Three-dimensional Manipulation Research Articles

Sculpting isolated optical vortex knots on demand

The rapid development of optical technologies, including optical trapping, enhanced imaging, and microscopy, necessitates fundamentally new approaches to higher-dimensional optical beam shaping. We introduce a rigorous theoretical approach for sculpting three-dimensional, topological particle-like objects, such as optical knots or links, including precise control of their individual parts. Universally applicable to knots created using braided zero lines, our method is validated through theoretical analysis and experimental measurements. The proposed approach enables new degrees of freedom in multi-dimensional singularities shaping, including rotations, shifts, and rescaling of their parts for enhanced stability in complex media. These results may find applications in the fields of three-dimensional optical trapping, manipulation, and subwavelength microscopy, as well as probing and imaging through atmospheric or underwater turbulence.

Radial self-accelerating acoustic beam for three-dimensional helical motion of microparticles

Abstract Radially self-accelerating acoustic beams (RSABs) with rotating field distributions enable three-dimensional manipulation of particles. Nevertheless, the generation of desired RSABs is always a challenge. In this study, we derive a general form for the RSABs with a rotating acoustic field. We investigate the correlation between acoustic intensity and phase distribution of the RSAB in-depth via theoretical calculations. Artificial structure plates carved with Archimedean spiral slits are designed to produce two-component RSABs (TRSABs). It is found that the number of main lobes, rotational speed, and initial position of the TRSAB can be modulated by simply changing the number of arms, initial radius, and relative angle of the two sets of spirals. The experimental and numerical demonstrations confirm the ability of artificial structure plates to generate TRSABs. Finally, simulations are performed to calculate the acoustic radiation force on Rayleigh polydimethylsiloxane (PDMS) particles in a TRSAB. The work presented here could greatly benefit acoustic particle three-dimensional trapping and manipulation.

Three-dimensional manipulation via magnetic levitation

Three-dimensional manipulation via magnetic levitation

Controllable three-dimensional helical energy backflow in an optical focusing field.

The energy of light generally moves forward along the light propagation direction. However, in recent years, a counter-intuitive effect has been discovered that energy backflow can occur in certain special light fields. Presently, controlling the energy backflow of light for application requirements is becoming a significant challenge. Here we propose a method to generate and control a three-dimensional helical energy backflow (HEB) optical field. By designing an exponential helical conical phase mask, the energy backflow region in a common tightly focused field can be stretched into a three-dimensional helical shape with an ultra-long longitudinal length. The length of the HEB region can be flexibly extended up to 47.6λ by varying the exponential phase index and the initial topological charge. Furthermore, we demonstrate that nanoparticles within the HEB field are subjected to optical pulling forces, thereby drawing the nanoparticles back to the light source. This work presents a new, to the best of our knowledge, approach for the three-dimensional manipulation of the energy backflow field with potential applications in nanoparticle manipulation and detection.

Tunable Acoustic Tweezer System for Precise Three-Dimensional Particle Manipulation

This study introduces a tunable acoustic tweezer system designed for precise three-dimensional particle trapping and manipulation. The system utilizes a dual-liquid-layer acoustic lens, which enables the dynamic control of the focal length through the adjustable curvature of a latex membrane. This tunability is essential for generating the acoustic forces necessary for effective manipulation of particles, particularly along the direction of acoustic wave propagation (z-axis). Experiments conducted with spherical particles as small as 1.5 mm in diameter demonstrated the system’s capability for stable trapping and manipulation. Performance was rigorously evaluated through both z-axis and 3D manipulation tests. In the z-axis experiments, the system achieved a manipulation range of 33.4–53.4 mm, with a root-mean-square error and standard deviation of 0.044 ± 0.045 mm, which highlights its precision. Further, the 3D manipulation experiments showed that particles could be accurately guided along complex paths, including multilayer rectangular and helical trajectories, with minimal deviation. A visual feedback-based particle navigation system significantly enhanced positional accuracy, reducing errors relative to open-loop control. These results confirm that the tunable acoustic tweezer system is a robust tool for applications requiring precise control of particles with diameter of 1.5 mm in three-dimensional environments. Considering its ability to dynamically adjust the focal point and maintain stable trapping, this system is well suited for tasks demanding high precision, such as targeted particle delivery and other applications involving advanced material manipulation.

