Endoscopic submucosal dissection enables the en bloc resection of colorectal lesions with curative intent for early cancers, but it is technically demanding and carries risks such as bleeding and perforation, partly due to limited visualization within the submucosal layer. A narrow field of view, curled incision edges, and insufficient traction can obscure the cutting plane and increase procedural difficulty. Effective traction is critical for improving visibility and facilitating safer resections, yet common methods such as clip-with-line often add procedural complexity and lack real-time force monitoring. We present a traction microsystem that integrates a micromotor, a slip ring, and a miniaturized force-sensing unit into an endoscopedeliverable module. The slip ring allows continuous rotation without torsional buildup, maintaining stable tension during operation. The force sensor utilizes a 3D-printed flexure with a strain gauge to amplify deformation, achieving high sensitivity in a compact form that enables real-time force readouts. This architecture supports controlled mucosal lifting with feedbackguided traction, enhancing submucosal exposure and potentially improving resection accuracy and safety.

Closed-loop assembly is essential for high-stiffness modular robotic systems, yet rigid interfaces are intolerant to geometric mismatch and compliant interfaces sacrifice operational accuracy. This paper presents a 6-DOF variable-stiffness joint that addresses this rigidity-compliance dilemma by combining a magneto-rheological-fluid (MRF) brake with an origami-inspired kinematic-decoupling suspension. The joint rapidly switches ($\sim$0.2 s) between a soft state that absorbs 6-DOF misalignment for on-site pose calibration and a rigid state that locks the calibrated configuration for load transmission and precision motion. We validated the joint in a 5-DOF modular closed-loop micromanipulation platform against rigid and passive-soft baselines. In repeated fixed-operator assembly trials (15 trials per condition, 45 trials in total), the joint showed docking behavior close to the passive-soft baseline while remaining much easier to close than the rigid baseline. During subsequent Remote-Center-of-Motion (RCM) operation, the locked joint achieved orientation RMSEs of 2.46 deg in Rx and 1.90 deg in Ry, substantially outperforming the passive-soft baseline while remaining comparable to the rigid baseline. These results show that the joint combines compliant docking with rigid operational fidelity for over-constrained modular precision assembly.

How cells mechanically respond to rapid stimulation in the extracellular microenvironment is a key question for understanding the physiological functions of mechanosensitive (MS) channels. In this study, we investigated the single Synechocystis sp. PCC 6803 cell transient mechanical response under osmotic downshock using a microfluidic system that assembles a robot-integrated microfluidic chip with a synchronized injection-aspiration liquid switching module. Through theoretical analysis and system optimization, we achieved high-speed, localized liquid switching on the millisecond scale while simultaneously measuring cell deformation and reactive force. Using this system, we compared the Young's modulus of wild-type (WT) and MS channel-deficient mutant (ΔmscL) cells in hypoosmotic and hyperosmotic conditions, and quantified their transient mechanical responses under millisecond-scale liquid switching times. In particular, we compared the response time and key deformation parameters (expansion and shrinkage rates) of the two strains when the cells were compressed under osmotic downshock. Multi-parameter analysis suggests that the differences between WT and ΔmscL cells are consistent with a transient contribution of MscL during osmotic downshock, which may mitigate membrane tension buildup and delay the mechanical response under compression. These findings advance the understanding of cellular mechanical adaptation under rapid environmental transitions and demonstrate the broad applicability of this integrated microfluidic system for high-speed liquid switching and synchronous force sensing in single-cell mechanobiological studies.

Spatially resolved single-cell analysis of plant root tissues requires isolating target cells while preserving their original three-dimensional tissue context, which remains challenging due to microscopic size, structural fragility, and dense spatial distribution. This article presents an automated micromanipulation system featuring a five-degree-of-freedom remote-center-of-motion based micromanipulator with a lockable variable-stiffness joint, enabling configuration-dependent workspace transformation and precise tool-target alignment under constrained environments. A picoliter-resolution piezo-actuated pump provides gentle aspiration, while a YOLO-based detection network combined with confocal Z-stack scanning enables three-dimensional target localization. Experiments demonstrate a workspace expansion from 30 degrees to 107 degrees, an absolute positioning accuracy of 3.1 mu m, a 95.5% isolation success rate, and an average pickup time of 8.7 s per cell. The proposed system enables accurate and repeatable isolation of spatially distributed protoplasts (2-30 mu m in diameter) from densely populated root cap tissues, providing a practical foundation for automated and spatially tracked single-cell isolation in plant biology.

