Untethered Microgrippers for Precision Medicine

Microgrippers, a branch of micro/nanorobots, refer to motile miniaturized machines that are of a size in the range of several to hundreds of micrometers. Compared with tethered grippers or other microscopic diagnostic and surgical equipment, untethered microgrippers play an indispensable role in biomedical applications because of their characteristics such as miniaturized size, dexterous shape tranformation, and  controllable motion, which enables the microgrippers to enter hard-to-reach regions to execute specific medical tasks for disease diagnosis and treatment. To date, numerous medical microgrippers are developed, and their potential in cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery  are explored. To achieve controlled locomotion and efficient target-oriented actions, the materials, size, microarchitecture, and morphology of microgrippers shall be deliberately designed. In this review, the authors summarizes the latest progress in untethered micrometer-scale grippers. The working mechanisms of shape-morphing and actuation methods for effective movement are first introduced. Then, the design principle and state-of-the-art fabrication techniques of microgrippers are discussed. Finally, their applications in the precise medicine are highlighted, followed by offering future perspectives for the development of untethered medical microgrippers.

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.

Visualization of the Dynamics of Photoinduced Crawling Motion of 4-(Methylamino)Azobenzene Crystals via Diffracted X-ray Tracking

The photoinduced crawling motion of crystals is a continuous motion that azobenzene molecular crystals exhibit under light irradiation. Such motion enables object manipulation at the microscale with a simple setup of fixed LED light sources. Transportation of nano-/micromaterials using photoinduced crawling motion has recently been reported. However, the details of the motion mechanism have not been revealed so far. Herein, we report visualization of the dynamics of fine particles in 4-(methylamino)azobenzene (4-MAAB) crystals under light irradiation via diffracted X-ray tracking (DXT). Continuously repeated melting and recrystallization of 4-MAAB crystals under light irradiation results in the flow of liquid 4-MAAB. Zinc oxide (ZnO) particles were introduced inside the 4-MAAB crystals to detect diffracted X-rays. The ZnO particles rotate with the flow of liquid 4-MAAB. By using white X-rays with a wide energy width, the rotation of each zinc oxide nanoparticle was detected as the movement of a bright spot in the X-ray diffraction pattern. It was clearly shown that the ZnO particles rotated increasingly as the irradiation light intensity increased. Furthermore, we also found anisotropy in the rotational direction of ZnO particles that occurred during the crawling motion of 4-MAAB crystals. It has become clear that the flow perpendicular to the supporting film of 4-MAAB crystals is enhanced inside the crystal during the crawling motion. DXT provides a unique means to elucidate the mechanism of photoinduced crawling motion of crystals.

Rotation of the c-Ring Promotes the Curvature Sorting of Monomeric ATP Synthases

ATP synthases are proteins that catalyse the formation of ATP through the rotatory movement of their membrane-spanning subunit. In mitochondria, ATP synthases are found to arrange as dimers at the high-curved edges of cristae. Here, a direct link is explored between the rotatory movement of ATP synthases and their preference for curved membranes. An active curvature sorting of ATP synthases in lipid nanotubes pulled from giant vesicles is found. Coarse-grained simulations confirm the curvature-seeking behaviour of rotating ATP synthases, promoting reversible and frequent protein-protein contacts. The formation of transient protein dimers relies on the membrane-mediated attractive interaction of the order of 1.5 kB T produced by a hydrophobic mismatch upon protein rotation. Transient dimers are sustained by a conic-like arrangement characterized by a wedge angle of θ ≈ 50°, producing a dynamic coupling between protein shape and membrane curvature. The results suggest a new role of the rotational movement of ATP synthases for their dynamic self-assembly in biological membranes.

Thomson-Einstein's Tea Leaf Paradox Revisited: Aggregation in Rings

A distinct particle focusing spot occurs in the center of a rotating fluid, presenting an apparent paradox given the presence of particle inertia. It is recognized, however, that the presence of a secondary flow with a radial component drives this particle aggregation. In this study, we expand on the examination of this "Thomson-Einstein's tea leaf paradox" phenomenon, where we use a combined experimental and computational approach to investigate particle aggregation dynamics. We show that not only the rotational velocity, but also the vessel shape, have a significant influence on a particle's equilibrium position. We accordingly demonstrate the formation of a single focusing spot in a vessel center, as has been conclusively demonstrated elsewhere, but also the repeatable formation of stable ring-shaped particle arrangements.

Programmable Acoustic Holography using Medium-Sound-Speed Modulation

Acoustic holography offers the ability to generate designed acoustic fields to manipulate microscale objects. However, the static nature or large aperture sizes of 3D printed acoustic holographic phase plates limits the ability to rapidly alter generated fields. In this work， a programmable acoustic holography approach is demonstrated by which multiple discrete or continuously variable acoustic targets can be created. Here, the holographic phase plate encodes multiple images, where the desired field is produced by modifying the sound speed of an intervening fluid media. Its flexibility is demonstrated in generating various acoustic patterns, including continuous line segments, discrete letters and numbers, using this method as a sound speed indicator and fluid identification tool. This programmable acoustic holography approach has the advantages of generating reconfigurable and designed acoustic fields, with broad potential in microfluidics, cell/tissue engineering, real-time sensing, and medical ultrasound.

Analytical Models for Measuring the Mechanical Properties of Yeast

The mechanical properties of yeast play an important role in many biological processes, such as cell division and growth, maintenance of internal pressure, and biofilm formation. In addition, the mechanical properties of cells can indicate the degree of damage caused by antifungal drugs, as the mechanical parameters of healthy and damaged cells are different. Over the past decades, atomic force microscopy (AFM) and micromanipulation have become the most widely used methods for evaluating the mechanical characteristics of microorganisms. In this case, the reliability of such an estimate depends on the choice of mathematical model. This review presents various analytical models developed in recent years for studying the mechanical properties of both cells and their individual structures. The main provisions of the applied approaches are described along with their limitations and advantages. Attention is paid to the innovative method of low-invasive nanomechanical mapping with scanning ion-conductance microscopy (SICM), which is currently starting to be successfully used in the discovery of novel drugs acting on the yeast cell wall and plasma membrane.

Micro/Nanorobotic Swarms: From Fundamentals to Functionalities

Swarms, which stem from collective behaviors among individual elements, are commonly seen in nature. Since two decades ago, scientists have been attempting to understand the principles of natural swarms and leverage them for creating artificial swarms. To date, the underlying physics; techniques for actuation, navigation, and control; field-generation systems; and a research community are now in place. This Review reviews the fundamental principles and applications of micro/nanorobotic swarms. The generation mechanisms of the emergent collective behaviors among the micro/nanoagents identified over the past two decades are elucidated. The advantages and drawbacks of different techniques, existing control systems, major challenges, and potential prospects of micro/nanorobotic swarms are discussed.

