A robot-assisted acoustofluidic end effector

Bridging laboratory innovation to translational research and commercialization of extracellular vesicle isolation and detection

Extracellular vesicles (EVs) have emerged as promising biomarkers for various diseases. Encapsulating biomolecules reflective of their parental cells, EVs are readily accessible in bodily fluids. The prospect for minimally invasive, repeatable molecular testing has stimulated significant research; however, challenges persist in isolating EVs from complex biological matrices and characterizing their limited molecular cargo. Technical advances have been pursued to address these challenges, producing innovative EV-specific platforms. This review highlights recent technological developments, focusing on EV isolation and molecular detection methodologies. Furthermore, it explores the translation of these laboratory innovations to clinical applications through the analysis of patient samples, providing insights into the potential diagnostic and prognostic utility of EV-based technologies.

High-Precision Microfluidic Impedance Sensing for Pretreatment and Detection of Multiple Mycotoxins

Mycotoxin contamination frequently causes considerable food safety problems. Unfortunately, for on-site mycotoxin detection, the experimental continuity and the stability of the results are affected by human operation in the sample pretreatment process, which brings a series of errors and further affects the experiment. Considering that, a centrifugal microfluidic chip is developed for the continuous automatic operation of each preprocessing step, which can simultaneously pretreat ochratoxin A (OTA), deoxynivalenol (DON), and aflatoxin B1 (AFB1) with high throughput under optimal conditions. More importantly, the time-series impedance method is proposed for detection, which amplifies the signal difference of the three mycotoxins and provides better high temporal resolution. The whole on-chip pretreatment and detection took only 15 min. To further improve the advantage of the proposed sensor, the MXene@AuNPs modified electrode is proposed to obtain superb detection performance with high sensitivity. The standard curves of the three mycotoxins are established for accurate quantitative analysis. Variances of OTA, DON, and AFB1 standard curves are 0.9839, 0.9888, and 0.9793, respectively. The detection limits of OTA, DON, and AFB1 are 7.1 ng/L, 1.24 μg/L, and 11.8 ng/L. The average recovery of this method ranges from 94.0 to 106.1%, indicating good reliability and reproducibility. Moreover, the developed method exhibits negligible cross-reactions with other mycotoxins. This technique can be used for the early detection of mycotoxins, with great prospects and potential application for on-site instant detection.

Crossing the Dimensional Divide with Optoelectronic Tweezers: Multicomponent Light-Driven Micromachines with Motion Transfer in Three Dimensions

Micromachines capable of performing diverse mechanical tasks in complex and constrained microenvironments are of great interest. Despite important milestones in this pursuit, until now, micromachines are confined to actuation within a single 2D plane due to the challenges of transferring motion across different planes in limited space. Here, a breakthrough method is presented to overcome this limitation: multi-component micromachines that facilitate 3D motion transfer across different planes. These light-driven 3D micromachines, fabricated using standard photolithography combined with direct laser writing, are assembled and actuated via programmable light patterns within an optoelectronic tweezers system. Utilizing charge-induced repulsion and dielectrophoretic levitation effects, the micromachines enable highly efficient mechanical rotation and effective inter-component motion transfer. Through this work, fascinating patterns of similarities are unveiled for the new microscale 3D systems when compared with the macro-scale world in which they live, paving the way for the development of micromechanical devices and microsystems with ever increasing functionality and versatility.

μSonic-hand: Biomedical micromanipulation driven by acoustic gas-liquid-solid interactions

Micromanipulation is crucial for operating and analyzing microobjects in advanced biomedical applications. However, safe, low-cost, multifunctional micromanipulation for operating bio-objects across scales and modalities remains inaccessible. Here, we propose a versatile micromanipulation method driven by acoustic gas-liquid-solid interactions, named μSonic-hand. The bubble contained at the end of a micropipette and the surrounding liquid form a gas-liquid multiphase system susceptible to acoustic waves. Driven by a piezoelectric transducer, the oscillating gas-liquid interface induces acoustic microstreaming, markedly increasing the mass transfer efficiency. It enables multiple liquid micromanipulations, including mixing, dispersion, enhancing cell membrane permeability, and harvesting selected cells. Furthermore, a controllable three-dimensional axisymmetric vortex in an open environment overcomes the constraints of microfluidic chip, enabling stable trapping, rapid transportation, and multidirectional rotation of HeLa cells, embryos, and other bio-objects ranging from micrometers to millimeters. A variety of applications demonstrate that the μSonic-hand, with its wide-range capabilities, inherent biocompatibility, and extremely low cost could remarkably advance biomedical science.

Bioinspired Electrostatic Capture-and-Release System for Precise Microdroplet Manipulation

The application of physical fields is crucial for droplet generation and manipulation, underpinning technologies like printing, microfluidic biochips, drug delivery, and flexible sensors. Despite advancements, precise micro/nanoscale droplet generation and accurate microfluidic reactions remain challenging. Inspired by the liquid ejection mechanisms in microscopic organisms, an electrostatic manipulator for the precise capture, emission, and transport of microdroplets is proposed. This approach enables the controlled and periodic emission of nanoscale daughter droplets from microscale parent droplets, achieved through dielectric pinning on surfaces and electrostatic field-driven forces. Results show precise nanoscale droplet release on inert polymer surfaces, enabling directional, contamination-free liquid manipulation. Moreover, leveraging surface treatment techniques and robust electrostatic force-driven transportation, a versatile strategy for droplet generation and manipulation, spanning from microfluidic devices to chemical reaction operations. The novel droplet manipulation phenomena and control strategies can advance the fields of electrostatic-based microfluidics, materials fabrication, and beyond.

