LAUSR

We present the first report on automated micro-manipulation of zebrafish embryos using an electrothermally-actuated microgripper. A five-bar linkage compliant microgripper, driven by a V-shaped electrothermal micro-actuator, is designed based on topological optimization. The electrothermally-actuated microgripper is fabricated, tested, and then integrated into a robotic micromanipulation system. The semi-automated manipulation of a single zebrafish embryo, as well as a series of comparison experiments, is carried out. Experimental results demonstrate that the microgripper has reliable capability of picking, moving, holding and releasing the zebrafish embryo. Specifically, it performs fairly well in immobilizing and limiting the excessive deformation of the embryo. Finally, based on teaching, the whole process of zebrafish embryo microinjection is programed and performed automatically, thus demonstrating great strengths and performance of the microgripper in zebrafish embryo micro-manipulation.