A New Hybrid Stepper Motor, Compliant Piezoelectric Micro-Tweezer for Extended Stroke

The revolutionary economic potential of micro and nanotechnology is already recognized. Micro and nano-scale technologies that use electrical, magnetic, optical, mechanical, and thermal phenomena separately or in combination are either already in the industrial phase or approaching it. The products of micro and nanotechnology are made of small quantities of material but have high functionality and added value. This paper presents such a product: a system with micro-tweezers for biomedical applications-a micromanipulator with optimized constructive characteristics, including optimal centering, consumption, and minimum size, for handling micro-particles and constructive micro components. The advantage of the proposed structure consists mainly in obtaining a large working area combined with a good working resolution due to the double actuation principle: electromagnetic and piezoelectric.

Correction of Rotational Eccentricity Based on Model and Microvision in the Wire-Traction Micromanipulation System

In the realm of automatic wire-traction micromanipulation systems, the alignment of the central axis of the coil with the rotation axis of the rotary stage can be a challenge, which leads to the occurrence of eccentricity during rotation. The wire-traction is conducted at a micron-level of manipulation precision on micron electrode wires; eccentricity has a significant impact on the control accuracy of the system. To resolve the problem, a method for measuring and correcting the coil eccentricity is proposed in this paper. First, models of radial and tilt eccentricity are established respectively based on the eccentricity sources. Then, measuring eccentricity is proposed by an eccentricity model and microscopic vision; the model is used to predict eccentricity, and visual image processing algorithms are used to calibrate model parameters. In addition, a correction based on the compensation model and hardware is designed to compensate for the eccentricity. The experimental results demonstrate the accuracy of the models in predicting eccentricity and the effectiveness of correction. The results show that the models have an accurate prediction for eccentricity that relies on the evaluation of the root mean square error (RMSE); the maximal residual error after correction was within 6 μm, and the compensation was approximately 99.6%. The proposed method, which combines the eccentricity model and microvision for measuring and correcting eccentricity, offers improved wire-traction micromanipulation accuracy, enhanced efficiency, and an integrated system. It has more suitable and wider applications in the field of micromanipulation and microassembly.

Sound-Speed Modifying Acoustic Metasurfaces for Acoustic Holography

Acoustic metasurfaces offer unique capabilities to steer and direct acoustic fields, though these are generally composed of complex 3D structures, complicating their fabrication and applicability to higher frequencies. Here, an ultrathin metasurface approach is demonstrated, wherein planarized micropillars in a discretized phase array are utilized. This subwavelength metasurface is easily produced via a single-step etching process and is suitable for megahertz-scale applications. The flexibility of this approach is further demonstrated in the production of complex acoustic patterns via acoustic holography. This metasurface approach, with models used to predict their behavior, has broad potential in applications where robust, high-frequency acoustic manipulation is required, including microfluidics, cell/tissue engineering, and medical ultrasound.

Additive Manufactured Piezoelectric-Driven Miniature Gripper

In several cases, it is desirable to have prototypes of low-cost fabrication and adequate performance. In academic laboratories and industries, miniature and microgrippers can be very useful for observations and the analysis of small objects. Piezoelectrically actuated microgrippers, commonly fabricated with aluminum, and with micrometer stroke or displacement, have been considered as Microelectromechanical Systems (MEMS). Recently, additive manufacture using several polymers has also been used for the fabrication of miniature grippers. This work focuses on the design of a piezoelectric-driven miniature gripper, additive manufactured with polylactic acid (PLA), which was modeled using a pseudo rigid body model (PRBM). It was also numerically and experimentally characterized with an acceptable level of approximation. The piezoelectric stack is composed of widely available buzzers. The aperture between the jaws allows it to hold objects with diameters lower than 500 μm, and weights lower than 1.4 g, such as the strands of some plants, salt grains, metal wires, etc. The novelty of this work is given by the miniature gripper's simple design, as well as the low-cost of the materials and the fabrication process used. In addition, the initial aperture of the jaws can be adjusted, by adhering the metal tips in the required position.

Viscoelastic Properties of Polymeric Microneedles Determined by Micromanipulation Measurements and Mathematical Modelling

Microneedles, including dissolvable ones made from biocompatible and biodegradable materials, have been widely studied and can potentially be used for transdermal drug delivery, disease diagnosis (sampling), skin care, etc. Characterizing their mechanical properties is essential, as being mechanically strong enough to pierce the skin barrier is one of the most fundamental and crucial requirements for them. The micromanipulation technique was based on compressing single microparticles between two flat surfaces to obtain force and displacement data simultaneously. Two mathematical models had already been developed to calculate the rupture stress and apparent Young's modulus, which can identify variations of these parameters in single microneedles within a microneedle patch. In this study, a new model has been developed to determine the viscoelasticity of single microneedles made of hyaluronic acid (HA) with a molecular weight of 300 kDa loaded with lidocaine by using the micromanipulation technique to gather experimental data. The modelling results from the micromanipulation measurements suggest that the microneedles were viscoelastic and their mechanical behaviour was strain-rate dependent, which implies that the penetration efficiency of viscoelastic microneedles can be improved by increasing their piercing speed into the skin.

Relationship between the Young's Moduli of Whole Microcapsules and Their Shell Material Established by Micromanipulation Measurements Based on Diametric Compression between Two Parallel Surfaces and Numerical Modelling

Micromanipulation is a powerful technique to measure the mechanical properties of microparticles including microcapsules. For microparticles with a homogenous structure, their apparent Young's modulus can be determined from the force versus displacement data fitted by the classical Hertz model. Microcapsules can consist of a liquid core surrounded by a solid shell. Two Young's modulus values can be defined, i.e., the one is that determined using the Hertz model and another is the intrinsic Young's modulus of the shell material, which can be calculated from finite element analysis (FEA). In this study, the two Young's modulus values of microplastic-free plant-based microcapsules with a core of perfume oil (hexyl salicylate) were calculated using the aforementioned approaches. The apparent Young's modulus value of the whole microcapsules determined by the classical Hertz model was found to be E_A = 0.095 ± 0.014 GPa by treating each individual microcapsule as a homogeneous solid spherical particle. The previously obtained simulation results from FEA were utilised to fit the micromanipulation data of individual core-shell microcapsules, enabling to determine their unique shell thickness to radius ratio (h/r)_FEA = 0.132 ± 0.009 and the intrinsic Young's modulus of their shell (E_FEA = 1.02 ± 0.13 GPa). Moreover, a novel theoretical relationship between the two Young's modulus values has been derived. It is found that the ratio of the two Young's module values (E_A/E_FEA) is only a function on the ratio of the shell thickness to radius (h/r) of the individual microcapsule, which can be fitted by a third-degree polynomial function of h/r. Such relationship has proven applicable to a broad spectrum of microcapsules (i.e., non-synthetic, synthetic, and double coated shells) regardless of their shell chemistry.