Transformative laboratory medicine enabled by microfluidic automation and artificial intelligence

Laboratory medicine provides pivotal medical information through analyses of body fluids and tissues, and thus, it is essential for diagnosis of diseases as well as monitoring of disease progression. Despite its universal importance, the field is currently suffering from the limited workforce and analytical capabilities due to the increasing pressure from expanding global population and unexpected rise of noncommunicable diseases. The emerging technologies of microfluidic automation and artificial intelligence (AI) has led to the development of advanced diagnostic platforms, positioning themselves as adaptable solutions to enable highly efficient and accessible laboratory medicine. In this review, we will provide a comprehensive review of microfluidic automation, focusing on the microstructure design and automation principles, along with its intended functionalities for diagnostic purposes. Subsequently, we exemplify the integration of AI with microfluidics and illustrating how their combination benefits for the applications and what the challenges are in this rapidly evolving field. Finally, the review offers a balanced perspective on the microfluidics and AI, discussing their promising role in advancing laboratory medicine.

Microfluidics for morpholomics and spatial omics applications

Creative designs, precise fluidic manipulation, and automation have supported the development of microfluidics for single-cell applications. Together with the advancements in detection technologies and artificial intelligence (AI), microfluidic-assisted platforms have been increasingly used for new modalities of single-cell investigations and in spatial omics applications. This review explores the use of microfluidic technologies for morpholomics and spatial omics with a focus on single-cell and tissue characterization. We emphasize how various fluid dynamic principles and unique design integrations enable highly precise fluid manipulation, enhancing sample handling in morpholomics. Additionally, we examine the use of microfluidics-assisted spatial barcoding with micrometer resolutions for the spatial profiling of tissue specimens. Finally, we discuss how microfluidics can serve as a bridge for integrating multiple unique fields in omics research and outline key challenges that these technologies may face in practical translation.

Numerical investigation of acoustic radiation force and microstreaming in a viscoelastic fluid

We present a numerical model to study time-averaged acoustic radiation force and microstreaming around an elastic sphere immersed within an acoustically actuated viscoelastic fluid. We employ a perturbation approach to systematically identify limiting regimes where the viscoelastic fluid can be approximated as a purely viscous fluid at the acoustic and mean time scales. Unlike existing numerical models, we account for microstreaming and fluid elasticity contributions to the radiation force. We elucidate the inherent assumptions within reduced expressions considered in prior numerical models and highlight the divergence between the acoustic radiation force obtained from the reduced and general expressions. We also discuss numerical considerations to ensure the invariance of the acoustic radiation force with the choice of integration surface by recasting the time-averaged mass balance equation in terms of Stokes drift. Our results reveal that the acoustic radiation force exhibits a peak value for an optimal relaxation time, and both the peak acoustic radiation force and the optimal relaxation time increase with increasing polymer viscosity. The results also highlight the significant contribution of fluid elasticity to the radiation force and invalidate the previously employed reduced acoustic radiation force expressions for general viscoelastic regime.

Engineering the acoustic field with a Mie scatterer for microparticle patterning

The utilization of acoustic fields offers a contactless approach for microparticle manipulation in a miniaturized system, and plays a significant role in medicine, biology, chemistry, and engineering. Due to the acoustic radiation force arising from the scattering of the acoustic waves, small particles in the Rayleigh scattering range can be trapped, whilst their impact on the acoustic field is negligible. Manipulating larger particles in the Mie scattering regime is challenging due to the diverse scattering modes, which impacts the local acoustic field. The rapid movement of free-moving Mie scatterers in an acoustic standing wave field makes it difficult to study the interaction between a sound field and a Mie scatterer in an engineering context. Here, a combined approach that integrates theoretical analysis and experimental investigation was developed to explore the influence of a Mie scatterer on the acoustic field by fabricating an acoustic trapping device featuring a fixed Mie scatterer at its center. We demonstrate that an insonified Mie scatterer can operate as an acoustic emitter in water, enabling dynamic and versatile modulation of the total acoustic field. Such a scatterer can interact with one or multiple incident propagating acoustic waves, leading to the generation of a localized standing wave field in the vicinity of the scatterer. This local field can be controlled by the relative location of the scatterer with respect to the incident field leading to control over the transformation from an incident 1D acoustic field into a 2D acoustic field. This control paves the way for localized and multi-scale micro-object manipulation.

Advancing cellular transfer printing: achieving bioadhesion-free deposition via vibration microstreaming

Cell transfer printing plays an essential role in biomedical research and clinical diagnostics. Traditional bioadhesion-based methods often necessitate complex surface modifications and offer limited control over the quantity of transferred cells. There is a critical need for a modification-free, non-labeling, and high-throughput cell transfer printing technique. In this study, an adhesion-free cellular transfer printing method based on vibration-induced microstreaming is introduced. By adjusting the volume of the microcavity, the number of cells transferred per microtiter well can be realized to the level of a single cell. Additionally, it allows for precise control of large-scale cellular spatial distribution, leading to the formation of biomimetic patterns. Moreover, the demonstrated biocompatibility and high throughput of this cell transfer printing method highlight its potential utility. The correspondence of the transferred cell amount to the vibration and frequencies allows the system to exhibit excellent tunability of the transferred cell amount and pattern. This bioadhesion-free cell transfer printing method holds promise for advancing cell manipulation in biomedical research and analysis.

