Advanced pneumatic microgripper for versatile biomedical micromanipulation

Microgrippers offer better operational flexibility in biological micromanipulation. However, they face challenges in size miniaturization and environmental adaptability (especially in biological liquid environments). To overcome these challenges, a novel pneumatic microgripper is proposed with a thin-walled multi-airbag structure that directly drives the clamping jaws in motion, with a simple and compact overall construction. The microgripper has a maximum clamping range of 925 mu m and can provide a clamping force exceeding 25 mN, capable of lifting loads over 300 times its weight. The microgripper is integrative and can be mass-produced with biocompatible resins in a single-step high-precision 3D printing process. The pneumatic microgripper is utilized to achieve the sorting and assisted injection of mouse oocytes (60-80 mu m), assisted cutting of porcine oocytes (100-120 mu m), and microscopic threading (10-15 mu m) operation with two-finger cooperation. These demonstrations confirm it can operate fine manipulation of microscopic biological structures in air and liquid, and has good biocompatibility and cooperative operational ability. The developed pneumatic microgripper shows broad application prospects in biomedical applications such as microsurgery, micro biopsy, and assisted reproduction.