Study on the Manipulation Strategy of Metallic Microstructures Based on Electrochemical-Assisted Method

Microcomponent manipulation (MCM) technology plays a decisive role in assembling complex systems at the micro- and nanoscale. However, the existing micromanipulation methods are difficult to widely apply in the manufacturing of microelectromechanical systems (MEMSs) due to the limited manipulation space and complex application objects, and the manipulation efficiency is relatively low, which makes it difficult to industrialize these micromanipulating systems. To solve the above problems, this paper proposes an efficient metal MCM strategy based on the electrochemical method. To verify the feasibility and repeatability of the strategy, the finite element model (FEM) incorporating the hydrodynamic and electrochemical theories is used to calculate the local stress distribution of the contact position during the dynamic pick-up process. Based on the simulation results, we defined the relationship between the parameters, such as the optimal manipulating position and angle for picking, transferring and releasing. The failure behaviors of pick-up are built to realize the efficient three-dimensional manipulation of microcopper wire of 300 μm. By establishing a theoretical model and experimental verification, it was concluded that the middle point was the best manipulating position when picking up the microcopper wire, the most efficient picking angle was between 45 and 60 degrees for the pipette, and the average time was 480 s in three sets of picking-release manipulation experiments. This paper provides an achievable idea for different types of micro-object manipulations and promotes the rapid application of micromanipulation techniques in MEMSs.

Establishing a model fish for the Neotropical region: The case of the yellowtail tetra Astyanax altiparanae in advanced biotechnology

The use of model organisms is important for basic and applied sciences. Several laboratory species of fishes are used to develop advanced technologies, such as the zebrafish (Danio rerio), the medaka (Oryzias latipes), and loach species (Misgurnus spp.). However, the application of these exotic species in the Neotropical region is limited due to differences in environmental conditions and phylogenetic distances. This situation emphasizes the establishment of a model organism specifically for the Neotropical region with the development of techniques that may be applicable to other Neotropical fish species. In this work, the previous research efforts are described in order to establish the yellowtail tetra Astyanax altiparanae as a model laboratory species for both laboratory and aquaculture purposes. Over the last decade, starting with artificial fertilization, the yellowtail tetra has become a laboratory organism for advanced biotechnology, such as germ cell transplantation, chromosome set manipulation, and other technologies, with applications in aquaculture and conservation of genetic resources. Nowadays, the yellowtail tetra is considered the most advanced fish with respect to fish biotechnology within the Neotropical region. The techniques developed for this species are being used in other related species, especially within the characins class.

Collective Behaviors of Magnetic Microparticle Swarms: From Dexterous Tentacles to Reconfigurable Carpets

Microrobot swarms have promising prospects in biomedical applications ranging from targeted cargo delivery to minimally invasive surgery. However, such potential is constrained by the small output force and low efficiency of the current microrobot swarms. To address this challenge, we report a tentacle-like reconfigurable microrobot swarm by programming paramagnetic microparticles into reconfigurable carpets with numerous cilia. This wirelessly controlled microrobot swarm is constructed via a strong gradient magnetic field in combination with a programmable oscillating magnetic field. The gradient magnetic field is supplied by a permanent magnet, which enables fast formation of a microrobot swarm with powerful collective behaviors via cooperative physical structures within the swarm. The oscillating magnetic field is produced by a custom-built electromagnetic coil system, which is adopted as an actuation device for conducting dexterous manipulation via controllable oscillation motion. Using the proposed microrobot swarming strategy, a milligram-level magnetic carpet achieves a millinewton-level output force. By applying different types of magnetic fields, the magnetic carpet accomplishes dexterous manipulation tasks, lesion removal, and controllable drug diffusion with a high-efficiency response in microscale executions. The formation and control mechanisms of the microrobot swarm reported here provide a practical candidate for in vivo biomedical treatment.

AFM Manipulation of EGaIn Microdroplets to Generate Controlled, On-Demand Contacts on Molecular Self-Assembled Monolayers

Liquid metal droplets, such as eutectic gallium-indium (EGaIn), are important in many research areas, such as soft electronics, catalysis, and energy storage. Droplet contact on solid surfaces is typically achieved without control over the applied force and without optimizing the wetting properties in different environments (e.g., in air or liquid), resulting in poorly defined contact areas. In this work, we demonstrate the direct manipulation of EGaIn microdroplets using an atomic force microscope (AFM) to generate repeated, on-demand making and breaking of contact on self-assembled monolayers (SAMs) of alkanethiols. The nanoscale positional control and feedback loop in an AFM allow us to control the contact force at the nanonewton level and, consequently, tune the droplet contact areas at the micrometer length scale in both air and ethanol. When submerged in ethanol, the droplets are highly nonwetting, resulting in hysteresis-free contact forces and minimal adhesion; as a result, we are able to create reproducible geometric contact areas of 0.8-4.5 μm² with the alkanethiolate SAMs in ethanol. In contrast, there is a larger hysteresis in the contact forces and larger adhesion for the same EGaIn droplet in air, which reduced the control over the contact area (4-12 μm²). We demonstrate the usefulness of the technique and of the gained insights in EGaIn contact mechanics by making well-defined molecular tunneling junctions based on alkanethiolate SAMs with small geometric contact areas of between 4 and 12 μm² in air, 1 to 2 orders of magnitude smaller than previously achieved.

Vision Feedback Control for the Automation of the Pick-and-Place of a Capillary Force Gripper

In this paper, we describe a newly developed vision feedback method for improving the placement accuracy and success rate of a single nozzle capillary force gripper. The capillary force gripper was developed for the pick-and-place of mm-sized objects. The gripper picks up an object by contacting the top surface of the object with a droplet formed on its nozzle and places the object by contacting the bottom surface of the object with a droplet previously applied to the place surface. To improve the placement accuracy, we developed a vision feedback system combined with two cameras. First, a side camera was installed to capture images of the object and nozzle from the side. Second, from the captured images, the contour of the pre-applied droplet for placement and the contour of the object picked up by the nozzle were detected. Lastly, from the detected contours, the distance between the top surface of the droplet for object release and the bottom surface of the object was measured to determine the appropriate amount of nozzle descent. Through the experiments, we verified that the size matching effect worked reasonably well; the average placement error minimizes when the size of the cross-section of the objects is closer to that of the nozzle. We attributed this result to the self-alignment effect. We also confirmed that we could control the attitude of the object when we matched the shape of the nozzle to that of the sample. These results support the feasibility of the developed vision feedback system, which uses the capillary force gripper for heterogeneous and complex-shaped micro-objects in flexible electronics, micro-electro-mechanical systems (MEMS), soft robotics, soft matter, and biomedical fields.

Flexible Magnetic Micropartners for Micromanipulation at Interfaces

Microrobots working at liquid surfaces have immense potential for micromanipulation in tight and enclosed spaces, whereas constructing agile and functional microrobots with simple structures at liquid surfaces is a great challenge. Herein, a pair of magnetic circular microdisks working as partners at ethylene glycol (EG) surfaces are proposed in order to accomplish flexible locomotion and in situ micromanipulation tasks. The microdisks can be controlled to connect and separate by modulating the orientation of the applied magnetic field. After the two disks connect as an entity, they are transformed into micropartners under an oscillating magnetic field in 3D space. By changing the vertical component of the oscillating field, the micropartners can obtain controllable propulsion through paddling and wriggling modes, and the locomotion speed can reach approximately two body lengths per second. They can also climb a meniscus, and even crawl on a solid surface in a liquid. Finally, this pair of micropartners is demonstrated as a flexible microgripper to implement manipulations at the liquid surfaces, including cargo capture, delivery along prescribed paths, and release.