Acoustofluidic Tweezers Integrated with Droplet Sensing Enable Multifunctional Closed-Loop Droplet Manipulation

Droplet manipulation technologies with surface acoustic waves attract significant attention for applications in fluid handling and bioanalysis. However, existing technologies face challenges in automation, precision, and functional integration, limiting broader applications. In this work, a highly integrated droplet-sensing acoustofluidic tweezer is developed, incorporating orthogonally arranged slanted finger interdigital transducers and a custom-designed control and detection circuit system. Using a single acoustic device, this tweezer enables switchable acoustic droplet manipulation and detection, providing multifunctional closed-loop manipulation of on-chip microliter-scale droplets. The platform takes advantage of the wideband frequency response characteristics of the transducers, along with an automated droplet detection algorithm, enabling high-precision detection of central positions, edge positions, contact diameters, and the number of droplets. With this feedback, automated closed-loop control of various droplet manipulation functions, including transportation, merging, mixing, splitting, and internal particle enrichment, is achieved for the first time on a single acoustic platform. This significantly enhances the precision, efficiency, and fault tolerance of the manipulation process. This droplet-sensing acoustofluidic tweezer provides an innovative acoustic solution for droplet manipulation technologies in fields such as fluid processing and biosensing, demonstrating significant application potential.

Development of an Automated Capture-SELEX Device for Efficient Screening of β-Conglycinin Aptamer

β-Conglycinin is the main allergen present in soybeans, and it is causing wide concern due to its notable allergenicity, heat, and digestive enzyme resistance. Screening for aptamers that both recognize β-conglycinin and inhibit the allergic reactions that it triggers is necessary. Conventional aptamer screening is labor-intensive, requires skilled personnel, and has limited reproducibility. To address these limitations, an automated device was developed to enhance the efficiency of aptamer selection in Capture-SELEX. The device achieves highly integrated, reproducible, and accurate contamination control. Using this device, a high-affinity and specific aptamer, β-5, was selected with a Kd = 18.24 ± 2.42 nM for β-conglycinin, as confirmed by isothermal titration calorimetry and fluorescence polarization. Thermodynamic analysis revealed that enthalpy-driven binding and docking simulations clarified the recognition mechanism. Overall, this automated device enables high-efficiency aptamer generation for certain targets, with aptamer β-5 expected to play a vital role in the detection of β-conglycinin and the targeted inhibition of its allergic reaction.

Simulation and kinematic analysis of a 3-DOF marine antenna pedestal focusing on singularity avoidance and its effects on angular velocity and angular acceleration

The antenna pedestal in marine satellite communications uses three degrees of freedom, with an added degree to avoid singularity, which can increase joint angular velocity and acceleration. This study models the mechanism in SolidWorks, simulates it in Matlab, uses kinematic equations and the Denavit-Hartenberg method to propose a path that minimizes joint velocity and acceleration during tracking. The novelty of this study as a summary includes first identifying the required degree of freedom to address the redundancy issue and introducing an equation based on that degree of freedom considering the workspace far from singularity to add to the inverse kinematics equations of the mechanism. The second is finding the optimal value of the influential parameter for the mechanism to pass through the farthest range from the singularity when the end-effector passes 90∘ above the mechanism, the third is a trade-off between the effects of different variable values from the equation on the angular velocity of the joints and operating in the workspace far from the singularity, and finally, the fourth is finding the optimal value of the parameter from the introduced equation to simultaneously optimize the maximum angular acceleration of the joints and operating in the workspace far from the singularity.

Movable surface acoustic wave tweezers: a versatile toolbox for micromanipulation

Surface acoustic wave (SAW) tweezers are a promising multifunctional micromanipulation method that controls microscale targets via patterned acoustic fields. Owing to their device structure and bonding process, most SAW tweezers have limitations in terms of controlling the position and motion of the acoustic traps, as they generate an acoustic field with a fixed region and adjust the manipulation effects via signal modulation. To address this challenge, we propose movable SAW tweezers with a multilayer structure, achieving dynamic control of their wave field and acoustic trap positions; we demonstrate their precise manipulation functions, such as translation, in-plane rotation, out-of-plane rotation, and cluster formation, on a wide spectrum of samples, including particles, bubbles, droplets, cells, and microorganisms. Our method not only improves the degree of freedom and working range of SAW tweezers but also allows for precise and selective manipulation of microtargets via microtools and localized wavefields. Owing to their flexibility, versatility, and biocompatibility, the movable SAW tweezers can be a practical platform for achieving arbitrary manipulation of microscale targets and have the potential to play significant roles in biomedical microrobotics.

