a Image of the Micro-X4 with a blade end-effector for pattern cutting. b, c Cutting diamond shape patterns at 5 mm (b) and 500 μm (c). d Illustration of trajectory planning for circle pattern. e, f Cutting circle (e) and square (f) patterns at 5 mm. g Image of the Micro-X4 with a needle end-effector for cell locating and puncturing. h Locating the cell nuclei of a stained onion slice. i Puncturing the onion cell. j Image of the Micro-X4 with two end-effectors, a blade, and a needle. k Cutting an opening on the cabbage cell with the blade end-effector. l Inserting through the opening with the needle end-effector. m Image of the Micro-X4 with a needle end-effector and a pressure sensor for contact force measurement. n Contact force during the operation sequence. o Touching and puncturing a series of cells through contact force control. Source data of (n) are provided as a Source Data file.
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