Automated Embryo Manipulation and Rotation via Robotic nDEP-Tweezers

Intelligent sensing for the autonomous manipulation of microrobots toward minimally invasive cell surgery

The physiology and pathogenesis of biological cells have drawn enormous research interest. Benefiting from the rapid development of microfabrication and microelectronics, miniaturized robots with a tool size below micrometers have widely been studied for manipulating biological cells in vitro and in vivo. Traditionally, the complex physiological environment and biological fragility require human labor interference to fulfill these tasks, resulting in high risks of irreversible structural or functional damage and even clinical risk. Intelligent sensing devices and approaches have been recently integrated within robotic systems for environment visualization and interaction force control. As a consequence, microrobots can be autonomously manipulated with visual and interaction force feedback, greatly improving accuracy, efficiency, and damage regulation for minimally invasive cell surgery. This review first explores advanced tactile sensing in the aspects of sensing principles, design methodologies, and underlying physics. It also comprehensively discusses recent progress on visual sensing, where the imaging instruments and processing methods are summarized and analyzed. It then introduces autonomous micromanipulation practices utilizing visual and tactile sensing feedback and their corresponding applications in minimally invasive surgery. Finally, this work highlights and discusses the remaining challenges of current robotic micromanipulation and their future directions in clinical trials, providing valuable references about this field.

Large-Scale Selective Micropatterning with Robotics nDEP Tweezers and Hydrogel Encapsulation

Creating diverse microparticle patterns on a large scale enhances the performance and efficiency of biochemical analytics. Current techniques exhibit limitations in achieving diverse microparticle patterns on a large scale, primarily focusing on patterning particles of the same type with limited flexibility and accessibility. Moreover, accessibility to patterned particles without a fixed formation poses additional challenges. Herein, in this work, we introduce a novel robotic micropatterning system designed to address these challenges. The system facilitates the selection, batch transferring, patterning, and encapsulation of microparticles using negative dielectrophoresis (nDEP)-tweezers, enabling large-scale microparticle patterning on a hydrogel. A multielectrode chip was mounted on a micromanipulator to serve as the nDEP tweezers, and the microparticles scattering on the substrate could be trapped and displaced to different positions on a substrate with an array of holes for large-scale pattern generation. Photosensitive hydrogel was employed for microparticle pattern encapsulation. The effects of configuring different experimental parameters on the patterning efficiency were evaluated and analyzed. Experiments were conducted to explore the stability and performance of the micropatterns. Various patterns with hydrogel encapsulation were created using different color polystyrene microbeads (orange, blue, and green) with varying sizes (50, 100, and 125 μm) under the adjusted environment. Results demonstrate the successful creation of large-scale microbead patterns in a specified form and their encapsulation into an extractable hydrogel using the proposed nDEP tweezer system. The proposed system can be potentially applied to diverse bioparticles for analysis.

Design and optimization of an octuple-electrode array for micro-particle chain rotation via electrorotation integrated with machine vision technology

Microparticle rotation is an important process in biomedical engineering, such as biosensors, cell injection or cell morphology. Single particle rotation has been widely investigated, while rotation of particle chains has gained rare attention. In this paper, we utilize a noncontact manipulation method to rotate microparticle chains via electrorotation by designing an octuple-electrode array (OEA). Finite element simulations were conducted for analyzing the desired electrode field and optimizing the structure of microelectrode pairs. The direction of the electric field in the workspace is investigated with different voltage signal inputs through specially designed circuits. In the experiment, microparticles are driven to form several chains in the proposed electrode fields. With the rotation of the electric field, particle chains could be rotated synchronously. Automated rotation and detection of polystyrene microspheres and yeast cell chains are achieved using machine vision technology. Results show that the proposed method could be utilized to rotate ordered microparticles with an appropriate input signal.

Electrically-driven handling of gametes and embryos: taking a step towards the future of ARTs

Electrical stimulation of gametes and embryos and on-chip manipulation of microdroplets of culture medium serve as promising tools for assisted reproductive technologies (ARTs). Thus far, dielectrophoresis (DEP), electrorotation (ER) and electrowetting on dielectric (EWOD) proved compatible with most laboratory procedures offered by ARTs. Positioning, entrapment and selection of reproductive cells can be achieved with DEP and ER, while EWOD provides the dynamic microenvironment of a developing embryo to better mimic the functions of the oviduct. Furthermore, these techniques are applicable for the assessment of the developmental competence of a mammalian embryo in vitro. Such research paves the way towards the amelioration and full automation of the assisted reproduction methods. This article aims to provide a summary on the recent developments regarding electrically stimulated lab-on-chip devices and their application for the manipulation of gametes and embryos in vitro.

Recent advances in critical nodes of embryo engineering technology

The normal development and maturation of oocytes and sperm, the formation of fertilized ova, the implantation of early embryos, and the growth and development of foetuses are the biological basis of mammalian reproduction. Therefore, research on oocytes has always occupied a very important position in the life sciences and reproductive medicine fields. Various embryo engineering technologies for oocytes, early embryo formation and subsequent developmental stages and different target sites, such as gene editing, intracytoplasmic sperm injection (ICSI), preimplantation genetic diagnosis (PGD), and somatic cell nuclear transfer (SCNT) technologies, have all been established and widely used in industrialization. However, as research continues to deepen and target species become more advanced, embryo engineering technology has also been developing in a more complex and sophisticated direction. At the same time, the success rate also shows a declining trend, resulting in an extension of the research and development cycle and rising costs. By studying the existing embryo engineering technology process, we discovered three critical nodes that have the greatest impact on the development of oocytes and early embryos, namely, oocyte micromanipulation, oocyte electrical activation/reconstructed embryo electrofusion, and the in vitro culture of early embryos. This article mainly demonstrates the efforts made by researchers in the relevant technologies of these three critical nodes from an engineering perspective, analyses the shortcomings of the current technology, and proposes a plan and prospects for the development of embryo engineering technology in the future.