We developed a microscopic cell/tissue extraction device that employed a translational/rotational piezoelectric impact drive mechanism (Piezo IDM). To perform the correlation between gene expression and localized tissue sample at the micrometer scale, the system inserted a knife-edged glass capillary driven by the Piezo IDM and extracted the cells/tissues. The hybridized use of the translational and rotational impact motion significantly improved suction performance, resulting in the reliable acquisition of small, localized cells and tissues, which were previously difficult to be isolated. To characterize the motion of the Piezo IDM, the amplitude and frequency dependence were measured, and were compared with the simulation model. In addition, we found that the synchronous chopping motion could exert the rotational motion efficiently. For the automation, a specialized controller was developed to exert bidirectional motion. The experimental demonstration was performed for both the artificial gel sample and the practical mouse cranial window (CW). The result of the gel sample clearly exhibited the effectiveness of hybridizing the translational and rotational motion of Piezo IDM for cell/tissue extraction. The practical demonstration of the neutrophil extraction experiments in thrombus-induced mice also elucidated the potential performance of the accurate tissue extraction from the in-vivo environment.

The increasing clinical demands for temporary colonic interventions – such as bridge-to-surgery decompression and benign stricture management – require stents that balance compact delivery, stable support, and atraumatic retrieval. To address these conflicting needs, we propose a novel thermal-fluidic-driven, retrievable, variable-stiffness shape memory polymer (SMP) stent. The helical device features an integrated closed-loop fluid lumen, utilizing circulated water for rapid deployment, instantaneous structural fixation via active cooling, and subsequent softening for safe extraction. To explore the underlying design rules and navigate the inherent geometric trade-offs, we established a systematic multi-objective optimization framework. A Design of Experiments (DoE) strategy was employed to guide the finite element (FE) simulations, which assessed four functional objectives: minimizing intestinal stress, maximizing anti-migration force, maximizing radial support, and minimizing retrieval force. Using a high-fidelity surrogate model combining response surface methodology (RSM) and Gaussian process regression (GPR), we conducted NSGA-II optimization to identify a Pareto-optimal front. These non-dominated designs were clustered into seven families, providing tailored geometric solutions for distinct clinical needs. Experimental validation confirmed the framework’s accuracy, offering a robust design paradigm for next-generation, transient intraluminal devices.

Oocytes have long been used as a fundamental biological model in bioengineering research such as gene expression analysis, electrophysiological measurements, and drug screening. However, current methods mainly focus on single-microscope setups, which limits the efficient manipulation of multiple oocytes across spatially separated worksites. This study presents a dual vision-equipped microfluidic chip for the manipulation of multiple oocytes between different worksites. The microfluidic chip is equipped with two miniature cameras and then installed on a robotic manipulator. One miniature camera is used to track the position of oocytes in the microfluidic chip. The vision position of the multiple oocytes is utilized to control the flow. The results showed that multiple objects were successfully separated and released in sequence only using the hydrodynamic flow focusing effect. Moreover, a well port is designed to trap single oocytes to deal with the unseparated case of neighboring oocytes in the microchannel based on the vision information. Subsequently, the other camera is installed on the top of the tip part and utilized to detect the single object picking-placing position. Finally, we demonstrate that the dual vision-equipped microfluidic chip on-robot can pick, transport, and place multiple oocytes between different well chip areas. The proposed method has application potential in oocyte biomedical engineering.

Medical care in the gastrointestinal (GI) tract is a major global issue. Soft actuators are expected to solve associated issues such as poor accessibility and difficult operability within the GI tract. The actuators will be inserted into the body through the mouth or anus with a small diameter, perform various tasks in the GI tract with a large diameter, and finally be removed again. Therefore, deployability and retractivity are common requirements. Variable stiffness is also required to adjust or maintain forces on weak tissues. We proposed the new deployable and stiffness-variable miniature actuator consisting of a shape memory polymer bar and flexible channel part with water circulation, which is useful for medical applications in the GI tract. We established the design method of the actuator based on derived physical models and the fabrication method of prototypes. We evaluated the performances of thermal response, retractive deformation, and variable stiffness and confirmed the validity of the concept through the demonstration of continuous actuation, including deploying, retracting, and stiffness-varying. Furthermore, as a case study, we verified the feasibility of endoscopic submucosal dissection traction using prototypes and artificial materials. In the future, the actuator mechanism and design method may also contribute to the development of other medical tools interacting with delicate tissues in the GI tract.

We present for the first time a hybrid platform combining a Thin-Film Transistor Microelectrode Array (TFT-MEA) and a Micro-Pillar Array (MPA) for simultaneous, label-free analysis of electrophysiological and contractile activity in cardiomyocytes. Validation with isoprenaline confirmed the system's sensitivity to pharmacological effects, supporting its use in drug screening and cardiotoxicity studies.

Conventional needle-type sensors are made of glass, which presents issues such as high manufacturing costs due to manual fabrication, a limited range of material properties, and low flexibility in needle shape design. In this study, we attempted to address the issue by utilizing 3D printing for fabrication. To fabricate a sensing electrode, we devised a method which can locally metallize a needle tip using electroless plating, localized 3D electroless plating. We fabricated a needle-type dissolved oxygen sensor and confirmed that the sensor has a short response time of 6 seconds and a response range of up to 260 mu M, which is equivalent to a commercial one, indicating the effectiveness of our proposed metallization method.

