Micro/nanorobotic systems capable of targeted transporting and releasing hold considerable promise for drug delivery, cellular surgery, biosensing, nano assembling, etc. However, on-demand precise control of the micro/nanorobot movement remains a major challenge. In particular, a practical interface to realize instant and customized interactions between human and micro/ nanorobots, which is quite essential for developing next generation intelligent micro/nanorobots, has seldom been explored. Here, we present a human−microrobot user interface to perform direct and agile recognition of user commands and signal conversion for driving the microrobot. The microrobot platform is built based on locally enhanced acoustic streaming which could precisely transport microparticles and cells along a given pathway, while the interface is enabled by tuning the actuation frequency and time with different instructions and inputs. Our numerical simulations and experimental demonstrations illustrate that microparticles can be readily transported along the path by the acoustic robotic system, due to the vibration-induced locally enhanced acoustic streaming and resultant propulsion force. The acoustic robotic platform allows large-scale parallel transportation for microparticles and cells along given paths. The human microrobot interface enables the micromanipulator to response promptly to the users' commands input by typing or music playing for accurate transport. For example, the music tone of a playing melody is used for manipulating a cancer cell to a targeted position. The interface offers several attractive capabilities, including tunable speed and orientation, quick response, considerable delivery capacities, high precision and favorable controllability. We expect that such interface will work as a compelling and versatile platform for myriad potential scenarios in transportation units of microrobots, single cell analysis instruments, lab-on-chip systems, microfactories, etc.

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off-pulse before glitch 0.137 +0.076 −0.110 149.9 ± 21.0 off-pulse after glitch 0.127 +0.061 −0.067 138.7 ± 15.1 on-pulse before glitch 0.288 +0.071 −0.073 142.7 ± 7.2 on-pulse after glitch 0.101 +0.047 −0.051

Microbubble-mediated sonoporation has shown its great potential in facilitating intracellular uptake of gene/drugs and other therapeutic agents that are otherwise difficult to enter cells. However, the biophysical mechanisms underlying microbubble-cell interactions remain unclear. Particularly, it is still a major challenge to get a comprehensive understanding of the impact of cell cycle phase on the cellular responses simultaneously occurring in cell membrane and cytoskeleton induced by microbubble sonoporation.Methods: Here, efficient synchronizations were performed to arrest human cervical epithelial carcinoma (HeLa) cells in individual cycle phases. The, topography and stiffness of synchronized cells were examined using atomic force microscopy. The variations in cell membrane permeabilization and cytoskeleton arrangement induced by sonoporation were analyzed simultaneously by a real-time fluorescence imaging system.Results: The results showed that G1-phase cells typically had the largest height and elastic modulus, while S-phase cells were generally the flattest and softest ones. Consequently, the S-Phase was found to be the preferred cycle for instantaneous sonoporation treatment, due to the greatest enhancement of membrane permeability and the fastest cytoskeleton disassembly at the early stage after sonoporation.Conclusion: The current findings may benefit ongoing efforts aiming to pursue rational utilization of microbubble-mediated sonoporation in cell cycle-targeted gene/drug delivery for cancer therapy.