CellAnalysis System UsingTwo-fingered MicroHand -Fine adjustment mechanism forend-effector-

elasticity atthesurface ofsingle microbial cell [7]. Even A two-fingered micro handhasbeendeveloped foryears tracking dynamic changes inthestiffness ofthecortex of anditallows dexterous manipulation ofasingle cell: grabbing,adherent cultured cells alongasingle scan-line during M positioning, rotation andreleasing. Theend-effector ofthis phase, frommetaphase tocytokinesis wasdone[8]. Onthe microhandconsists oftwoglass needles. Before grabbing an ' object, theglass needles needtobeapproached toeachother ohehd,smpeasysem whaich inot soexesive manually (initial setup). However, this operation requires high hasdeveloped tomeasure mechanical properties ofcells[9]. skill manualcontrol, sothatitisverydifficult anda Theseresearch results areexpected toleadtodiagnosis and time-consuming. therapeutic approaches ofdiseases. S.E.Cross etal[10] Thispaperdiscusses improvement oftheoriginal micro studied thestiffness ofcancercellsandshowsthe handmechanism toachieve itsfine adjustment oftwoglass mechanical analysis candistinguish cancerous cellfrom needles. Fortheeasyinitial setup, movement oftheglass tips normal oneevenwhentheyshowsimilar shapes. Themicro shouldbe divided intothreedirections (horizontal, manipulation isbecomingmoreandmoreimportant translational, vertical) andhavetheresolution ofseveral micro technology inthese biotechnology fields. meterorder. Threepiezoelectric devices areusedtorealize the fine movementforthreedirections. Moreover theworkspace of intifi,omdevices, w aee to s re theend-effector canbewidened byapplying theprinciple of operation inmicroenvironment, areexpected. We are leverage toglass andpiezoelectric device. Based onthese ideas,developing atwo-fingered microhandwhichadopts parallel weprototyped anewshape ofend-effector whichenables fine mechanisms andpiezoelectric devices asactuators modeling movement along three axes. Using this end-effector design, the chopstick usage. Thishassixdegrees offreedom formotion initial setup ofmicro handiseasier thantheprevious model. andhighpositioning accuracy ineachfinger andthis allows As a result, themicrohandcanachieve moreefficient dexterous manipulation of a singlecell:grabbing, manipulation. positioning, rotation andreleasing inthesize ofmicrometers [11][12]. Utilizing thismicrohand,Tanikawaet.al