PURPOSE:To quantitatively evaluate hand tremors during retinal vascular cannulation surgery with a microneedle and investigate if a customized passive surgical robot suppresses hand tremors. METHODS:A surgical simulation eye was modified, and an analysis system was used that synchronized the surgical video and accelerometer attached to the tail of the microneedle syringe. A cannulation target mimicking the optic disc and retinal vessels was designed in the bottom of the artificial eye. Two vitreous surgeons used this system to evaluate hand tremor 15 seconds before cannulation and 60 seconds during cannulation with and without the robot. RESULTS:Fifteen seconds before cannulation, the mean horizontal, vertical, and combined components of hand tremor were 3.8 ± 1.7, 0.93 ± 0.48, and 4.0 ± 1.7 mG without the robot, decreasing to 3.3 ± 1.6, 0.87 ± 0.52, and 3.5 ± 1.8 mG with the robot. Significant reductions were observed in the horizontal (p = 0.012) and combined components (p = 0.020). Sixty seconds during cannulation, the mean horizontal, vertical, and combined components of hand tremor were 3.3 ± 1.0, 0.53 ± 0.24, and 3.4 ± 1.0 mG, respectively, without the robot. These components significantly decreased with the robot to 2.2 ± 0.7, 0.40 ± 0.15, and 2.2 ± 0.7 mG, respectively, for all components (p < 0.001). Hand tremor decreased significantly by 35% in the combined components during cannulation with the robot. CONCLUSION:The customized passive surgical support robot reduces hand tremor during simulated retinal vascular cannulation surgery.

A microscopic biopsy device utilizing a trans-lational/rotational piezoelectric impact drive Mechanism (Piezo IDM) was developed for ultra-precise cell extraction from highly viscoelastic biological tissue. To correlate local gene expression with tissue microstructures at the micrometer scale, the device employs a knife-edged glass capillary for localized tissue sampling. A novel rotational impact motion was introduced to enhance suction force, enabling successful extraction of target tissues that were previously unattainable with conventional methods. The device was put into practical use for neutrophil isolation experiments in thrombus-induced mouse, demonstrating its capability for precise tissue extraction in vivo.

With the widespread application of capsule-based endoscopic devices in gastrointestinal diagnostics, precise sensing and real-time intestinal feedback have become key research directions in biomedical engineering. This study proposes a swallowable intelligent capsule system equipped with wireless power reception. A flexible helical coil was designed and coupled with an external electromagnetic unit to achieve efficient wireless power transfer and functional integration. The coil was encapsulated within a pH-responsive capsule shell, enabling site-specific release and structural deployment in response to the pH differences between the stomach and intestine.A preliminary prototype was fabricated using biocompatible silicone, and the feasibility of encapsulation and deployment will be evaluated in future studies. This work lays the foundation for future integration with biodegradable materials such as PVA/CMC composites, providing a novel technical pathway for targeted intestinal deployment and wireless functional integration. The proposed system holds great potential for next-generation intelligent gastrointestinal diagnostic applications.

Between 1999 and 2020, gastrointestinal cancers were responsible for over three million deaths, emphasizing the critical role of minimally invasive surgical techniques like Endoscopic Submucosal Dissection (ESD) in managing such life-threatening conditions. ESD, which dissects the connective tissue between the mucosal and muscular layers using an electrosurgical knife connected to an endoscope, requires a constant traction force to stabilize tissues and expose underlying anatomical structures. This paper introduces a miniature magnetic flexible robot, actuated by a permanent magnet on a robotic manipulator, designed to enhance ESD by providing traction forces consistently on lesions. The robot was fabricated by casting magnetic silicone composites, and its safe deployment through the endoscope instrument channel was successfully demonstrated, avoiding tissue contact. Experiments in a rubber intestine model validated the feasibility of providing constant traction and 2 DOF orientation control via the robot, allowing real-time fine-tuning of the force direction. This reduces the difficulty and improves the precision and safety of ESD. This research presents a practical method for achieving stable force output in medical miniature robots, particularly in gastrointestinal procedures.

Colorectal Endoscopic Submucosal Dissection (ESD) is a highly specialized and technically complex procedure designed for the en bloc resection of colonic tumors. The intricate and confined anatomical structure of the colon imposes considerable challenges during ESD. Implementing an effective traction mechanism can streamline the procedure, shorten operative duration, and reduce the incidence of complications. This study introduces a novel ESD traction system integrating a scaffold and a lesion traction mechanism, designed to provide controlled and adequate tension, thereby facilitating the progressive distal descent of the lesion as submucosal dissection advances. Additionally, a strain gauge-based minute force sensor was developed to enhance precision and safety, effectively mitigating the risks and complexities associated with achieving complete lesion resection.Clinical Relevance— This novel system improves ESD by providing stable and adjustable traction, significantly improving submucosal visualization, mitigating procedural complexity, and minimizing risks like bleeding and perforation.