RI: Robust Robotic System for Live Microarrays in Life Sciences

提出了机器人研究的一个全新的焦点。其目的是实现高粘度生物样品的自动分配和混合，这些样品在生命科学中有重要的应用，包括药物筛选、蛋白质结晶和蛋白质表达。由于要处理的体积在微升或纳升范围内非常小，而且粘性导致样本粘在任何东西上，因此机器人处理这类生物样本极具挑战性。针对这些问题，提出了三种新的解决方法。第一种方法是一种创新的微胶囊，它带有微通道，可以通过离心法混合粘性生物样品，从而无需接触。第二种方法是机器人运动的软硬柔顺，将生物样品送入微小的微胶囊，为此将发明一种基于压阻和粘弹性的微力传感装置。第三种方法是一种可编程的机器人旋转装置，它可以实时产生足够的离心力来混合生物样品。这三种新方法将为使用机器人中的稳健智能高通量分配和混合生物样本奠定基础。此外，该项目还将给生命科学、教育和经济带来更广泛的影响。

A completely new focus in robotics research is proposed. The purpose is to enable automatic dispensing and mixing of highly viscous bio-samples which has important applications in life sciences including drug screening, protein crystallization, and protein expression. Since the volume to deal with is extremely small at the micro- or nano-liter scale, and viscosity causes the samples to stick to everything, robotic handling of such bio-samples is extremely challenging. Three novel methods are proposed to solve the problems. The first method is an innovative micro-capsule with micro-channel for mixing viscous bio-samples using centrifugation such that no contact is needed. The second method is soft-hard compliance of robotic motion for delivering bio-samples into tiny micro-capsules, for which a micro force-sensing device based on piezo-resistance and visco-elasticity is to be invented. The third method is a programmable robotic spinning device which generates adequate centrifugal forces in real-time for mixing bio-samples. The three new methods will lay a foundation for high-throughput dispensing and mixing of bio-samples using robust intelligence in robotics. In addition, the project will bring a broader impact to life sciences, education, and economy.