In Situ Manipulation and Micromechanical Characterization of Diatom Frustule Constituents Using Focused Ion Beam Scanning Electron Microscopy

Biocomposite structures are difficult to characterize by bulk approaches due to their morphological complexity and compositional heterogeneity. Therefore, a versatile method is required to assess, for example, the mechanical properties of geometrically simple parts of biocomposites at the relevant length scales. Here, it is demonstrated how a combination of Focused Ion Beam Scanning Electron Microscopy (FIB-SEM) and micromanipulators can be used to isolate, transfer, and determine the mechanical properties of frustule constituents of diatom Thalassiosira pseudonana (T.p.). Specifically, two parts of the diatom frustule, girdle bands and valves, are separated by FIB milling and manipulated using a sharp tungsten tip without compromising their physical or chemical integrity. In situ mechanical studies on isolated girdle bands combined with Finite Element Method (FEM) simulations, enables the quantitative assessment of the Young's modulus of this biosilica; E = 40.0 GPa. In addition, the mechanical strength of isolated valves could be measured by transferring and mounting them on top of premilled holes in the sample support. This approach may be extended to any hierarchical biocomposite material, regardless of its chemical composition, to isolate, transfer, and investigate the mechanical properties of selected constituents or specific regions.

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.

Engineered Extracellular Matrices with Integrated Wireless Microactuators to Study Mechanobiology

Mechanobiology explores how forces regulate cell behaviors and what molecular machinery are responsible for the sensing, transduction, and modulation of mechanical cues. To this end, probing of cells cultured on planar substrates has served as a primary experimental setting for many decades. However, native extracellular matrices (ECMs) consist of fibrous protein assemblies where the physical properties spanning from the individual fiber to the network architecture can influence the transmission of forces to and from the cells. Here, a robotic manipulation platform that allows wireless, localized, and programmable deformation of an engineered fibrous ECM is introduced. A finite-element-based digital twin of the fiber network calibrated against measured local and global parameters enables the calculation of deformations and stresses generated by different magnetic actuation schemes across a range of network properties. Physiologically relevant mechanical forces are applied to cells cultured on the fiber network, statically or dynamically, revealing insights into the effects of matrix-borne forces and deformations as well as force-mediated matrix remodeling on cell migration and intracellular signaling. These capabilities are not matched by any existing approach, and this versatile platform has the potential to uncover fundamental mechanisms of mechanobiology in settings with greater relevance to living tissues.

Cooperative Self-Assembled Magnetic Micropaddles at Liquid Surfaces

Cooperative controls of magnetic microswimmers are desired for complex micromanipulation and microassembly tasks. Self-assembled magnetic micropaddles as microswimmers that can locomote freely and cooperate at liquid surfaces are proposed inspired by the paddling motion. The micropaddles are self-assembled with metallic disks under a rotating magnetic field, and they are endowed with controlled propulsion in the precessing field. The micropaddles can locomote freely with a maximum speed of approximately 3.3 mm/s and manipulate objects at the liquid surface. It is found that the micropaddles reverse moving directions at high frequencies and that those with different lengths can locomote in opposite directions under the same precessing magnetic field. Based on the distinctive motion properties, not only could several micropaddles combine into the longer ones but a single micropaddle could also be disassembled into two cooperative partners. Assemblies of different parts based on their cooperation are realized in this study, which is challenging for other types of magnetic microswimmers. Micropaddles with adjustable length, flexible locomotion, and cooperative capability present a promising avenue for various micromanipulation applications.

Control of Developmental Speed in Zebrafish Embryos Using Different Incubation Temperatures

The zebrafish is a valuable model organism that is widely used in studies of vertebrate development. In the laboratory, zebrafish embryonic development is normally carried out at 28.5°C. In this study, we sought to determine whether it was possible to modify the speed of embryonic development through the use of short- and long-term variations in incubation temperature. After incubation at 20°C-32°C, most early-stage embryos survived to the epiboly stage, whereas more than half of the embryos died at <20°C or >32°C. The rate of development differed between embryos incubated at the lowest (18°C) and highest (34°C) temperatures: a difference of 60 min was observed at the 2-cell stage and 290 min at the 1k-cell stage. When blastulae that had developed at 28°C were transferred to a temperature lower than 18°C for one or more hours, they developed normally after being returned to the original 28°C. Analyses using green fluorescent protein-buckyball mRNA and in situ hybridization against vasa mRNA showed that primordial germ cells increase under low-temperature culture; this response may be of use for studies involving heterochronic germ cell transplantation. Our study shows that embryonic developmental speed can be slowed, which will be of value for performing time-consuming, complicated, and delicate microsurgical operations.

A Digitized Representation of the Modified Prandtl-Ishlinskii Hysteresis Model for Modeling and Compensating Piezoelectric Actuator Hysteresis

Piezoelectric actuators are widely used in micromanipulation and miniature robots due to their rapid response and high repeatability. The piezoelectric actuators often have undesired hysteresis. The Prandtl–Ishlinskii (PI) hysteresis model is one of the most popular models for modeling and compensating the hysteresis behaviour. This paper presents an alternative digitized representation of the modified Prandtl–Ishlinskii with the dead-zone operators (MPI) hysteresis model to describe the asymmetric hysteresis behavior of piezoelectric actuators. Using a binary number with n digits to represent the classical Prandtl–Ishlinskii hysteresis model with n elementary operators, the inverse model can be easily constructed. A similar representation of the dead-zone operators is also described. With the proposed digitized representation, the model is more intuitive and the inversion calculation is avoided. An experiment with a piezoelectric stacked linear actuator is conducted to validate the proposed digitized MPI hysteresis model and it is shown that it has almost the same performance as compared to the classical representation.

Chromosomal analyses of human giant diploid oocytes by next-generation sequencing

PURPOSE

Although giant oocytes (GOs) having about twice cytoplasmic volume compared with general oocytes in mammals including the human are rarely recovered, it is thought that GOs have potentially chromosomal abnormalities. The aim of the present study was to assess chromosome numbers in chromosome-spindle complexes (CSCs) and polar bodies of human GOs by using micromanipulation for sampling and next-generation sequencing (NGS) for analyses of the chromosome numbers.

METHODS

When recovered oocytes whose cytoplasm has lager than 140 µm or above, the oocytes were defined as GOs, and recovered GOs were vitrified. After warming, the CSCs, polar bodies, and enucleated cytoplasm were collected by micromanipulation from 3 GOs. The collected samples were analyzed by NGS.

RESULTS

Chromosomal aneuploidy in the GOs was confirmed in all the three GOs. Comparing the CSCs with the chromosomes from polar bodies, the deletion and overlapping chromosome numbers were complementary in each GO.

