Optical robots are micro-scale structures actuated using laser trapping techniques. However, the lack of robust and real-time 3D actuation techniques reduces most applications to planar space. We present here a new approach to generate and control several optical traps synchronously in 3D with low latency and high bandwidth (up to 200 Hz). This timeshared technique uses only mirrors, hence is aberration-free. Simultaneous traps are used to actuate optical robots and provide 6-DoF telemanipulation. Experiments demonstrate the flexibility and dexterity of the implemented user control, paving the way to novel applications in micro-robotics and biology.

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.

Optical Tweezers are considered one of the most suitable techniques for biological tasks, however the lack of automation make this technology less accessible. We present here a new 3D force sensing method with high bandwidth (up to 10Khz) which can allow implementing complex robotic approaches. Proposed technique uses high speed image tracking with nano-metric resolution in 3 directions. Its capabilities are demonstrated in a teleoperated 3D manipulation scenario with a haptic user interface, where naive users performed direct in vitro haptic exploration of isolated Red Blood Cells inside a Petri dish.

Single cell manipulation is considered a key technique for biological application. However, the lack of intuitive and effective systems make this techniques less widespread. We propose here a new tele-robotic solution for dexterous cell manipulation through optical tweezers. The slave robot consist in a combination of robot-assisted stages and a highspeed multi-trap technique and allows the manipulation of more than 15 optical traps in a workspace of (200×200×200) µm 3 for translations and (70×50×8) µm 3 for rotations, both with nanometric resolution. The master device with 6+1 Dof is employed to control the 3D position of optical traps in differents arrangements. Traps can be grouped and controlled in a variety of ways for specific purposes. Precision and efficiency studies are carried out with trajectory control tasks. Finally, the 6D teleoperated-control of an optical robot for cell-transport is presented. Results exemplify the kind of biological applications that can be accomplished with the presented system in an effective and intuitive way, even if the user does not come from an engineering background.

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