Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation

Edison Gerena (1) , Florent Legendre (1) , Akshay Molawade (1) , Youen Vitry (2) , Stéphane Régnier (1, 3) , Sinan Haliyo (1, 3)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 ULB - Université libre de Bruxelles
3 Interactions Multi-échelles

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.

Mots clés: optical tweezers; mobile micro-robots; tele-robotics; cell manipulation; 3D cell rotation

Domaines: Robotique [cs.RO]

Edison Gerena, Florent Legendre, Akshay Molawade, Youen Vitry, Stéphane Régnier, et al.. Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation. Micromachines, 2019, 10 (10), pp.677. ⟨10.3390/mi10100677⟩. ⟨hal-02372347⟩