CONCLUSIONS

The authors could collect the CSCs and the polar bodies from human GOs by micromanipulation, and then could analyze the chromosome numbers of the GOs by NGS method. As our data suggest that human GOs have chromosomal abnormalities, GOs should be excluded from clinical purpose as gamete sources for embryo transfer in the human.

Towards a Comprehensive and Robust Micromanipulation System with Force-Sensing and VR Capabilities

In this modern world, with the increase of complexity of many technologies, especially in the micro and nanoscale, the field of robotic manipulation has tremendously grown. Microrobots and other complex microscale systems are often to laborious to fabricate using standard microfabrication techniques, therefore there is a trend towards fabricating them in parts then assembling them together, mainly using micromanipulation tools. Here, a comprehensive and robust micromanipulation platform is presented, in which four micromanipulators can be used simultaneously to perform complex tasks, providing the user with an intuitive environment. The system utilizes a vision-based force sensor to aid with manipulation tasks and it provides a safe environment for biomanipulation. Lastly, virtual reality (VR) was incorporated into the system, allowing the user to control the probes from a more intuitive standpoint and providing an immersive platform for the future of micromanipulation.

Atom Probe Analysis of Nanoparticles Through Pick and Coat Sample Preparation

The ability to analyze nanoparticles in the atom probe has often been limited by the complexity of the sample preparation. In this work, we present a method to lift–out single nanoparticles in the scanning electron microscope. First, nanoparticles are dispersed on a lacey carbon grid, then positioned on a sharp substrate tip and coated on all sides with a metallic matrix by physical vapor deposition. Compositional and structural insights are provided for spherical gold nanoparticles and a segregation of silver and copper in silver copper oxide nanorods is shown in 3D atom maps. Using the standard atom probe reconstruction algorithm, data quality is limited by typical standard reconstruction artifacts for heterogeneous specimens (trajectory aberrations) and the choice of suitable coatings for the particles. This approach can be applied to various unsupported free-standing nanoparticles, enables preselection of particles via correlative techniques, and reliably produces well-defined structured samples. The only prerequisite is that the nanoparticles must be large enough to be manipulated, which was done for sizes down to ~50 nm.

Mechanophotonics-Mechanical Micromanipulation of Single-Crystals toward Organic Photonic Integrated Circuits

The advent of molecular crystals as "smart" nanophotonic components namely, organic waveguides, resonators, lasers, and modulators are drawing wider attention of solid-state materials scientists and microspectroscopists. Crystals are usually rigid, and undeniably developing next-level crystalline organic photonic circuits of complex geometries demands using mechanically flexible crystals. The mechanical shaping of flexible crystals necessitates applying challenging micromanipulation methods. The rise of atomic force microscopy as a mechanical micromanipulation tool has increased the scope of mechanophotonics and subsequently, crystal-based microscale organic photonic integrated circuits (OPICs). The unusual higher adhesive energy of the flexible crystals to the surface than that of crystal shape regaining energy enables carving intricate crystal geometries using micromanipulation. This perspective reviews the progress made in a key research area developed by my research group, namely mechanophotonics-a discipline that uses mechanical micromanipulation of single-crystal optical components, to advance nanophotonics. The precise fabrication of photonic components and OPICs from both rigid and flexible microcrystal via AFM mechanical operations namely, moving, lifting, cutting, slicing, bending, and transferring of crystals are presented. The ability of OPICs to guide, split, couple, and modulate visible electromagnetic radiation using passive, active, and energy transfer mechanism are discussed as well with recent literature examples.

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.

Magnetic Driven Two-Finger Micro-Hand with Soft Magnetic End-Effector for Force-Controlled Stable Manipulation in Microscale

In recent years, micromanipulators have provided the ability to interact with micro-objects in industrial and biomedical fields. However, traditional manipulators still encounter challenges in gaining the force feedback at the micro-scale. In this paper, we present a micronewton force-controlled two-finger microhand with a soft magnetic end-effector for stable grasping. In this system, a homemade electromagnet was used as the driving device to execute micro-objects manipulation. There were two soft end-effectors with diameters of 300 μm. One was a fixed end-effector that was only made of hydrogel, and the other one was a magnetic end-effector that contained a uniform mixture of polydimethylsiloxane (PDMS) and paramagnetic particles. The magnetic force on the soft magnetic end-effector was calibrated using an atomic force microscopy (AFM) probe. The performance tests demonstrated that the magnetically driven soft microhand had a grasping range of 0-260 μm, which allowed a clamping force with a resolution of 0.48 μN. The stable grasping capability of the magnetically driven soft microhand was validated by grasping different sized microbeads, transport under different velocities, and assembly of microbeads. The proposed system enables force-controlled manipulation, and we believe it has great potential in biological and industrial micromanipulation.

Orthogonality Measurement of Three-Axis Motion Trajectories for Micromanipulation Robot Systems

In robotic micromanipulation systems, the orthogonality of the three-axis motion trajectories of the motion control systems influences the accuracy of micromanipulation. A method of measuring and evaluating the orthogonality of three-axis motion trajectories is proposed in this paper. Firstly, a system for three-axis motion trajectory measurement is developed and an orthogonal reference coordinate system is designed. The influence of the assembly error of laser displacement sensors on the reference coordinate system is analyzed using simulation. An approach to estimating the orthogonality of three-axis motion trajectories and to compensating for its error is presented using spatial line fitting and vector operation. The simulation results show that when the assembly angle of the laser displacement sensors is limited within a range of 10°, the relative angle deviation of the coordinate axes of the reference coordinate frame is approximately 0.09%. The experiment results show that precision of spatial line fitting is approximately 0.02 mm and relative error of the orthogonality measurement is approximately 0.3%.

Capillary Forces between Concave Gripper and Spherical Particle for Micro-Objects Gripping

The capillary action between two solid surfaces has drawn significant attention in micro-objects manipulation. The axisymmetric capillary bridges and capillary forces between a spherical concave gripper and a spherical particle are investigated in the present study. A numerical procedure based on a shooting method, which consists of double iterative loops, was employed to obtain the capillary bridge profile and bring the capillary force subject to a constant volume condition. Capillary bridge rupture was characterized using the parameters of the neck radius, pressure difference, half-filling angle, and capillary force. The effects of various parameters, such as the contact angle of the spherical concave gripper, the radius ratio, and the liquid bridge volume on the dimensionless capillary force, are discussed. The results show that the radius ratio has a significant influence on the dimensionless capillary force for the dimensionless liquid bridge volumes of 0.01, 0.05, and 0.1 when the radius ratio value is smaller than 10. The effectiveness of the theorical approach was verified using simulation model and experiments.