Ultrasonic Levitation as a Handling Tool for In-Space Manufacturing Processes

Abstract 3D printing is one of the key technologies in space exploration. The disparity in gravitational forces between Earth and space presents both challenges and opportunities with regard to material handling. This article examines the potential of employing ultrasonic levitation as a handling tool for substrate-free additive manufacturing processes in microgravity environments. Through preliminary experiments, we demonstrate the feasibility of manipulating polymer powders using acoustic fields while concurrently melting the levitated material. Subsequent experiments conducted in our drop tower facility confirm our ability to manipulate particles with acoustic traps under microgravity conditions. Building upon these findings, we outline plans to further advance our research using an expanded acoustic levitation system capable of three-dimensional object manipulation. Our objectives include moving and orienting large components beyond the wavelength limit in microgravity, manipulating granular raw material while melting it in proximity to the print part, and achieving a semi-continuous fusion of print material with the print part. Therefore, we present an intelligent control strategy based on the results of a digital twin simulation. Furthermore, we utilize a stereo camera combined with computer vision as feedback for the control system to ensure precise handling of the manipulated objects and particles. This study represents a significant advance toward the realization of efficient substrate-free additive manufacturing processes in microgravity environments, with potential applications for in-space manufacturing. Ultimately, this could result in long-term space missions becoming less reliant on supply deliveries, thus reducing cost and additionally enabling faster response to unforeseen issues.

Motion Planning for Dynamic Three-Dimensional Manipulation for Unknown Flexible Linear Object

Generally, deformable objects have large and nonlinear deformations. Because of these characteristics, recognition and estimation of their movement are difficult. Many studies have been conducted aimed at manipulating deformable objects at will. However, they have been focused on situations wherein a rope’s properties are already known from prior experiments. In our previous work, we proposed a motion planning algorithm to manipulate unknown ropes using a robot arm. Our approach considered three steps: motion generation, manipulation, and parameter estimation. By repeating these three steps, a parameterized flexible linear object model that can express the actual rope movements was estimated, and manipulation was realized. However, our previous work was limited to 2D space manipulation. In this paper, we extend our previously proposed method to address casting manipulation in a 3D space. Casting manipulation involves targeting the flexible linear object tips at the desired object. While our previous studies focused solely on two-dimensional manipulation, this work examines the applicability of the same approach in 3D space. Moreover, 3D manipulation using an unknown flexible linear object has never been reported for dynamic manipulation with flexible linear objects. In this work, we show that our proposed method can be used for 3D manipulation.

BMP4 regulates asymmetric Pkd2 distribution in mouse nodal immotile cilia and ciliary mechanosensing required for left-right determination.

Mouse nodal immotile cilia mechanically sense the bending direction for left-right (L-R) determination and activate the left-side-specific signaling cascade, leading to increased Nodal activity. Asymmetric distribution of Pkd2, a crucial channel for L-R determination, on immotile cilia has been reported recently. However, the causal relationship between the asymmetric Pkd2 distribution and direction-dependent flow sensing is not well understood. Furthermore, the underlying molecular mechanism directing this asymmetric Pkd2 distribution remains unclear. The effects of several recombinant proteins and inhibitors on the Pkd2 distribution were analyzed using super-resolution microscopy. Notably, bone morphogenetic protein 4 (BMP4) affected the Pkd2 distribution. Additionally, three-dimensional manipulation of nodal immotile cilia using optical tweezers revealed that excess BMP4 caused defects in the mechanosensing ability of the cilia. Experimental data together with model calculations suggest that BMP4 regulates the asymmetric distribution of Pkd2 in nodal immotile cilia, thereby affecting the ability of these cilia to sense the bending direction for L-R determination. This study, for the first time, provides insight into the relationship between the asymmetric protein distribution in cilia and their function.

Multi-trap optical tweezers based on kinoform Silver Mean lenses

In this paper, we present the design and implementation of multi-trap optical tweezers based on new quadrifocal kinoform lenses. The phase distribution of these diffractive lenses is characterized by the Silver Mean sequence. The focusing properties of the resulting aperiodic DOEs coined Kinoform Silver Mean Lenses (KSMLs) are numerically examined. It is shown that, under monochromatic illumination, a KSML drives most of the incoming light into four single foci whose focal lengths are related to the Silver ratio. In this way, a KSML improves the diffraction efficiency of binary Fresnel Silver Mean Zone Plates. Through experimental results, the simultaneous trapping of particles in the four focal planes and their three-dimensional manipulation is demonstrated.

