Abstract
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.
Highlights
Tissue and organ transplantation has become very important work
To release an adhered object that is not detached in spite of the local stream, a stronger force is applied by changing the amplitude of the high-speed motion
A potential solution is to change the tip of end effector so that it does not damage the surface of the object during manipulation like [38]
Summary
Tissue and organ transplantation has become very important work. In spite of advances in medical technology and an increased awareness of organ donation and transplantation, the need continues to grow. In liquid, high drag forces restrict the transporting speed and increase the loss of object retention. They make it difficult to arrange several objects as 2D or 3D structures. Their speed was faster than in previous works [21,27], they were unable to achieve the maximum speed (1 mm/s) owing to the loss of the object during high-speed transportation They deposited cells in an array of microwells to position the cell in 2D arrays.
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