell manipulation were performed to confirm that, indicated by the photobleaching effect, indirect manipulation with the microtool could induce less laser exposure compared with direct optical manipulation. The proposed method could be useful in complex biomedical applications where precise cell manipulation and less laser exposure are required.

Translational and rotational manipulation of filamentous cells using optically driven microrobots

Optical cell manipulation has become increasingly valuable in cell-based assays. In this paper, we demonstrate the translational and rotational manipulation of filamentous cells using multiple cooperative microrobots automatically driven by holographic optical tweezers. The photodamage of the cells due to direct irradiation of the laser beam can be effectively avoided. The proposed method will enable fruitful biomedical applications where precise cell manipulation and less photodamage are required.

Millimeter-scale flexible robots with programmable three-dimensional magnetization and motions

Flexible magnetic small-scale robots use patterned magnetization to achieve fast transformation into complex three-dimensional (3D) shapes and thereby achieve locomotion capabilities and functions. These capabilities address current challenges for microrobots in drug delivery, object manipulation, and minimally invasive procedures. However, possible microrobot designs are limited by the existing methods for patterning magnetic particles in flexible materials. Here, we report a method for patterning hard magnetic microparticles in an elastomer matrix. This method, based on ultraviolet (UV) lithography, uses controlled reorientation of magnetic particles and selective exposure to UV light to encode magnetic particles in planar materials with arbitrary 3D orientation with a geometrical feature size as small as 100 micrometers. Multiple planar microrobots with various sizes, different geometries, and arbitrary magnetization profiles can be fabricated from a single precursor in one process. Moreover, a 3D magnetization profile allows higher-order and multi-axis bending, large-angle bending, and combined bending and torsion in one sheet of polymer, creating previously unachievable shape changes and microrobotic locomotion mechanisms such as multi-arm power grasping and multi-legged paddle crawling. A physics-based model is also presented as a design tool to predict the shape changes under magnetic actuation.

Janus Soft Actuators with On-Off Switchable Behaviors for Controllable Manipulation Driven by Oil

Soft actuators have tremendous applications in diverse fields. Facile preparation, rapid actuation, and versatile actions are always pursued when developing new types of soft actuators. In this paper, we present a facile method integrating laser etching and mechanical cutting to prepare Janus actuators driven by oil. A Janus film with superhydrophobic and hydrophobic sides was fabricated successfully. By cutting the functional layer at the desired positions, a number of quintessential oil-driven soft devices were demonstrated. Furthermore, Janus actuators with surfaces of different wettabilities exhibited different swelling behaviors, and different media manifested different surface extensions; thus, these actuators are promising candidates for soft actuators and also realized on-off switchability between an oil/water mixture and ethanol. This study offers novel insight into the design of soft actuators, and this insight may be helpful for developing an oil-driven soft actuator that can be operated like a human finger to manipulate any object and extending stimuli-responsive applications for soft robotics.

Optical catapulting of microspheres in mucus models-toward overcoming the mucus biobarrier

The generalized phase contrast method is employed as an efficient "phase-only" laser beam-shaping technique in an optical setup built for catapulting microspheres through simple mucus models. The influence of the laser power and mucin concentration on the motion of the microspheres is investigated in terms of instant and average velocities on a 250-μm trajectory, corresponding to the mucus thickness in the human gastrointestinal tract. Increasing the laser power leads to higher velocities in all the tested samples, while increasing the mucin concentration leads to significant velocity decrease for similar laser input power. However, velocities of up to 95  μm  ·  s  -  1 are demonstrated in a 5% mucin simple mucus model using our catapulting system. This study contributes to understanding and overcoming the challenges of optical manipulation in mucus models. This paves the way for efficient optical manipulation of three-dimensional-printed light-controlled microtools with the ability to penetrate the mucus biobarrier for in vitro drug-delivery studies.