Microrobotics extends the reach of human-controlled machines to submillimeter dimensions. We introduce a microrobot that relies on optoelectronic tweezers (OET) that is straightforward to manufacture, can take nearly any desirable shape or form, and can be programmed to carry out sophisticated, multiaxis operations. One particularly useful program is a serial combination of “load,” “transport,” and “deliver,” which can be applied to manipulate a wide range of micrometer-dimension payloads. Importantly, microrobots programmed in this manner are much gentler on fragile mammalian cells than conventional OET techniques. The microrobotic system described here was demonstrated to be useful for single-cell isolation, clonal expansion, RNA sequencing, manipulation within enclosed systems, controlling cell–cell interactions, and isolating precious microtissues from heterogeneous mixtures. We propose that the optoelectronic microrobotic system, which can be implemented using a microscope and consumer-grade optical projector, will be useful for a wide range of applications in the life sciences and beyond.

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There is great interest in the development of micromotors which can convert energy to motion in sub-millimeter dimensions. Micromachines take the micromotor concept a step further, comprising complex systems in which multiple components work in concert to effectively realize complex mechanical tasks. Here we introduce light-driven micromotors and micromachines that rely on optoelectronic tweezers (OET). Using a circular micro-gear as a unit component, we demonstrate a range of new functionalities, including a touchless micro-feed-roller that allows the programming of precise three-dimensional particle trajectories, multi-component micro-gear trains that serve as torque- or velocity-amplifiers, and micro-rack-and-pinion systems that serve as microfluidic valves. These sophisticated systems suggest great potential for complex micromachines in the future, for application in microrobotics, micromanipulation, microfluidics, and beyond.

We study rheotaxis of bull sperm inside microchannels to characterize the effects of flow and wall shape on sperm swimming behavior. We found that a large percentage of sperm cells, 80 to 84%, exhibited positive rheotaxis (sperm cells swimming against the flow) within flow velocities of 33 to 134 μm s(-1). Sperm cells were also found to reverse their swimming direction when the liquid flow direction was reversed. Time taken by sperm cells to reverse their swimming direction was inversely proportional to the flow velocity. Sperm behavior was significantly affected by the sperm position with respect to the channel wall. Sperm cells close to the channel wall moved upstream faster than sperm cells moving along the channel centerline. Shear stress, which is an indicator of velocity distribution, was found to play an important role in regulating rheotactic behavior of sperm cells. Side pockets were added to some microchannels to mimic storage sites in mucosal folds and pockets in the fallopian tube of the female reproductive system and sperm interaction with these pockets was monitored. We found that sperm cells tend to follow channel walls and enter these pockets without any chemical binding, which further confirms the wall tracking behavior of mammalian sperm cells. Our results confirm that sperm rheotaxis is a strong mechanism for guiding sperm cells towards the oocyte along the female genital tract.