Acoustic black hole effect enhanced micro-manipulator

Microparticle manipulation is a critical concern across various fields including microfabrication, flexible electronics and tissue engineering. Acoustic-activated sharp structures have been designed as simple and flexible tools to manipulate microparticles with their good compatibility, fast response, and broad tunability. However, there still lacks rational acoustic-structure design for effective energy concentration at the acoustic-activated sharp structures for microparticle manipulation. Here, we present the acoustic black hole (ABH) effect as enhancement for the acoustic micro-manipulator. It provides great reliability, simplicity and ease of use, supporting custom design of high-throughput patterning modes. Moreover, compared to commonly used configurations, such as cylindrical or conical microneedles, those microneedles with ABH profile exhibit superior acoustic energy focusing at the tip and induce stronger acoustofluidic effects. The average acoustic flow velocity induced by the ABH microneedle is 154 times greater than that of the conical one and 45 times greater than that of the cylindrical microneedle. Besides, the average acoustic radiation force (ARF) produced by the ABH microneedle against acrylic microparticles is about 319 times greater than that of the cylindrical one and 16 times greater than that of the conical one. These results indicate that ABH design significantly enhances microparticle manipulation. We demonstrate this concept with ABH effect enhanced microparticle manipulation and study the parameters influencing its performance including operating frequency, operating voltage and particle diameter. Furthermore, considering the flexibility of this system, we employ it for various patterning and high-throughput microparticle manipulation. This work paves the way for controllable microparticle manipulation, holding great potential for applications in microfabrication and biomedicine.

SonoPrint: Acoustically Assisted Volumetric 3D Printing for Composites

Advances in additive manufacturing in composites have transformed aerospace, medical devices, tissue engineering, and electronics. A key aspect of enhancing properties of 3D-printed objects involves fine-tuning the material by embedding and orienting reinforcement within the structure. Existing methods for orienting these reinforcements are limited by pattern types, alignment, and particle characteristics. Acoustics offers a versatile method to control the particles independent of their size, geometry, and charge, enabling intricate pattern formations. However, integrating acoustics into 3D printing has been challenging due to the scattering of the acoustic field between polymerized layers and unpolymerized resin, resulting in unwanted patterns. To address this challenge, SonoPrint, an innovative acoustically assisted volumetric 3D printer is developed that enables simultaneous reinforcement patterning and printing of the entire structure. SonoPrint generates mechanically tunable composite geometries by embedding reinforcement particles, such as microscopic glass, metal, and polystyrene, within the fabricated structure. This printer employs a standing wave field to create targeted particle motifs-including parallel lines, radial lines, circles, rhombuses, hexagons, and polygons-directly in the photosensitive resin, completing the print in just a few minutes. SonoPrint enhances structural properties and promises to advance volumetric printing, unlocking applications in tissue engineering, biohybrid robots, and composite fabrication.

Acoustofluidic precise manipulation: Recent advances in applications for micro/nano bioparticles

Acoustofluidic technologies that integrate acoustic waves and microfluidic chips have been widely used in bioparticle manipulation. As a representative technology, acoustic tweezers have attracted significant attention due to their simple manufacturing, contact-free operation, and low energy consumption. Recently, acoustic tweezers have enabled the efficient and smart manipulation of biotargets with sizes covering millimeters (such as zebrafish) and nanometers (such as DNA). In addition to acoustic tweezers, other related acoustofluidic chips including acoustic separating, mixing, enriching, and transporting chips, have also emerged to be powerful platforms to manipulate micro/nano bioparticles (cells in blood, extracellular vesicles, liposomes, and so on). Accordingly, some interesting applications were also developed, such as smart sensing. In this review, we firstly introduce the principles of acoustic tweezers and various related technologies. Second, we compare and summarize recent applications of acoustofluidics in bioparticle manipulation and sensing. Finally, we outlook the future development direction from the perspectives such as device design and interdisciplinary.

Advances in Single-Cell Techniques for Linking Phenotypes to Genotypes

Single-cell analysis has become an essential tool in modern biological research, providing unprecedented insights into cellular behavior and heterogeneity. By examining individual cells, this approach surpasses conventional population-based methods, revealing critical variations in cellular states, responses to environmental cues, and molecular signatures. In the context of cancer, with its diverse cell populations, single-cell analysis is critical for investigating tumor evolution, metastasis, and therapy resistance. Understanding the phenotype-genotype relationship at the single-cell level is crucial for deciphering the molecular mechanisms driving tumor development and progression. This review highlights innovative strategies for selective cell isolation based on desired phenotypes, including robotic aspiration, laser detachment, microraft arrays, optical traps, and droplet-based microfluidic systems. These advanced tools facilitate high-throughput single-cell phenotypic analysis and sorting, enabling the identification and characterization of specific cell subsets, thereby advancing therapeutic innovations in cancer and other diseases.

Wave-momentum shaping for moving objects in heterogeneous and dynamic media

Light and sound waves can move objects through the transfer of linear or angular momentum, which has led to the development of optical and acoustic tweezers, with applications ranging from biomedical engineering to quantum optics. Although impressive manipulation results have been achieved, the stringent requirement for a highly controlled, low-reverberant and static environment still hinders the applicability of these techniques in many scenarios. Here we overcome this challenge and demonstrate the manipulation of objects in disordered and dynamic media by optimally tailoring the momentum of sound waves iteratively in the far field. The method does not require information about the object's physical properties or the spatial structure of the surrounding medium but relies only on a real-time scattering matrix measurement and a positional guide-star. Our experiment demonstrates the possibility of optimally moving and rotating objects to extend the reach of wave-based object manipulation to complex and dynamic scattering media. We envision new opportunities for biomedical applications, sensing and manufacturing.

