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<p>Contact-Based Robotic Micromanipulation Systems (CRMS) typically have micro-level precision and use motor-driven end-effectors to directly interact with the manipulated target. Assisted by robotic technology, these systems provide substantial benefits in operational efficiency, stability, and compatibility. Currently, they are widely utilized in fields such as biomedicine and microsurgery for micromanipulation tasks. This review study aims to comprehensively summarize and compare CRMS technology and applications specifically within biomedicine and microsurgery. The study establishes the corresponding scales in perception and manipulation between CRMS and the manipulated targets. It then describes representative configurations of CRMS, detailing their workflow, components, and technology. Furthermore, typical application cases of CRMS are exemplified. CRMS have shown significant promise for applications in the fields of biomedicine and microsurgery. Additionally, there are potential connections and transferability between CRMS technology applied in different fields. Based on the above analysis, several promising directions for future CRMS research are proposed, particularly focusing on integration with Artificial Intelligence (AI) and Extended Reality (XR).</p>

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A Review of Contact-Based Robotic Micromanipulation Systems: Technology and Applications

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年8月5日

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  • Yun Long,
  • Tianle Weng,
  • Tiexin Wang,
  • Jinke Li,
  • Songjie Xiao,
  • Bing Li,
  • Liangjing Yang

摘要

Contact-Based Robotic Micromanipulation Systems (CRMS) typically have micro-level precision and use motor-driven end-effectors to directly interact with the manipulated target. Assisted by robotic technology, these systems provide substantial benefits in operational efficiency, stability, and compatibility. Currently, they are widely utilized in fields such as biomedicine and microsurgery for micromanipulation tasks. This review study aims to comprehensively summarize and compare CRMS technology and applications specifically within biomedicine and microsurgery. The study establishes the corresponding scales in perception and manipulation between CRMS and the manipulated targets. It then describes representative configurations of CRMS, detailing their workflow, components, and technology. Furthermore, typical application cases of CRMS are exemplified. CRMS have shown significant promise for applications in the fields of biomedicine and microsurgery. Additionally, there are potential connections and transferability between CRMS technology applied in different fields. Based on the above analysis, several promising directions for future CRMS research are proposed, particularly focusing on integration with Artificial Intelligence (AI) and Extended Reality (XR).