Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with biological micro-objects. At these scales, manipulation is realized through three main classes of platforms: embodied microrobots that physically interact as mobile agents, field-mediated systems that generate contactless trapping or manipulation forces, and externally actuated end-effectors that interact through remotely driven physical tools. Unlike macroscale manipulators, these systems function in fluidic, confined, and surface-dominated environments characterized by negligible inertia, dominant interfacial forces, and soft, heterogeneous, and fragile targets. Consequently, classical assumptions of dexterous manipulation, including rigid-body contact, stable grasping, and rich proprioceptive feedback, become difficult to maintain. This review introduces micro-dexterity as a framework for analyzing biological micromanipulation through the coupled roles of embodiment, perception, and control. We examine how classical manipulation primitives, including pushing, reorientation, grasping, and cooperative manipulation, are reformulated at the microscale; compare the architectures that enable them, from contact-based micromanipulators to contactless field-mediated systems and cooperative multi-agent platforms; and review the perception and control strategies required for task execution. We identify the current dexterity gap between laboratory demonstrations and clinically relevant biological manipulation, and outline key challenges for future translation.

翻译：微尺度操控在受控运动与定向输运方面取得了显著进展，但众多生物医学应用仍要求对生物微对象进行精确且自适应的交互。在此尺度下，操控主要通过三类平台实现：作为移动代理进行物理交互的具身微机器人、产生非接触式捕获或操控力的场介导系统，以及通过远程驱动物理工具交互的外部驱动末端执行器。与宏观操控器不同，这些系统在流体、受限且表面主导的环境中运行，其特点是惯性可忽略、界面力占主导地位，以及目标对象柔软、异质且脆弱。因此，经典灵巧操控的假设（包括刚体接触、稳定抓取及丰富的本体感觉反馈）难以维持。本综述引入微灵巧性这一分析框架，通过具身、感知与控制的耦合作用来研究生物微操作。我们考察了经典操控基元（包括推动、重新定向、抓取及协作操控）如何在微尺度下被重新定义；比较了实现这些基元的架构，从接触式微操控器到非接触场介导系统及协作多智能体平台；并回顾了任务执行所需的感知与控制策略。我们识别了当前实验室演示与临床相关生物操作之间的灵巧性差距，并概述了未来转化的关键挑战。