High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots

Gerena, Edison; Régnier, Stéphane; Haliyo, Sinan

doi:10.1109/lra.2019.2892393

Cited by 17 publications

(15 citation statements)

References 42 publications

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“…This technique is aberration-free as it uses only mirrors with high reflectance and is designed to generate equally efficient and stable traps regardless of their position in the workspace. For further details please see [7].…”

Section: Methodsmentioning

confidence: 99%

“…Their compatibility with other optical techniques, especially microscopy implies that these are highly appropriate for lab-on-chip systems and micro-fluidic devices. In addition, it is possible to simultaneously trap several objects using a unique laser source by active diffractive optical elements (holographic optical tweezers) [6] or by rapid laser-deflection (time-shared methods) [7]. Furthermore, optical-robots (i.e., 3D-printed micro-structures actuated using laser trapping techniques) can be used to indirectly handle the cells in applications where their viability is an important issue.…”

Section: Introductionmentioning

confidence: 99%

“…The workspace is optimized by combining a 3D multi-trap time-shared method, a 3D nano-stage, and a 2D micro-stage. To solve the latency issues, the implemented 3D multi-trap technique is based only on high-bandwidth steering mirrors [7]. Teleoperation control is implemented with a master device, Omega.7, providing 6+1 DoF and is ensured by a hard real-time system.…”

Section: Introductionmentioning

confidence: 99%

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Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation

et al. 2019

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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.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation

et al. 2019

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“…An SLM and a pair of galvanometer‐mounted mirrors were combined into an OT setup. [ 21 ] This provides improved flexibility as the SLM creates an array of traps, which can be moved smoothly and quickly with the galvanometer‐mounted mirrors. However, due to the technical complexity involved, this technique is still at a research stage and is not widely employed.…”

Section: Introductionmentioning

confidence: 99%

Distributed Force Control for Microrobot Manipulation via Planar Multi‐Spot Optical Tweezer

Zhang

Barbot

et al. 2020

Advanced Optical Materials

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manipulation of cells, [3,4] microrobots, trapped in the focal position of the laser beam can be utilized as end-effectors of the OT. [5] Therefore, developing optical micro-machines to enable dexterous indirect manipulation of OT can have a wide range of applications. For example, four streptavidin-functionalized polystyrene beads, controlled by a time-shared multiplexed OT, have been attached to a biotinylated red blood cell and served as micro-tools to analyze the underlying molecular mechanisms involved in cell flickering. [6] In life science, laser-driven spinning birefringent spheres have been used to generate microfluidic-induced shear force for control of the growth of individual axons (nerve fibers) precisely, paving the way for nerve repair and regeneration. [7] To enable more dexterous indirect optical trapping and optical manipulation, optical micro robotics with novel synthetic structures can be used to increase the flexibility of OT systems and facilitate the deployment of general robotic solutions for biomedical science. [8] With recent advances in two-photon polymerization and other emerging micro/nanofabrication techniques, steerable non-spherical particles can now be fabricated. [9] Therefore, optically driven microrobots with complex structures can be used for arbitrary translational and angular positioning in 3D space. For example, anisotropic shapes have been considered for the design of micro-particles to create a remotely driven micro-motor based on radiation pressure for micromechanical systems. [10] An indirect optical trapping method using light driven micro-rotors to create a new form of near-field hydrodynamic micro-manipulation has been proposed, [11] with which the 2D trapping of absorbing particles, the control of position and orientation of yeast cells, and the independent control over multiple objects simultaneously have been demonstrated. Apart from using OT to realize reconfigurable hydrodynamic manipulation via the control of optically driven micro-motors, optoelectronic tweezer has been developed to combine dielectrophoresis with OT, which is capable of exerting a stronger manipulation force for a given intensity of light for microrobot control. [12] A shaped particle based on a tapered cylinder fabricated by two-photon polymerization has been proposed for acting as a passive force clamp, [13] which facilitates the design of optically trapped objects with specific force profiles. However, the motions of the passive force clamp are mainly for planar translation. For micro-manipulation which demands Optical tweezers (OT) represent a versatile tool for micro-manipulation. To avoid damages to living cells caused by illuminating laser directly on them, microrobots controlled by OT can be used for manipulation of cells or living organisms in microscopic scale. Translation and planar rotation motion of microrobots can be realized by using a multi-spot planar OT. However, out-of-plane manipulation of microrobots is difficult to achieve with a planar OT. This paper presents a distribut...

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“…Various microhands, as the end-effector of optical tweezers, were proposed, and their manipulability by optical tweezers was verified [29,37]. The optical manipulation of highly task-specific micromechanisms, such as an articulated microrobot and microsyringe, as fabricated by the 2PP method, was further investigated [38][39][40]. Aekbote et al conducted a meaningful and innovative study to enable indirect optical cell manipulation [41].…”

mentioning

confidence: 99%

Automated Indirect Transportation of Biological Cells with Optical Tweezers and a 3D Printed Microtool

Xie

Wei

et al. 2019

Applied Sciences

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Optical tweezers are widely used for noninvasive and precise micromanipulation of living cells to understand biological processes. By focusing laser beams on cells, direct cell manipulation with optical tweezers can achieve high precision and flexibility. However, direct exposure to the laser beam can lead to negative effects on the cells. These phenomena are also known as photobleaching and photodamage. In this study, we proposed a new indirect cell micromanipulation approach combined with a robot-aided holographic optical tweezer system and 3D nano-printed microtool. The microtool was designed with a V-shaped head and an optical handle part. The V-shaped head can push and trap different sizes of cells as the microtool moves forward by optical trapping of the handle part. In this way, cell exposure to the laser beam can be effectively reduced. The microtool was fabricated with a laser direct writing system by two-photon photopolymerization. A control strategy combined with an imaging processing algorithm was introduced for automated manipulation of the microtool and cells. Experiments were performed to verify the effectiveness of our approach. First, automated microtool transportation and rotation were demonstrated with high precision. Second, indirect optical transportations of cells, with and without an obstacle, were performed to demonstrate the effectiveness of the proposed approach. Third, experiments of fluorescent cell manipulation were performed to confirm that, indicated by the photobleaching effect, indirect manipulation with the microtool could induce less laser exposure compared with direct optical manipulation. The proposed method could be useful in complex biomedical applications where precise cell manipulation and less laser exposure are required.

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High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots

Cited by 17 publications

References 42 publications

Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation

Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation

Distributed Force Control for Microrobot Manipulation via Planar Multi‐Spot Optical Tweezer

Automated Indirect Transportation of Biological Cells with Optical Tweezers and a 3D Printed Microtool

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