A spatial 3-DOF piezoelectric robot and its speed-up trajectory based on improved stick-slip principle

Piezoelectric robots have been proven to be suitable for high-precision, cross-scale micro-nano manipulation due to their nanometre resolution and high flexibility. To make up for the limited stroke of micro-nano positioning platforms, a spatial three-degrees-of-freedom (3-DOF) piezoelectric robot is proposed in this study to enable three-dimensional micro-nano manipulation of objects. The robot utilizes the deformation of the piezoelectric stack as the source of displacement. It is comprised of a parallel compliant mechanism and a guided compliant mechanism in series, resulting in a compact robot body. The robot is capable of linear displacement in x-, y- and z-axes. The stiffness of the guided compliant mechanism is calculated using theoretical modeling and compared with the finite element simulation results, with a deviation of less than 5.6% verifying the accuracy of the model. The robot operates using two motion principles: the direct drive principle, which has a resolution of 16, 15, and 11 nm in x-, y- and z-axes, and a motion space of 13×11×7 μm3; and the improved stick-slip principle, which has a theoretical infinite stroke and a maximum speed of 4.2 and 3.9 mm/s in x- and y-axes. The speed of the improved stick-slip principle is 42% higher than that of the traditional stick-slip principle in x- and y-axes. The robot has a spatial 3-DOF, nanometre resolution, millimeter speed, and can carry more than 500 g.

Secondary somatosensory and posterior insular cortices: a somatomotor hub for object prehension and manipulation movements.

The secondary somatosensory cortex (SII) and posterior insular cortex (pIC) are recognized for processing touch and movement information during hand manipulation in humans and non-human primates. However, their involvement in three-dimensional (3D) object manipulation remains unclear. To investigate neural activity related to hand manipulation in the SII/pIC, we trained two macaque monkeys to grasp three objects (a cone, a plate, and a ring) and engage in visual fixation on the object. Our results revealed that 19.4% (n = 50/257) of the task-related neurons in SII/pIC were active during hand manipulations, but did not respond to passive somatosensory stimuli. Among these neurons, 44% fired before hand-object contact (reaching to grasping neurons), 30% maintained tonic activity after contact (holding neurons), and 26% showed continuous discharge before and after contact (non-selective neurons). Object grasping-selectivity varied and was weak among these neurons, with only 24% responding to fixation of a 3D object (visuo-motor neurons). Even neurons unresponsive to passive visual stimuli showed responses to set-related activity before the onset of movement (42%, n = 21/50). Our findings suggest that somatomotor integration within SII/pIC is probably integral to all prehension sequences, including reaching, grasping, and object manipulation movements. Moreover, the existence of a set-related activity within SII/pIC may play a role in directing somatomotor attention during object prehension-manipulation in the absence of vision. Overall, SII/pIC may play a role as a somatomotor hub within the lateral grasping network that supports the generation of intentional hand actions based on haptic information.

Generation of needle-shaped beam with super-resolution spot and large depth of focus using diffractive optics

The finite depth of focus (DOF) of a focusing lens gives rise to the degradation of lateral resolution at defocused positions. Consequently, the generation of a needle-shaped beam with sub-diffraction size and extended DOF can break through this limitation, but few studies have effectively balanced these two characteristics. In this paper, we propose a method based on the stochastic parallel gradient descent (SPGD) algorithm for designing multi-ring diffractive optical elements (DOEs) to produce the needle-shaped beam, which maintains a super-resolution and uniform spot within a large extended DOF range. Numerical simulations and experimental results have validated that our method can extend the DOF by 14 times longitudinally and reduce the lateral resolution to 73% of Airy spot, while maintaining up to 92% uniformity of the beam diameter. Furthermore, we demonstrate that the DOF of the needle-shaped beam extends with the increase of the number of rings and phase levels within the DOE. Our work provides an effective strategy for the design of DOF-extended DOE and it is anticipated to find potential applications in microscopy and three-dimensional imaging, photolithography, and optical manipulation.