Optical Actuation of Nanoparticle-Loaded Liquid-Liquid Interfaces for Active Photonics

Liquid-liquid interfaces hold the potential to serve as versatile platforms for dynamic processes, due to their inherent fluidity and capacity to accommodate surface-active materials. This study explores laser-driven actuation of liquid-liquid interfaces with and without loading of gold nanoparticles and further exploits the laser-actuated interfaces with nanoparticles for tunable photonics. Upon laser exposure, gold nanoparticles were rearranged along the interface, enabling the reconfigurable, small-aperture modulation of light transmission and the tunable lensing effect. Adapting the principles of optical and optothermal tweezers, we interpreted the underlying mechanisms of actuation and modulation as a synergy of optomechanical and optothermal effects. Our findings provide an analytical framework for understanding microscopic interfacial behaviors, contributing to potential applications in tunable photonics and interfacial material engineering.

Micro-Acoustic Holograms for Detachable Microfluidic Devices

Acoustic microfluidic devices have advantages for diagnostic applications, therapeutic solutions, and fundamental research due to their contactless operation, simple design, and biocompatibility. However, most acoustofluidic approaches are limited to forming simple and fixed acoustic patterns, or have limited resolution. In this study,a detachable microfluidic device is demonstrated employing miniature acoustic holograms to create reconfigurable, flexible, and high-resolution acoustic fields in microfluidic channels, where the introduction of a solid coupling layer makes these holograms easy to fabricate and integrate. The application of this method to generate flexible acoustic fields, including shapes, characters, and arbitrarily rotated patterns, within microfluidic channels, is demonstrated.

Multicolor-Assay-on-a-Chip Processed by Robotic Operation (MACpro) with Improved Diagnostic Accuracy for Field-Deployable Detection

The ability to deploy decentralized laboratories with autonomous and reliable disease diagnosis holds the potential to deliver accessible healthcare services for public safety. While microfluidic technologies provide precise manipulation of small fluid volumes with improved assay performance, their limited automation and versatility confine them to laboratories. Herein, we report the utility of multicolor assay-on-a-chip processed by robotic operation (MACpro), to address this unmet need. The MACpro platform comprises a robot-microfluidic interface and an eye-in-hand module that provides flexible yet stable actions to execute tasks in a programmable manner, such as the precise manipulation of the microfluidic chip along with different paths. Notably, MACpro shows improved detection performance by integrating the microbead-based antibody immobilization with enhanced target recognition and multicolor sensing via Cu2+-catalyzed plasmonic etching of gold nanorods for rapid and sensitive analyte quantification. Using interferon-gamma as an example, we demonstrate that MACpro completes a sample-to-answer immunoassay within 30 min and achieves a 10-fold broader dynamic range and a 10-fold lower detection limit compared to standard enzyme-linked immunosorbent assays (0.66 vs 5.2 pg/mL). MACpro extends the applications beyond traditional laboratories and presents an automated solution to expand diagnostic capacity in diverse settings.

Optoelectronically navigated nano-kirigami microrotors

With the rapid development of micro/nanofabrication technologies, the concept of transformable kirigami has been applied for device fabrication in the microscopic world. However, most nano-kirigami structures and devices were typically fabricated or transformed at fixed positions and restricted to limited mechanical motion along a single axis due to their small sizes, which significantly limits their functionalities and applications. Here, we demonstrate the precise shaping and position control of nano-kirigami microrotors. Metallic microrotors with size of ~10 micrometers were deliberately released from the substrates and readily manipulated through the multimode actuation with controllable speed and direction using an advanced optoelectronic tweezers technique. The underlying mechanisms of versatile interactions between the microrotors and electric field are uncovered by theoretical modeling and systematic analysis. This work reports a novel methodology to fabricate and manipulate micro/nanorotors with well-designed and sophisticated kirigami morphologies, providing new solutions for future advanced optoelectronic micro/nanomachinery.

A bio-fabricated tesla valves and ultrasound waves-powered blood plasma viscometer

Introduction: There is clinical evidence that the fresh blood viscosity is an important indicator in the development of vascular disorder and coagulation. However, existing clinical viscosity measurement techniques lack the ability to measure blood viscosity and replicate the in-vivo hemodynamics simultaneously. Methods: Here, we fabricate a novel digital device, called Tesla valves and ultrasound waves-powered blood plasma viscometer (TUBPV) which shows capacities in both viscosity measurement and coagulation monitoring. Results: Based on the Hagen-Poiseuille equation, viscosity analysis can be faithfully performed by a video microscopy. Tesla-like channel ensured unidirectional liquid motion with stable pressure driven that was triggered by the interaction of Tesla valve structure and ultrasound waves. In few seconds the TUBPV can generate an accurate viscosity profile on clinic fresh blood samples from the flow time evaluation. Besides, Tesla-inspired microchannels can be used in the real-time coagulation monitoring. Discussion: These results indicate that the TUBVP can serve as a point-of-care device in the ICU to evaluate the blood's viscosity and the anticoagulation treatment.

