Otero, Jordi and Puig-Vidal, Manel and Hagemann, Saskia, Krohs, Florian and Fatikow, Sergej and
There are two principal problems when using the AFM for biological nanomanipulation. The first one is the lack of visual information during the nanomanipulation experience. The second one is the use of the same tip for imaging and manipulating the microbial cell. The use of non-suitable tip for imaging and tip contamination during the manipulation cause loss of resolution in the images acquired before and after each nanomanipulation. The lack of visual information can be partially solved by the use of virtual imaging and force feedback techniques. The use of a nanomanipulation microrobot equipped with a self-sensing AFM tip (piezoresistive cantilever) to work in cooperation with the AFM microscope is alsoproposed. The whole system will have the benefits of using the right tip for imaging the sample with the AFM and the best tip to perform the nanomanipulation with the robot. The system also allows simultaneous measurements (electrical, mechanical and thermal conduction) in different points of the sample. Different implementations onthe AFM robot have been performed. A 6DOF robot with 12mm/6º travel and 2 nm resolution in closed loop using a piezoresistive cantilever from KLA Tecnor supplier and a robot based on linear micropositioning axis from SmarAct with 7 mm travel, a step size of 50 nm and a subnanometer resolution have been developed. First results show the ability of these robots to perform AFM based mechanical nanomanipulation with a resolution of 2 nm.