Large-volume focus control at 10 MHz refresh rate via fast line-scanning amplitude-encoded scattering-assisted holography

The capability of focus control has been central to optical technologies that require both high temporal and spatial resolutions. However, existing varifocal lens schemes are commonly limited to the response time on the microsecond timescale and share the fundamental trade-off between the response time and the tuning power. Here, we propose an ultrafast holographic focusing method enabled by translating the speed of a fast 1D beam scanner into the speed of the complex wavefront modulation of a relatively slow 2D spatial light modulator. Using a pair of a digital micromirror device and a resonant scanner, we demonstrate an unprecedented refresh rate of focus control of 31 MHz, which is more than 1,000 times faster than the switching rate of a digital micromirror device. We also show that multiple micrometer-sized focal spots can be independently addressed in a range of over 1 MHz within a large volume of 5 mm × 5 mm × 5.5 mm, validating the superior spatiotemporal characteristics of the proposed technique – high temporal and spatial precision, high tuning power, and random accessibility in a three-dimensional space. The demonstrated scheme offers a new route towards three-dimensional light manipulation in the 100 MHz regime.

Retracted: Clinical Efficacy and Safety of "Three-Dimensional Balanced Manipulation" in the Treatment of Cervical Spondylotic Radiculopathy by Finite Element Analysis.

[This retracts the article DOI: 10.1155/2021/5563296.].

Brownian Motion Governs the Plasmonic Enhancement of Colloidal Upconverting Nanoparticles.

Upconverting nanoparticles are essential in modern photonics due to their ability to convert infrared light to visible light. Despite their significance, they exhibit limited brightness, a key drawback that can be addressed by combining them with plasmonic nanoparticles. Plasmon-enhanced upconversion has been widely demonstrated in dry environments, where upconverting nanoparticles are immobilized, but constitutes a challenge in liquid media where Brownian motion competes against immobilization. This study employs optical tweezers for the three-dimensional manipulation of an individual upconverting nanoparticle, enabling the exploration of plasmon-enhanced upconversion luminescence in water. Contrary to expectation, experiments reveal a long-range (micrometer scale) and moderate (20%) enhancement in upconversion luminescence due to the plasmonic resonances of gold nanostructures. Comparison between experiments and numerical simulations evidences the key role of Brownian motion. It is demonstrated how the three-dimensional Brownian fluctuations of the upconverting nanoparticle lead to an "average effect" that explains the magnitude and spatial extension of luminescence enhancement.

Three-Dimensional Optothermal Manipulation of Light-Absorbing Particles in Phase-Change Gel Media.

Rational manipulation and assembly of discrete colloidal particles into architected superstructures have enabled several applications in materials science and nanotechnology. Optical manipulation techniques, typically operated in fluid media, facilitate the precise arrangement of colloidal particles into superstructures by using focused laser beams. However, as the optical energy is turned off, the inherent Brownian motion of the particles in fluid media impedes the retention and reconfiguration of such superstructures. Overcoming this fundamental limitation, we present on-demand, three-dimensional (3D) optical manipulation of colloidal particles in a phase-change solid medium made of surfactant bilayers. Unlike liquid crystal media, the lack of fluid flow within the bilayer media enables the assembly and retention of colloids for diverse spatial configurations. By utilizing the optically controlled temperature-dependent interactions between the particles and their surrounding media, we experimentally exhibit the holonomic microscale control of diverse particles for repeatable, reconfigurable, and controlled colloidal arrangements in 3D. Finally, we demonstrate tunable light-matter interactions between the particles and 2D materials by successfully manipulating and retaining these particles at fixed distances from the 2D material layers. Our experimental results demonstrate that the particles can be retained for over 120 days without any change in their relative positions or degradation in the bilayers. With the capability of arranging particles in 3D configurations with long-term stability, our platform pushes the frontiers of optical manipulation for distinct applications such as metamaterial fabrication, information storage, and security.

A new technique of intramedullary elastic reduction of the “de-sharpened” Kirschner wire for the treatment of Gartland type III posterolateral displaced supracondylar fracture of the humerus in children