Acoustofluidic Actuation of Living Cells

Acoutofluidics is an increasingly developing and maturing technical discipline. With the advantages of being label-free, non-contact, bio-friendly, high-resolution, and remote-controllable, it is very suitable for the operation of living cells. After decades of fundamental laboratory research, its technical principles have become increasingly clear, and its manufacturing technology has gradually become popularized. Presently, various imaginative applications continue to emerge and are constantly being improved. Here, we introduce the development of acoustofluidic actuation technology from the perspective of related manipulation applications on living cells. Among them, we focus on the main development directions such as acoustofluidic sorting, acoustofluidic tissue engineering, acoustofluidic microscopy, and acoustofluidic biophysical therapy. This review aims to provide a concise summary of the current state of research and bridge past developments with future directions, offering researchers a comprehensive overview and sparking innovation in the field.

Enhanced acoustic streaming effects via sharp-edged 3D microstructures

Acoustofluidic micromanipulation is an important tool for biomedical research, where acoustic forces offer the ability to manipulate fluids, cells, and particles in a rapid, biocompatible, and contact-free manner. Of particular interest is the investigation of acoustically driven sharp edges, where high tip velocity magnitudes and strong acoustic potential gradients drive rapid motion. Whereas prior devices utilizing 2D sharp edges have demonstrated promise for micromanipulation activities, taking advantage of 3D structures has the potential to increase their performance and the range of manipulation activities. In this work, we investigate high-magnitude acoustic streaming fields in the vicinity of sharp-edged, sub-wavelength 3D microstructures. We numerically model and experimentally demonstrate this in fabricating parametrically configured 3D microstructures whose tip-angle and geometry influence acoustic streaming velocities and the complexity of streaming vortices, finding that the simulated and realized velocities and streaming patterns are both tunable and a function of microstructure shape. These sharp-edge interfaces hold promise for biomedical studies benefiting from precise and targeted micromanipulation.

Acoustohydrodynamic micromixers: Basic mixing principles, programmable mixing prospectives, and biomedical applications

Acoustohydrodynamic micromixers offer excellent mixing efficiency, cost-effectiveness, and flexible controllability compared with conventional micromixers. There are two mechanisms in acoustic micromixers: indirect influence by induced streamlines, exemplified by sharp-edge micromixers, and direct influence by acoustic waves, represented by surface acoustic wave micromixers. The former utilizes sharp-edge structures, while the latter employs acoustic wave action to affect both the fluid and its particles. However, traditional micromixers with acoustic bubbles achieve significant mixing performance and numerous programmable mixing platforms provide excellent solutions with wide applicability. This review offers a comprehensive overview of various micromixers, elucidates their underlying principles, and explores their biomedical applications. In addition, advanced programmable micromixing with impressive versatility, convenience, and ability of cross-scale operations is introduced in detail. We believe this review will benefit the researchers in the biomedical field to know the micromixers and find a suitable micromixing method for their various applications.

A vibrating capillary for ultrasound rotation manipulation of zebrafish larvae

Multifunctional micromanipulation systems have garnered significant attention due to the growing interest in biological and medical research involving model organisms like zebrafish (Danio rerio). Here, we report a novel acoustofluidic rotational micromanipulation system that offers rapid trapping, high-speed rotation, multi-angle imaging, and 3D model reconstruction of zebrafish larvae. An ultrasound-activated oscillatory glass capillary is used to trap and rotate a zebrafish larva. Simulation and experimental results demonstrate that both the vibrating mode and geometric placement of the capillary contribute to the developed polarized vortices along the long axis of the capillary. Given its capacities for easy-to-operate, stable rotation, avoiding overheating, and high-throughput manipulation, our system poses the potential to accelerate zebrafish-directed biomedical research.

SonoTransformers: Transformable acoustically activated wireless microscale machines

Shape transformation, a key mechanism for organismal survival and adaptation, has gained importance in developing synthetic shape-shifting systems with diverse applications ranging from robotics to bioengineering. However, designing and controlling microscale shape-shifting materials remains a fundamental challenge in various actuation modalities. As materials and structures are scaled down to the microscale, they often exhibit size-dependent characteristics, and the underlying physical mechanisms can be significantly affected or rendered ineffective. Additionally, surface forces such as van der Waals forces and electrostatic forces become dominant at the microscale, resulting in stiction and adhesion between small structures, making them fracture and more difficult to deform. Furthermore, despite various actuation approaches, acoustics have received limited attention despite their potential advantages. Here, we introduce "SonoTransformer," the acoustically activated micromachine that delivers shape transformability using preprogrammed soft hinges with different stiffnesses. When exposed to an acoustic field, these hinges concentrate sound energy through intensified oscillation and provide the necessary force and torque for the transformation of the entire micromachine within milliseconds. We have created machine designs to predetermine the folding state, enabling precise programming and customization of the acoustic transformation. Additionally, we have shown selective shape transformable microrobots by adjusting acoustic power, realizing high degrees of control and functional versatility. Our findings open new research avenues in acoustics, physics, and soft matter, offering new design paradigms and development opportunities in robotics, metamaterials, adaptive optics, flexible electronics, and microtechnology.

