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Open AccessArticle

Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation

1
Institut des Systèmes Intelligents et de Robotique, ISIR, Sorbonne Université, CNRS, F-75005 Paris, France
2
TIPS Laboratory, CP 165/67, Université libre de Bruxelles, 50 Avenue F. Roosevelt, B-1050 Brussels, Belgium
*
Author to whom correspondence should be addressed.
Current address: Indian Institute of Technology Madras, ITT-Madras, Chennai 600036, India.
Micromachines 2019, 10(10), 677; https://doi.org/10.3390/mi10100677
Received: 30 August 2019 / Revised: 25 September 2019 / Accepted: 2 October 2019 / Published: 8 October 2019
(This article belongs to the Special Issue Robotic Micromanipulation)
Single-cell manipulation is considered a key technology in biomedical research. However, the lack of intuitive and effective systems makes this technology less accessible. We propose a new tele–robotic solution for dexterous cell manipulation through optical tweezers. A slave-device consists of a combination of robot-assisted stages and a high-speed multi-trap technique. It allows for the manipulation of more than 15 optical traps in a large workspace with nanometric resolution. A master-device (6+1 degree of freedom (DoF)) is employed to control the 3D position of optical traps in different arrangements for specific purposes. Precision and efficiency studies are carried out with trajectory control tasks. Three state-of-the-art experiments were performed to verify the efficiency of the proposed platform. First, the reliable 3D rotation of a cell is demonstrated. Secondly, a six-DoF teleoperated optical-robot is used to transport a cluster of cells. Finally, a single-cell is dexterously manipulated through an optical-robot with a fork end-effector. Results illustrate the capability to perform complex tasks in efficient and intuitive ways, opening possibilities for new biomedical applications. View Full-Text
Keywords: cell manipulation; 3D cell rotation; mobile micro-robots; optical tweezers; tele-robotics cell manipulation; 3D cell rotation; mobile micro-robots; optical tweezers; tele-robotics
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MDPI and ACS Style

Gerena, E.; Legendre, F.; Molawade, A.; Vitry, Y.; Régnier, S.; Haliyo, S. Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation. Micromachines 2019, 10, 677.

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