The gammaproteobacterium Achromatium forms intracellular amorphous calcium carbonate and not (crystalline) calcite

Achromatium is a long known uncultured giant gammaproteobacterium forming intracellular CaCO₃ that impacts C and S geochemical cycles functioning in some anoxic sediments and at oxic-anoxic boundaries. While intracellular CaCO₃ granules have first been described as Ca oxalate then colloidal CaCO₃ more than one century ago, they have often been referred to as crystalline solids and more specifically calcite over the last 25 years. Such a crystallographic distinction is important since the respective chemical reactivities of amorphous calcium carbonate (ACC) and calcite, hence their potential physiological role and conditions of formation, are significantly different. Here, we analyzed the intracellular CaCO₃ granules of Achromatium cells from Lake Pavin using a combination of Raman microspectroscopy and scanning electron microscopy. Granules in intact Achromatium cells were unequivocally composed of ACC. Moreover, ACC spontaneously transformed into calcite when irradiated at high laser irradiance during Raman analyses. Few ACC granules also transformed spontaneously into calcite in lysed cells upon cell death and/or sample preparation. Overall, the present study supports the original claims that intracellular Ca-carbonates in Achromatium are amorphous and not crystalline. In that sense, Achromatium is similar to a diverse group of Cyanobacteria and a recently discovered magnetotactic alphaproteobacterium, which all form intracellular ACC. The implications for the physiology and ecology of Achromatium are discussed. Whether the mechanisms responsible for the preservation of such unstable compounds in these bacteria are similar to those involved in numerous ACC-forming eukaryotes remains to be discovered. Last, we recommend to future studies addressing the crystallinity of CaCO₃ granules in Achromatium cells recovered from diverse environments all over the world to take care of the potential pitfalls evidenced by the present study.

Successful vitrification of manually punctured equine embryos

BACKGROUND

Successful vitrification of equine expanded blastocysts requires collapse of the blastocoele cavity using a micromanipulator-mounted biopsy pipette on an inverted microscope. Such equipment is expensive and requires user skill.

OBJECTIVES

To develop a manual method of blastocoele collapse prior to vitrification using commercial products.

STUDY DESIGN

In vivo experiment.

METHODS

Seventy-nine Day 7 or 8 embryos were measured and graded. Twenty were vitrified following micromanipulator-assisted puncture and aspiration before being used to validate commercial human vitrification and warming kits containing, respectively, 2-step concentrations of DMSO and ethylene glycol (7.5%-15% v:v) and decreasing concentrations of sucrose. After warming, embryos were transferred to recipient mares. Once validated, the commercial kits were used to vitrify and warm a further 39 embryos which were punctured manually using a microneedle, 2 (5%) were damaged during puncture and excluded; 20 more embryos were vitrified without puncture. Embryos were grouped as follows: non-punctured ≤ 300µm (n = 10) and >300 to ≤560 µm (n = 10), punctured small (>300 to ≤560 µm; n = 17) and large (>560 µm; n = 10) and exposed to the equilibration solution (ES) in the kit for 6min. An additional group of punctured large embryos was exposed to ES for 8min (n = 10). For the initial warming step, embryos were exposed for 1min to the thawing solution at 42°C, before being moved to a dilution solution at room temperature.

RESULTS

Vitrified, manually punctured embryos ≤560 µm exposed to ES for 6min resulted in a pregnancy rate of 82% (14/17). Unpunctured embryos ≤300 µm gave an 80% (8/10) pregnancy rate. Larger unpunctured embryos, punctured embryos >560 µm and embryos exposed to ES for 8min gave significantly reduced pregnancy rates.

MAIN LIMITATIONS

Limited group sizes.

CONCLUSION

High pregnancy rates can be achieved by manually puncturing ≤560 µm equine embryos prior to their vitrification and subsequent warming in commercial media.

The dawn of the future: 30 years from the first biopsy of a human embryo. The detailed history of an ongoing revolution

Following early studies showing no adverse effects, cleavage stage biopsy by zona drilling using acid Tyrode's solution, and removal of single blastomeres for preimplantation genetic testing (PGT) and identification of sex in couples at risk of X-linked disease, was performed by Handyside and colleagues in late 1989, and pregnancies reported in 1990. This method was later used for specific diagnosis of monogenic conditions, and a few years later also for chromosomal structural and/or numerical impairments, thereby establishing a valuable alternative option to prenatal diagnosis. This revolutionary approach in clinical embryology spread worldwide, and several other embryo biopsy strategies developed over three decades in a process that is still ongoing. The rationale of this narrative review is to outline the different biopsy approaches implemented across the years in the workflow of the IVF clinics that provided PGT: their establishment, the first clinical experiences, their downsides, evolution, improvement and standardization. The history ends with a glimpse of the future: minimally/non-invasive PGT and experimental embryo micromanipulation protocols. This grand theme review outlines a timeline of the evolution of embryo biopsy protocols, whose implementation is increasing worldwide together with the increasing application of PGT techniques in IVF. It represents a vade mecum especially for the past, present and upcoming operators and experts in this field to (re)live this history from its dawn to its most likely future.

Oocyte Selection for In Vitro Embryo Production in Bovine Species: Noninvasive Approaches for New Challenges of Oocyte Competence

Simple Summary

The efficiency of producing embryos using in vitro technologies in cattle species remains lower when compared to mice, indicating that the proportion of female gametes that fail to develop after in vitro manipulation is considerably large. Considering that the intrinsic quality of the oocyte is one of the main factors affecting embryo production, the precise identification of noninvasive markers that predict oocyte competence is of major interest. The aim of this review was to explore the current literature on different noninvasive markers associated with oocyte quality in the bovine model. Apart from some controversial findings, the presence of cycle-related structures in ovaries, a follicle size between 6 and 10 mm, a large slightly expanded investment without dark areas, large oocyte diameter (>120 microns), dark cytoplasm, and the presence of a round and smooth first polar body have been associated with better embryonic development. In addition, the combination of oocyte and zygote selection, spindle imaging, and the anti-Stokes Raman scattering microscopy together with studies decoding molecular cues in oocyte maturation have the potential to further optimize the identification of oocytes with better developmental competence for in vitro technologies in livestock species.

Abstract

The efficiency of producing embryos using in vitro technologies in livestock species rarely exceeds the 30–40% threshold, indicating that the proportion of oocytes that fail to develop after in vitro fertilization and culture is considerably large. Considering that the intrinsic quality of the oocyte is one of the main factors affecting blastocyst yield, the precise identification of noninvasive cellular or molecular markers that predict oocyte competence is of major interest to research and practical applications. The aim of this review was to explore the current literature on different noninvasive markers associated with oocyte quality in the bovine model. Apart from some controversial findings, the presence of cycle-related structures in ovaries, a follicle size between 6 and 10 mm, large number of surrounding cumulus cells, slightly expanded investment without dark areas, large oocyte diameter (>120 microns), dark cytoplasm, and the presence of a round and smooth first polar body have been associated with better competence. In addition, the combination of oocyte and zygote selection via brilliant cresyl blue (BCB) test, spindle imaging, and the anti-Stokes Raman scattering microscopy together with studies decoding molecular cues in oocyte maturation have the potential to further optimize the identification of oocytes with better developmental competence for in-vitro-derived technologies in livestock species.

