OnChip Threedimension Cell Rotation Using Whirling Flows Generated by Oscillating Asymmetrical Microstructures The capability to precisely rotate the cells and other microscale objects is invaluable in biomedicine, bioengineering, and biophysics. We propose a novel onchip threedimension (3D) cell rotation method using whirling flows generated by oscillating asymmetrical microstructures. In an acoustic field excited by the vibration of a piezoelectric transducer, two different modes of microvortices are generated around our customdesigned microstructures that are utilized to precisely achieve inplane and outofplane rotational manipulation of microparticles and cells. The rotation mechanism is studied and verified using numerical simulations. We also investigate the effect of various parameters on the acoustically induced flows such as the frequency, the driving voltage and the distance from the microstructure tip to the oocyte center, thus indicating the rotational speed can be effectively tuned on demand for singlecell studies. Finally, by observing the maturation stages of M2 after excluding the first polar body of operated oocytes, the proposed method is proved noninvasive. Comparing with the conventional works, our acoustofluidic cell rotation approach is simpletofabricate and easytooperate, thereby allowing rotations irrespective of the physical properties of the specimen under investigation.

Automated MacroMicro Manipulation for Robotic Microinjection with Computer Vision Extensive research efforts have been made toward automating the microinjection of biological cells by leveraging microrobotic technologies. However, to best knowledge of the authors, there is no report on the automation of the timeconsuming process: moving the injection tools (a micropipette, a grippers, etc.) and cells into the field of view (FOV) of microscope from the macro FOV(outside the microscopic FOV). This paper presents a novel macromicro conversion strategy, and a grid detection and positioning algorithm to automate the timeconsuming step of moving the injection tools and cells to the microscopic FOV. The proposed solution can free the technician from the laborious handeye coordination operations for moving the injection tools and cells to the target position within the microscopic FOV. Furthermore, this paper proposes an autofocusing algorithm to automate the operation step: moving down the gripper from the air outside the culture media and then precisely clamping a cell in the liquid environment for injection. In the proposed solution, the active windowbased autofocusing algorithm is developed to solve the challenging problem: the image information is lost due to the xe2x80x9cviscous effectxe2x80x9d taking place when the gripper jaw touches the water surface. The proposed solutions are tested and validated by the microinjection experiments of zebrafish embryos using the inhouse develop microrobotic system. The technologies and strategies proposed in this paper significantly improve the automation level of the cell microinjections, and can be easily extended to any other micromanipulation of biological cells.