Steerable acoustically powered starfish-inspired microrobot

Soft polymeric microrobots that can be loaded with nanocargoes and driven via external field stimuli can provide innovative solutions in various fields, including precise microscale assembly, targeted therapeutics, microsurgery, and the capture and degradation of unwanted wastewater fragments. However, in aquatic environments, it remains challenging to operate with microrobotic devices due to the predominant viscous resistances and the robots' limited actuation and sensing capabilities attributed to their miniaturization. The miniature size prevents the incorporation of onboard batteries that can provide sufficient power for propulsion and navigation, necessitating a wireless power supply. Current research examines untethered microrobot manipulation using external magnetic, electric, thermodynamic, or acoustic field-guided technologies: all strategies capable of wireless energy transmission towards sensitive and hard-to-reach locations. Nonetheless, developing a manipulation strategy that harnesses simple-to-induce strong propulsive forces in a stable manner over extended periods of time remains a significant endeavor. This study presents the fabrication and manipulation of a microrobot consisting of a magnetized soft polymeric composite material that enables a combination of stable acoustic propulsion through starfish-inspired artificial cilia and magnetic field-guided navigation. The acousto-magnetic manipulation strategy leverages the unique benefits of each applied field in the viscous-dominated microscale, namely precise magnetic orientation and strong acoustic thrust.

Robotic Vectorial Field Alignment for Spin-Based Quantum Sensors

Developing practical quantum technologies will require the exquisite manipulation of fragile systems in a robust and repeatable way. As quantum technologies move toward real world applications, from biological sensing to communication in space, increasing experimental complexity introduces constraints that can be alleviated by the introduction of new technologies. Robotics has shown tremendous progress in realizing increasingly smart, autonomous, and highly dexterous machines. Here, a robotic arm equipped with a magnet is demonstrated to sensitize an NV center quantum magnetometer in challenging conditions unachievable with standard techniques. Vector magnetic fields are generated with 1° angular and 0.1 mT amplitude accuracy and determine the orientation of a single stochastically-aligned spin-based sensor in a constrained physical environment. This work opens up the prospect of integrating robotics across many quantum degrees of freedom in constrained settings, allowing for increased prototyping speed, control, and robustness in quantum technology applications.

Next-Generation Microfluidics for Biomedical Research and Healthcare Applications

Microfluidic systems offer versatile biomedical tools and methods to enhance human convenience and health. Advances in these systems enables next-generation microfluidics that integrates automation, manipulation, and smart readout systems, as well as design and three-dimensional (3D) printing for precise production of microchannels and other microstructures rapidly and with great flexibility. These 3D-printed microfluidic platforms not only control the complex fluid behavior for various biomedical applications, but also serve as microconduits for building 3D tissue constructs-an integral component of advanced drug development, toxicity assessment, and accurate disease modeling. Furthermore, the integration of other emerging technologies, such as advanced microscopy and robotics, enables the spatiotemporal manipulation and high-throughput screening of cell physiology within precisely controlled microenvironments. Notably, the portability and high precision automation capabilities in these integrated systems facilitate rapid experimentation and data acquisition to help deepen our understanding of complex biological systems and their behaviors. While certain challenges, including material compatibility, scaling, and standardization still exist, the integration with artificial intelligence, the Internet of Things, smart materials, and miniaturization holds tremendous promise in reshaping traditional microfluidic approaches. This transformative potential, when integrated with advanced technologies, has the potential to revolutionize biomedical research and healthcare applications, ultimately benefiting human health. This review highlights the advances in the field and emphasizes the critical role of the next generation microfluidic systems in advancing biomedical research, point-of-care diagnostics, and healthcare systems.

Acoustic Trapping and Manipulation of Hollow Microparticles under Fluid Flow Using a Single-Lens Focused Ultrasound Transducer

Microparticle manipulation and trapping play pivotal roles in biotechnology. To achieve effective manipulation within fluidic flow conditions and confined spaces, it is necessary to consider the physical properties of microparticles and the types of trapping forces applied. While acoustic waves have shown potential for manipulating microparticles, the existing setups involve complex actuation mechanisms and unstable microbubbles. Consequently, the need persists for an easily deployable acoustic actuation setup with stable microparticles. Here, we propose the use of hollow borosilicate microparticles possessing a rigid thin shell, which can be efficiently trapped and manipulated using a single-lens focused ultrasound (FUS) transducer under physiologically relevant flow conditions. These hollow microparticles offer stability and advantageous acoustic properties. They can be scaled up and mass-produced, making them suitable for systemic delivery. Our research demonstrates the successful trapping dynamics of FUS within circular tubings of varying diameters, validating the effectiveness of the method under realistic flow rates and ultrasound amplitudes. We also showcase the ability to remove hollow microparticles by steering the FUS transducer against the flow. Furthermore, we present potential biomedical applications, such as active cell tagging and navigation in bifurcated channels as well as ultrasound imaging in mouse cadaver liver tissue.

