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Micromachines 2015, 6(11), 1710-1728; doi:10.3390/mi6111451

Development of Micro-Grippers for Tissue and Cell Manipulation with Direct Morphological Comparison

1
Section of Forensic Medicine of the Department of Histological, Forensic & Orthopedic Sciences, Sapienza University of Rome, Piazzale Aldo Moro, 5-00185 Roma, Italy
2
Department of Mechanical and Aerospace Engineering, Sapienza University of Rome, Via Eudossiana, 18-00184 Roma, Italy
3
Department of Information Engineering, Electronic and Telecommunications, Sapienza University of Rome, Via Eudossiana, 18-00184 Roma, Italy
4
Department of Chemical Engineering Materials Environment, Sapienza University of Rome, Via Eudossiana, 18-00184 Roma, Italy
5
Department of Law, Philosophy and Economic Studies, Sapienza University of Rome, Piazzale Aldo Moro, 5-00185 Roma, Italy
6
Department of Dynamic and Clinical Psychology, Sapienza University of Rome, Via degli Apuli, 1-00185 Roma, Italy
7
Fondazione Bruno Kessler (FBK), Micro Nano Facility (MNF), Via S. Croce, 77-38122 Trento, Italy
*
Author to whom correspondence should be addressed.
Academic Editor: Joost Lötters
Received: 2 September 2015 / Revised: 20 October 2015 / Accepted: 2 November 2015 / Published: 6 November 2015
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Abstract

Although tissue and cell manipulation nowadays is a common task in biomedical analysis, there are still many different ways to accomplish it, most of which are still not sufficiently general, inexpensive, accurate, efficient or effective. Several problems arise both for in vivo or in vitro analysis, such as the maximum overall size of the device and the gripper jaws (like in minimally-invasive open biopsy) or very limited manipulating capability, degrees of freedom or dexterity (like in tissues or cell-handling operations). This paper presents a new approach to tissue and cell manipulation, which employs a conceptually new conjugate surfaces flexure hinge (CSFH) silicon MEMS-based technology micro-gripper that solves most of the above-mentioned problems. The article describes all of the phases of the development, including topology conception, structural design, simulation, construction, actuation testing and in vitro observation. The latter phase deals with the assessment of the function capability, which consists of taking a series of in vitro images by optical microscopy. They offer a direct morphological comparison between the gripper and a variety of tissues. View Full-Text
Keywords: MEMS; cell manipulation; tissue manipulation; microgripper MEMS; cell manipulation; tissue manipulation; microgripper
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Cecchi, R.; Verotti, M.; Capata, R.; Dochshanov, A.; Broggiato, G.B.; Crescenzi, R.; Balucani, M.; Natali, S.; Razzano, G.; Lucchese, F.; Bagolini, A.; Bellutti, P.; Sciubba, E.; Belfiore, N.P. Development of Micro-Grippers for Tissue and Cell Manipulation with Direct Morphological Comparison. Micromachines 2015, 6, 1710-1728.

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