Abstract
Microrobots are promising tools for applications that require micromanipulation, such as single-cell manipulation and surgery, tissue engineering, and desktop manufacturing. This paper briefly reviews common microrobot actuation mechanisms, then reviews current progress in several capabilities that are desirable for micromanipulation, with an emphasis on optothermal microrobots.
Highlights
Micromanipulation is a capability that benefits many application areas, including the fabrication of electronic circuits and devices [1], single-cell analysis [2], drug delivery [3], pathogen isolation [4], minimally invasive surgery [5], and tissue engineering [6]
Microrobots are robotic systems in which untethered mobile components have all dimensions between 1 μm and 1 mm, so that the mechanics are dominated by microscale forces
MICROROBOT ACTUATION MECHANISM Microrobotic actuation spans a variety of methods, including magnetic actuation, electrostatic actuation, biohybrid systems, optothermal actuation, acoustic actuation, and combinations of these approaches
Summary
Micromanipulation is a capability that benefits many application areas, including the fabrication of electronic circuits and devices [1], single-cell analysis [2], drug delivery [3], pathogen isolation [4], minimally invasive surgery [5], and tissue engineering [6]. While there are many methods and technologies that are capable of manipulating microscale objects, this paper will focus on microrobots. Microrobots are robotic systems in which untethered mobile components have all dimensions between 1 μm and 1 mm, so that the mechanics are dominated by microscale forces. Microrobots offer a variety of manipulation methods, including contact and non-contact manipulation. Microrobots generally feature robust, automated control systems, making it easier for operators of various skill levels to perform micromanipulation. Several microrobotic actuation mechanisms suitable for micromanipulation will be described. Desirable features of micromanipulation using microrobots will be discussed, and recent progress in implementing these features will be discussed, with an emphasis on optothermal microrobots
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