Robotic Platform for Integrated Organoid Culture and Delivery toward Organ Repair Application

Organ repair is limited by immune rejection, donor shortages, and inefficient delivery. Human-derived organoids offer promise but face challenges in scalable production and precise in vivo delivery. To address these issues, the Organoid Magnetic Robot (OMR), a soft robotic platform that integrates a hydrogel matrix with an embedded permanent magnet, is proposed to unify organoid culture and automated delivery. The OMR platform comprises a semi-automated cell seeding module for in situ organoid formation and a robotic delivery system for targeted magnetic manipulation. A microarray-based seeding strategy ensures uniform organoid generation, after which the OMR is directly actuated for delivery. To compensate for mass and magnetic moment uncertainties arising from the compliant structure, a dual-loop adaptive robust controller enabling reliable single-arm navigation is developed. Experimental results demonstrate that the proposed seeding method improves spheroid uniformity by 31.4% (coefficient of variation reduction from 22.9% to 15.7%) compared to manual operation, with each OMR supporting up to 19 organoids. For navigation, the controller achieves sub-0.03 mm RMSE across 2D/3D trajectories in simulation, substantially outperforming MPC and PID+LSM benchmarks while maintaining millisecond-level computation. Physical experiments further validate tracking accuracy consistently below 0.5mm under transient wall contact in a tubular environment. This integrated platform advances automation, precision, and clinical translation in regenerative medicine.