# High-Speed Cell Assembly with Piezo-Driven Two-Finger Microhand
## 6 Conclusions  
Current microsurgery techniques in tissue engineering heavily rely on manual operations, which suffer from poor precision, low efficiency, and limited controllability. This paper presents a micromanipulation robot system combined with an automated assembly strategy, achieving robotized high-speed assembly of cells. The 3-DoF parallel micromanipulator, powered by piezoelectric ceramics in this study, offers advantages including a small size, high precision, and fast speed. A hemisphere-shaped end-effector is designed to address the issue of unstable target grasping at the microscale. A release method, combining gel coating with high-speed vibration, is proposed to solve the problem of target release difficulty caused by microscopic adhesion forces. The optimal vibration amplitude and frequency for releasing targets were also obtained through micro-target release experiments. By utilizing piezoelectric actuation, parallel mechanisms, and innovative methods for target grasping and releasing, along with parameter optimization, higher precision micromanipulations on cells have been achieved. Finally, we propose an automated assembly method for micro-targets based on microscopic visual feedback and operation path planning. This method achieves robotized high-speed and high-precision assembly of cell arrays. The average time for grasping and releasing cells is less than 0.8 s. Optimized visual detection algorithms tailored for cells and operation path planning segmented by field of view contribute to a significantly improved efficiency in automated micromanipulations compared to previous studies. In the future, we aim to enhance the precision of micromanipulation by improving the control accuracy of piezoelectric actuators and increasing the sensor resolution. This study holds significance in the fields of biology and medicine, enabling the three-dimensional assembly of biological targets using micromanipulation robots. This technology is expected to find applications in tissue engineering and the assembly of micromachines in the future.  
[PERSON] and [PERSON] are co-first authors of the article. Conceptualization, T.A. and X.L.; methodology, Y.Z. and Y.D.; software, J.C.; validation, Y.Z., Y.D. and J.C.; formal analysis, Y.Z. and J.C.; investigation, Y.D.; resources, M.K., Q.H. and T.A.; writing--original draft preparation, Y.Z.; writing--review and editing, Y.D. and X.L.; supervision, M.K., Q.H. and T.A.; project administration, T.A. and X.L.; funding acquisition, Q.H., T.A. and X.L. All authors have read and agreed to the published version of the manuscript.  
This research was funded by the National Natural Science Foundation of China under Grant 62273052, the Beijing Natural Science Foundation under Grant 1S23062, China Postdoctoral Science Foundation under Grant 2022M710378 and the Grant-in-Aid for Scientific Research under Grant 22H01441 from the Ministry of Education, Culture, Sports, Science and Technology of Japan.  
**Infrared Consent Statement**: Not applicable.  
**Data Availability Statement**: Data is contained within the article.  
The authors declare no conflicts of interest.