Acoustophoresis around an elastic scatterer in a standing wave field

Acoustofluidic systems often employ prefabricated acoustic scatterers that perturb the imposed acoustic field to realize the acoustophoresis of immersed microparticles. We present a numerical study to investigate the time-averaged streaming and radiation force fields around a scatterer. Based on the streaming and radiation force field, we obtain the trajectories of the immersed microparticles with varying sizes and identify a critical transition size at which the motion of immersed microparticles in the vicinity of a prefabricated scatterer shifts from being streaming dominated to radiation dominated. We consider a range of acoustic frequencies to reveal that the critical transition size decreases with increasing frequency; this result explains the choice of acoustic frequencies in previously reported experimental studies. We also examine the impact of scatterer material and fluid properties on the streaming and radiation force fields, as well as on the critical transition size. Our results demonstrate that the critical transition size decreases with an increase in acoustic contrast factor: a nondimensional quantity that depends on material properties of the scatterer and the fluid. Our results provide a pathway to realize radiation force based manipulation of small particles by increasing the acoustic contrast factor of the scatterer, lowering the kinematic viscosity of the fluid, and increasing the acoustic frequency.

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.

Liquid Phase Graphene Exfoliation with a Vibration-Based Acoustofluidic Effector

Liquid phase exfoliation (LPE) has emerged as a promising method for the industrial-scale production of graphene. However, one of its critical steps, namely sonication, has faced challenges due to high power consumption and low efficiency, leading to limited applicability in industrial settings. This study introduces a novel, cost-effective microfluidic sonication device designed to significantly reduce power consumption while efficiently assisting the LPE process for graphene production. By coupling a capillary with a buzzer and applying an appropriate electric signal, simulation and particle tracing experiments reveal the generation of robust shear forces resulting from acoustic streaming and cavitation when the capillary end is immersed in the liquid. For the first time, the capillary-based sonication device was effectively utilized for graphene exfoliation in a DMF (N,N-Dimethylformamide) + NaOH liquid phase system. The SEM (Scanning Electron Microscope) and Raman characterization results corroborate the successful exfoliation of 100 nm with thicknesses below 10 nm graphene sheets from graphite flakes using this pioneering device. The values of I2D/IG increase after processing, which suggests the exfoliation of graphite flakes into thinner graphene sheets. The vibration-based acoustofluidic effector represents a versatile and scalable miniature device, capable of being employed individually for small-batch production, thereby optimizing the utilization of raw 2D materials, particularly in experimental scenarios. Alternatively, it holds the potential for large-scale manufacturing through extensive parallelization, offering distinct advantages in terms of cost-efficiency and minimal power consumption.

Acoustic microbubble propulsion, train-like assembly and cargo transport

Achieving controlled mobility of microparticles in viscous fluids can become pivotal in biologics, biotechniques, and biomedical applications. The self-assembly, trapping, and transport of microparticles are being explored in active matter, micro and nanorobotics, and microfluidics; however, little work has been done in acoustics, particularly in active matter and robotics. This study reports the discovery and characterization of microbubble behaviors in a viscous gel that is confined to a slight opening between glass boundaries in an acoustic field. Where incident waves encounter a narrow slit, acoustic pressure is amplified, causing the microbubbles to nucleate and cavitate within it. Intermittent activation transforms microbubbles from spherical to ellipsoidal, allowing them to be trapped within the interstice. Continuous activation propels ellipsoidal microbubbles through shape and volume modes that is developed at their surfaces. Ensembles of microbubbles self-assemble into a train-like arrangement, which in turn capture, transport, and release microparticles.

Manipulation with sound and vibration: A review on the micromanipulation system based on sub-MHz acoustic waves

Manipulation of micro-objects have been playing an essential role in biochemical analysis or clinical diagnostics. Among the diverse technologies for micromanipulation, acoustic methods show the advantages of good biocompatibility, wide tunability, a label-free and contactless manner. Thus, acoustic micromanipulations have been widely exploited in micro-analysis systems. In this article, we reviewed the acoustic micromanipulation systems that were actuated by sub-MHz acoustic waves. In contrast to the high-frequency range, the acoustic microsystems operating at sub-MHz acoustic frequency are more accessible, whose acoustic sources are at low cost and even available from daily acoustic devices (e.g. buzzers, speakers, piezoelectric plates). The broad availability, with the addition of the advantages of acoustic micromanipulation, make sub-MHz microsystems promising for a variety of biomedical applications. Here, we review recent progresses in sub-MHz acoustic micromanipulation technologies, focusing on their applications in biomedical fields. These technologies are based on the basic acoustic phenomenon, such as cavitation, acoustic radiation force, and acoustic streaming. And categorized by their applications, we introduce these systems for mixing, pumping and droplet generation, separation and enrichment, patterning, rotation, propulsion and actuation. The diverse applications of these systems hold great promise for a wide range of enhancements in biomedicines and attract increasing interest for further investigation.

Rolling microswarms along acoustic virtual walls

Rolling is a ubiquitous transport mode utilized by living organisms and engineered systems. However, rolling at the microscale has been constrained by the requirement of a physical boundary to break the spatial homogeneity of surrounding mediums, which limits its prospects for navigation to locations with no boundaries. Here, in the absence of real boundaries, we show that microswarms can execute rolling along virtual walls in liquids, impelled by a combination of magnetic and acoustic fields. A rotational magnetic field causes individual particles to self-assemble and rotate, while the pressure nodes of an acoustic standing wave field serve as virtual walls. The acoustic radiation force pushes the microswarms towards a virtual wall and provides the reaction force needed to break their fore-aft motion symmetry and induce rolling along arbitrary trajectories. The concept of reconfigurable virtual walls overcomes the fundamental limitation of a physical boundary being required for universal rolling movements.