Automated Biomanipulation of Single Cells using Magnetic Microrobots

Transport of individual cells or chemical payloads on a subcellular scale is an enabling tool for the study of cellular com- munication, cell migration, and other localized phenomena. We present a magnetically actuated robotic system capable of fully automated manipulation of cells and microbeads. Our strategy uses autofluorescent robotic transporters and fluo- rescently labeled microbeads to aid tracking and control in optically obstructed environments. We demonstrate automated delivery of microbeads infused with chemicals to specified positions on neurons. This system is compatible with standard upright and inverted light microscopes and is capable of applying forces less than 1 pN for precision positioning tasks.