*Hisayuki Aoyama, *Naoto Chiba, *Ohmi Fuchiwaki, #Daigo Misaki and ^Takashi Usuda

*University of Electro Communications, Tokyo

#Shizuoka Institute of Technology

^National Institute of Advanced Industrial Science and Technology

For these years, our group have successfully developed the precise tiny robots system for micro induatrial production. For the application toward such bio cell surgery, the cell manipulation
technique is one of most important issues and there it is required to handle such the small bio cell without any damages. In this report, the unique noncantact manipulation is proposed and its basic
performances are discussed with some typical experimental results.
Our small robot, which is composed of piezo elements and electromangents, can walk with an inchworm manner to X and Y directions and rotate with the resolution of such sub micrometer in the plane under the microscope view field.The thin glass pipette is also set on this small robot and it can be vibrated near the target bio cell which is floated in the water of schale.Then the micro non linear flow around the vibrated pipette can be generated and the target small particle can be coveyed along the flow and rotated in the whirlpool.
We can maneuver the position of the thin glass pipette on the micro robot so that the small bio cell can
move to the specified point and rotate to align the face of cell after some numerical analysis to simulate
such complicated 3D flows.
In the actual experimental results, it can be demonstrated that the egg of frog is successfully captuted
and conveyed to the sucking pipette. And another thin pipette can be injected to the face of egg after rotating
it by the whirlpool flow.
In the conclusions, it is summarized that one of the potential benefit of the micro robot system can be
asigned to such automatic bio cell surgery with lower cost and higer reliability.

Keywords: non contact, bio cell manipulation, micro flow, vibrated pipette, micro robot, cell surgery