Methods and sensors for functional genomic studies of cell-cycle transitions in single cells

Much of our understanding of the regulatory mechanisms governing the cell cycle in mammals has relied heavily on methods that measure the aggregate state of a population of cells. While instrumental in shaping our current understanding of cell proliferation, these approaches mask the genetic signatures of rare subpopulations such as quiescent (G₀) and very slowly dividing (SD) cells. Results described in this study and those of others using single-cell analysis reveal that even in clonally derived immortalized cancer cells, ∼1-5% of cells can exhibit G₀ and SD phenotypes. Therefore to enable the study of these rare cell phenotypes we established an integrated molecular, computational, and imaging approach to track, isolate, and genetically perturb single cells as they proliferate. A genetically encoded cell-cycle reporter (K67_p-FUCCI) was used to track single cells as they traversed the cell cycle. A set of R-scripts were written to quantify K67_p-FUCCI over time. To enable the further study G₀ and SD phenotypes, we retrofitted a live cell imaging system with a micromanipulator to enable single-cell targeting for functional validation studies. Single-cell analysis revealed HT1080 and MCF7 cells had a doubling time of ∼24 and ∼48 h, respectively, with high duration variability in G₁ and G₂ phases. Direct single-cell microinjection of mRNA encoding (GFP) achieves detectable GFP fluorescence within ∼5 h in both cell types. These findings coupled with the possibility of targeting several hundreds of single cells improves throughput and sensitivity over conventional methods to study rare cell subpopulations.

Design, Fabrication, and Validation of a Petri Dish-Compatible PDMS Bioreactor for the Tensile Stimulation and Characterization of Microtissues

In this paper, we report on a novel biocompatible micromechanical bioreactor (actuator and sensor) designed for the in situ manipulation and characterization of live microtissues. The purpose of this study was to develop and validate an application-targeted sterile bioreactor that is accessible, inexpensive, adjustable, and easily fabricated. Our method relies on a simple polydimethylsiloxane (PDMS) molding technique for fabrication and is compatible with commonly-used laboratory equipment and materials. Our unique design includes a flexible thin membrane that allows for the transfer of an external actuation into the PDMS beam-based actuator and sensor placed inside a conventional 35 mm cell culture Petri dish. Through computational analysis followed by experimental testing, we demonstrated its functionality, accuracy, sensitivity, and tunable operating range. Through time-course testing, the actuator delivered strains of over 20% to biodegradable electrospun poly (D, L-lactide-co-glycolide) (PLGA) 85:15 non-aligned nanofibers (~91 µm thick). At the same time, the sensor was able to characterize time-course changes in Young's modulus (down to 10-150 kPa), induced by an application of isopropyl alcohol (IPA). Furthermore, the actuator delivered strains of up to 4% to PDMS monolayers (~30 µm thick), simultaneously characterizing their elastic modulus up to ~2.2 MPa. The platform repeatedly applied dynamic (0.23 Hz) tensile stimuli to live Human Dermal Fibroblast (HDF) cells for 12 hours (h) and recorded the cellular reorientation towards two angle regimes, with averages of -58.85° and +56.02°. The device biocompatibility with live cells was demonstrated for one week, with no signs of cytotoxicity. We can conclude that our PDMS bioreactor is advantageous for low-cost tissue/cell culture micromanipulation studies involving mechanical actuation and characterization. Our device eliminates the need for an expensive experimental setup for cell micromanipulation, increasing the ease of live-cell manipulation studies by providing an affordable way of conducting high-throughput experiments without the need to open the Petri dish, reducing manual handling, cross-contamination, supplies, and costs. The device design, material, and methods allow the user to define the operational range based on their targeted samples/application.

Recent Advances on the Model, Measurement Technique, and Application of Single Cell Mechanics

Since the cell was discovered by humans, it has been an important research subject for researchers. The mechanical response of cells to external stimuli and the biomechanical response inside cells are of great significance for maintaining the life activities of cells. These biomechanical behaviors have wide applications in the fields of disease research and micromanipulation. In order to study the mechanical behavior of single cells, various cell mechanics models have been proposed. In addition, the measurement technologies of single cells have been greatly developed. These models, combined with experimental techniques, can effectively explain the biomechanical behavior and reaction mechanism of cells. In this review, we first introduce the basic concept and biomechanical background of cells, then summarize the research progress of internal force models and experimental techniques in the field of cell mechanics and discuss the latest mechanical models and experimental methods. We summarize the application directions of cell mechanics and put forward the future perspectives of a cell mechanics model.

Magnetic Patterning of Vorticella convallaria in a Microfluidic Device

We describe an inexpensive magnetic cell patterning method as a tool for protozoologists. The ciliate Vorticella convallaria is useful for various biofluidics applications. Here, we show that V. convallaria will ingest metal beads and that permanent magnets can be used to pattern cells in Petri dishes or a microfluidic device. Patterning is reversibly achieved by placing magnets at the point of desired cell attachment. Analogous magnetic manipulation could be performed using other phagocytic cells.

Magnetically Guided Micromanipulation of Magnetic Microrobots for Accurate Creation of Artistic Patterns in Liquid Environment

In this paper, a magnetically guided micromanipulation method is proposed to accurately create artistic patterns with magnetic microrobots in a liquid environment for tissue engineering. A magnetically guided device is developed depend on symmetrical combination of square permanent magnets and array layout of soft magnetic wires, which changed the space distribution of magnetic field of conventional permanent magnet and generated powerful magnetic flux density and high magnetic field gradient. Furthermore, the morphological structure of the magnetic microrobot is flexibly adjusted via precise control of the volumetric flow rates inside the microfluidic device and the magnetic nanoparticles are taken along to enable its controllability by rapid magnetic response. And then, the spatial posture of the magnetic microrobot is contactless controlled by the magnetically guided manipulator and it is released under the influence of surface tension and gravity. Subsequently, the artistic fashions of the magnetic microrobots are precisely distributed via the dot-matrix magnetic flux density of the magnetically guided device. Finally, the experimental results herein demonstrate the accuracy and diversity of the pattern structures in the water and the developed method will be providing a new way for personalized functional scaffold construction.

Acoustic trapping of microbubbles in complex environments and controlled payload release

Contactless manipulation of microparticles using acoustic waves holds promise for applications ranging from cell sorting to three-dimensional (3D) printing and tissue engineering. However, the unique potential of acoustic trapping to be applied in biomedical settings remains largely untapped. In particular, the main advantage of acoustic trapping over optical trapping, namely the ability of sound to propagate through thick and opaque media, has not yet been exploited in full. Here we demonstrate experimentally the use of the recently developed technique of single-beam acoustical tweezers to trap microbubbles, an important class of biomedically relevant microparticles. We show that the region of vanishing pressure of a propagating vortex beam can confine a microbubble by forcing low-amplitude, nonspherical, shape oscillations, enabling its full 3D positioning. Our interpretation is validated by the absolute calibration of the acoustic trapping force and the direct spatial mapping of isolated bubble echos, for which both find excellent agreement with our theoretical model. Furthermore, we prove the stability of the trap through centimeter-thick layers of bio-mimicking, elastic materials. Finally, we demonstrate the simultaneous trapping of nanoparticle-loaded microbubbles and activation with an independent acoustic field to trigger the release of the nanoparticles. Overall, using exclusively acoustic powering to position and actuate microbubbles paves the way toward controlled delivery of drug payloads in confined, hard-to-reach locations, with potential in vivo applications.