ObjectiveTo compare the clinical effects of intramedullary elastic reduction of the “de-sharpened Kirschner wire and traditional three-dimensional manipulation in the treatment of Gartland type III posterolateral supracondylar fracture of the humerus in children.MethodsA retrospective cohort analysis was made on 106 cases of Gartland type III posterolateral supracondylar fracture of the humerus treated in the Department of Orthopaedics of a Children’s Hospital from March 2020 to March 2022. According to different surgical technology, the patients were divided into two groups: intramedullary elastic reduction of the de-sharpened Kirschner wire group (experimental group, n = 50) and traditional three-dimensional manipulation group (control group, n = 56). The surgical operating time, intraoperative fluoroscopy times, postoperative Baumann angle changes, postoperative elbow function Flynn score, and complications were collected and compared between the two groups.ResultsAll the enrolled cases underwent surgery successfully and were followed-up at least 6 months. The surgical operating time of the experimental group was 32.88 ± 3.69 min and that of the control group was 45.56 ± 10.13 min, and the difference was statistically significant (P < 0.05). The intraoperative fluoroscopy times were 20.62 ± 5.41 times in the experimental group and 32.48 ± 8.20 times in the control group (P < 0.05). The change of Baumann angle in the experimental group after operation was 2.3 ± 1.3 and that in the control group was 6.0 ± 2.1 (P < 0.5). Elbow joint Flynn scoring standard to evaluate the curative effect: the excellent and good rate was 98.00% (49/50) in the experimental group and 92.86% (52/56) in the control group (P > 0.5). There were no complications such as osteomyelitis, compartment syndrome, iatrogenic vascular and nerve injury, and myositis ossificans in either group.ConclusionsGood functional outcome can be obtained with both intramedullary elastic reduction of the de-sharpened Kirschner wire and traditional three-dimensional manipulation for Gartland type III posterolateral displaced supracondylar fracture of the humerus in children; however, the former does not need repeated manipulation, and the operation time is shorter, the number of intraoperative fluoroscopy is less, and the recovery of the Baumann angle is better.

A magnetically controlled microstructured surface for three-dimensional droplet manipulation

The smart manipulation of droplets has received widespread attention due to its potential applications in many fields. However, it is still challenging to realize robust multidimensional, versatile liquid manipulation using magnetically responsive surfaces. Here, a magnetically controlled surface with a dense array of cone-shaped microstructures is developed by the spray self-assembly method using soft nontoxic materials. The effects of the spray volume and material concentrations on the surface morphology and wettability are systematically investigated. The wettability and adhesion properties of the developed surface can be reversibly switched in the presence of an on/off magnetic field. In situ observation indicated that the driving force acted on the droplet is derived from localized deformation of the microstructures. Moreover, theoretical models of droplet manipulation are proposed to demonstrate the underlying mechanism. Under the actuation of the moving magnetic field, the surface can transport droplets of 1–14 μl in the vertical direction, and the modified superhydrophobic surface can transport droplets of 3–30 μl in the horizontal direction and achieve against-gravity droplet climbing with a volume of 10 μl at a climbing angle of 25°. The environmentally friendly and facilely manufacturable surface presents promising applications in liquid microreactors and the transportation of mixed fluids in biological and chemical research.

Multi-functional single cell manipulation method based on a multichannel micropipette

Cell manipulation techniques that provide versatility in handling various cell types and performing diverse manipulations are essential for advancing biological research. This study presents a novel and adaptable approach utilizing a multifunctional micropipette for precise single-cell operations, including three-dimensional (3D) manipulation, trapping, lysis, and aspiration. The multifunctional micropipette comprises two liquid metal-based channels with high electrical conductivity, along with a negative pressure-based aspiration channel. By utilizing the liquid metal electrodes, the system enables the application of electrical stimulation, inducing both dielectrophoretic force and electroporation on cells. Through the implementation of dielectrophoretic force and integration with a 3D-movable stage, single cells can be patterned, manipulated in 3D, accurately trapped, and separated with a minimal adjacent distance of 10 µm. By utilizing the electroporation phenomenon, rapid lysis of suspension cells can be achieved within 50 ms, while adherent cells can be lysed within 200 ms, utilizing a square-wave electrical signal with a frequency of 1 kHz and an amplitude of 40 Vpp. Furthermore, the study explores the impact of electrode size on the lysis of adherent cell groups. Additionally, the utilization of negative pressure for lysate aspiration is also demonstrated. In summary, the reported technique is versatile for single cell manipulation.

Multi-plane acoustic hologram generation with a physics-enhanced neural network for micro-particle manipulation

A physics-enhanced multi-plane acoustic hologram deep neural network (PhysenNet_MPAH) approach is proposed for generating multi-plane acoustic hologram. By combining a convolutional neural network with a physical model, the PhysenNet_MPAH approach can generate high-quality acoustic holograms for holographic rendering of targeted acoustic intensity fields at multiple planes. This approach is capable of reconstructing both strong and weak-targeted multi-plane fields, with superior quality compared to traditional iterative angular spectrum approach. The reconstructed multi-plane acoustic fields are also demonstrated to be useful for three-dimensional particles manipulation, indicating potential applications in dynamic particles manipulation and volumetric display.