Tele-Robotic Platform for Dexterous Optical Single-Cell Manipulation

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.

Controlling the lifetime of antibubbles

An antibubble is a liquid droplet wrapped by a thin layer of gas, inside a bulk liquid usually of the same composition. The lifetime of an antibubble is governed by the drainage of the gas between the two liquid-gas interfaces populated by surfactants. Depending on the relative magnitude of surface viscosity and elastic moduli, which directly depend on or are determined by the nature of surfactants, the lifetime of an antibubble may vary a lot, from few seconds to few minutes. While such a difference can be predicted with models that include the role of interfacial properties, they were not observed experimentally in previous studies, due to important sources of dispersion. In this review, the main sources of dispersion are identified, such as (i) the initial amount of gas embedded in the antibubble, (ii) the level of saturation of gas in the bulk liquid, (iii) the presence of dust particles (<0.5 μm) in the gas, and (iv) three-dimensional flow effects. By accounting for these various effects, we obtain a coherent view on the lifetime of an antibubble, as a function of its radius and the surface rheology, with excellent consistency between experiments and modeling. Results thus demonstrate that controlling the size and lifetime of antibubbles is achievable.

Hybrid Two-Scale Fabrication of Sub-Millimetric Capillary Grippers

Capillary gripping is a pick-and-place technique that is particularly well-suited for handling sub-millimetric components. Nevertheless, integrating a fluid supply and release mechanism becomes increasingly difficult to manufacture for these scales. In the present contribution, two hybrid manufacturing procedures are introduced in which the creation of the smallest features is decoupled from the macro-scale components. In the first procedure, small scale features are printed directly (by two-photon polymerisation) on top of a 3D-printed device (through stereolithography). In the second approach, directional ultraviolet (UV)-illumination and an adapted design allowed for successful (polydimethylsiloxane, PDMS) moulding of the microscopic gripper head on top of a metal substrate. Importantly, a fully functional microchannel is present in both cases through which liquid to grip the components can be supplied and retracted. This capability of removing the liquid combined with an asymmetric pillar design allows for a passive release mechanism with a placement precision on the order of 3% of the component size.

Contact line stick-slip motion and meniscus evolution on micrometer-size wavy fibres

HYPOTHESIS

The architecture of complex-shaped fibres affects the motion of the contact line and the evolution of its associated menisci when a fibre is immersed into a liquid. Understanding and predicting the motion of the contact line is critical in the design of complex-shaped fibres for many engineering applications as well as for surface science. While wetting on classic circular cylinders has been well studied, singularities during the wetting process of complex-shaped fibres are not yet well understood.

EXPERIMENTS

The dynamic wetting behaviour of axisymmetric sinus-shaped fibres immersed vertically in a liquid volume was investigated. Fibres were 3D-printed down to micrometre dimensions, and the Wilhelmy method was used in parallel with meniscus shape analysis. Moreover, a quasi-static theoretical model predicting the contact line movement and free energy of the system evolution on these fibres is also proposed.

FINDINGS

The observation of liquid advancing and receding fronts highlighted a stick-slip motion of the meniscus depending on both the fibre surface curvature and its intrinsic wettability. The model predicts that the behaviour of the seemingly pinned and then jumping contact line, with associated changes in apparent contact angles, can be explained by the interplay between a constant local contact angle and the movement of the bulk liquid, leading to the storage of energy which is suddenly released when the contact line passes a given point of fibre curvature. Besides, acceleration/deceleration events that take place before and after the jumps are experimentally observed in good agreement with the model.