Hybrid Magnetic Micropillar Arrays for Programmable Actuation

Stimuli-responsive micro/nanostructures that can dynamically and reversibly adapt their configurations according to external stimuli have stimulated a wide scope of engineering applications, ranging from material surface engineering to micromanipulations. However, it remains a challenge to achieve a precise local control of the actuation to realize applications that require heterogeneous and on-demand responses. Here, a new experimental technique is developed for large arrays of hybrid magnetic micropillars and achieve precise local control of actuation using a simple magnetic field. By manipulating the spatial distribution of magnetic nanoparticles within individual elastomer micropillars, a wide range of the magnetomechanical responses from less than 5% to ≈50% for the ratio of the bending deflection to the original length of the pillars is realized. It is demonstrated that the micropillars with different degrees of bending deformation can be configured in any spatial pattern using a photomask-assisted template-casting technique to achieve heterogeneous, site-specific, and programmed bending actuations. This unprecedented local control of the micropillars offers exciting novel applications, as demonstrated here in encryptable surface printing and stamping, direction- and track-programmable microparticle/droplet transport, and smart magnetic micro-tweezers. The hybrid magnetic micropillars reported here provide a versatile prototype for heterogeneous and on-demand actuation using programmable stimuli-responsive micro/nanostructures.

High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly

To assemble microobjects including biological cells quickly and precisely, a fully automated pick-and-place operation is applied. In micromanipulation in liquid, the challenges include strong adhesion forces and high dynamic viscosity. To solve these problems, a reliable manipulation system and special releasing techniques are indispensable. A microhand having dexterous motion is utilized to grasp an object stably, and an automated stage transports the object quickly. To detach the object adhered to one of the end effectors, two releasing methods—local stream and a dynamic releasing—are utilized. A system using vision-based techniques for the recognition of two fingertips and an object, as well automated releasing methods, can increase the manipulation speed to faster than 800 ms/sphere with a 100% success rate (N = 100). To extend this manipulation technique, 2D and 3D assembly that manipulates several objects is attained by compensating the positional error. Finally, we succeed in assembling 80–120 µm of microbeads and spheroids integrated by NIH3T3 cells.

A Single Silicon Nanowire-Based Ratiometric Biosensor for Ca2+ at Various Locations in a Neuron

Ionic calcium (Ca²⁺) is an important second messenger in cells, particularly in the neuron. A deficiency or excess of Ca²⁺ would lead to neuronal apoptosis and further injury to the brain. For accurate analysis of intracellular Ca²⁺, a single silicon nanowire (SiNW)-based ratiometric biosensor was constructed by simultaneously anchoring Ru(bpy)₂(mcbpy-O-Su-ester)(PF₆)₂, as a reference molecule, and Fluo-3, as a response molecule, onto the surface of a single SiNW. The SiNW-based biosensor exhibits high sensitivity and favorable selectivity for detecting Ca²⁺. With the assistance of a micromanipulator and laser scanning confocal microscope, two single SiNW sensors were placed in the body and the neurites of an individual neuron to detect Ca²⁺. The difference between the concentrations of Ca²⁺ in the body and neurites was identified. The results from the present study provide new insights into Ca²⁺ in neurons at a high spatial resolution, and the strategy used in this study provides a new opportunity to investigate cellular metabolism by combining the advantages of a single-cell detection technique and physiology.

Plant Chromosome-Specific Probes by Microdissection of a Single Chromosome: Is That a Reality?

Painting plant chromosomes through chromosomal in situ suppression (CISS) hybridization has long been considered impracticable. Seeking to build specific and complex probes from a single microdissected chromosome, we employed human chromosomes as models to standardize all the necessary steps for application in plants. Human metaphases were used to define the adequate conditions for microdissection, chromosome DNA amplification and labeling through degenerate oligonucleotide-primed PCR, and in situ hybridization stringency. Subsequently, these methodologies were applied in the plant species Zea mays (chromosome 1) and Capsicum annuum (chromosome 7 or 8). The high quality of human and plant cytogenetic preparations and the meticulous standardization of each step, especially the most critical ones - microdissection and first round of DNA amplification - were crucial to eliminate the signs of non-specific hybridization and for direct application in plants. By overcoming these challenges, we obtained chromosome-specific probes, which allowed to achieve a clear and uniform painting of the entire target chromosomes with little or no background, evidencing their complexity and specificity. Despite the high amount of ubiquitous repetitive sequences in plant genomes, the main drawback for chromosome painting, we successfully employed our methodology on two plant species. Both have more than 80% repetitive sequences, which is compared to the human genome (66-69%). This is the first time that plant chromosome-specific probes were successfully obtained from a single A mitotic or meiotic microdissected chromosome. Thereby, we assume that chromosome painting through microdissection and CISS hybridization can now be considered a reality in the field of plant cytogenetics.

Numerical Simulation of Boundary-Driven Acoustic Streaming in Microfluidic Channels with Circular Cross-Sections

While acoustic streaming patterns in microfluidic channels with rectangular cross-sections have been widely shown in the literature, boundary-driven streaming fields in non-rectangular channels have not been well studied. In this paper, a two-dimensional numerical model was developed to simulate the boundary-driven streaming fields on cross-sections of cylindrical fluid channels. Firstly, the linear acoustic pressure fields at the resonant frequencies were solved from the Helmholtz equation. Subsequently, the outer boundary-driven streaming fields in the bulk of fluid were modelled while using Nyborg’s limiting velocity method, of which the limiting velocity equations were extended to be applicable for cylindrical surfaces in this work. In particular, acoustic streaming fields in the primary (1, 0) mode were presented. The results are expected to be valuable to the study of basic physical aspects of microparticle acoustophoresis in microfluidic channels with circular cross-sections and the design of acoustofluidic devices for micromanipulation.

Additive Manufacturing of Micromanipulator Mounted on a Glass Capillary for Biological Applications

In this study, a three-dimensional (3D) micromanipulator mounted on a glass capillary is developed for handling biological samples, such as multicellular spheroids and embryos. To fabricate the micromanipulator, we developed an additive manufacturing system based on high-resolution microstereolithography using a 405-nm blue laser. The fabrication system makes it possible to fabricate 3D microstructures on a glass capillary with 2.5 µm lateral resolution and 25 µm layer thickness. We also demonstrated the capture and release of a spheroid with the micromanipulator fabricated using our additive manufacturing system. We showed that spheroids can be easily handled by a simple operation with minimal damage using a cage-like multiple finger structure. Additive manufacturing of tailor-made micromanipulators mounted on a glass capillary will be useful in biological and tissue engineering research.