Liquid crystal vector holographic-based on-chip living matter programmable arbitrary manipulation device, manipulation method thereof and storage medium

Abstract

The application discloses a kind of on-chip living matter programmable arbitrary control device based on liquid crystal vector hologram and its control method, storage medium, the method is by the polarization response characteristic of calibration target living matter, according to the desired motion trajectory or distribution pattern, reverse design required light field parameter, and accordingly calculate and prepare corresponding liquid crystal vector holographic phase plate.The application realizes the high-precision, non-contact, programmable on-chip control of a variety of living matter sensitive to linear polarization, circular polarization and the like, has the advantages of highly integrated system, arbitrary flexible control path, wide application object, and solves the defects of large volume and limited control mode of traditional spatial light modulator scheme.

Description

Technical Field

[0001] This invention relates to the interdisciplinary field of micro-nano photonics and microfluidics, and in particular to an on-chip programmable arbitrary manipulation device for living matter based on liquid crystal vector holography, its manipulation method, and storage medium. Background Technology

[0002] With the development of "Lab-on-a-chip" technology, the demand for high-precision, low-damage manipulation of micro- and nano-scale living samples (such as cells, bacteria, and algae) is becoming increasingly urgent. Traditional optical manipulation techniques, such as optical tweezers, rely on high numerical aperture objectives and high-intensity laser focusing, which suffers from problems such as bulky equipment and the risk of photothermal damage to biological samples due to excessive light intensity, making on-chip integration and application difficult. Existing technical solutions for such manipulation typically rely on reflective spatial light modulators combined with complex 4f optical systems and polarizing optical elements to generate vector light fields. This approach has the following inherent drawbacks:

[0003] 1. Low system integration: Spatial light modulators and their supporting long optical path systems (lens groups, polarizers, etc.) are bulky and expensive, making it impossible to achieve integrated, portable "on-chip" integration with microfluidic chips.

[0004] 2. Limited degrees of freedom of manipulation: Due to the limitations of the device principle, it can usually only generate simple vector beams with specific symmetries (such as radial and angular directions), making it difficult to achieve arbitrary and complex custom polarization and light intensity distribution in space, thus limiting the flexibility of manipulation paths and patterns.

[0005] 3. Limited accuracy and efficiency: Spatial light modulators have large pixel sizes (typically >8 μm) and suffer from diffraction efficiency loss and zero-order light interference, making it difficult to generate submicron precision gradient fields and perform fine manipulation of individual micron-sized cells. Summary of the Invention

[0006] Purpose of the invention: The present invention aims to provide a device for controlling the amplitude and polarization state of an arbitrary point light field simultaneously and independently in the far field by independently encoding the phase of left-handed and right-handed circularly polarized light within a single liquid crystal layer; another purpose of the present invention is to provide a method and storage medium for programmable arbitrary manipulation of on-chip living matter based on liquid crystal vector holography.

[0007] Technical solution: The on-chip programmable arbitrary manipulation device for living matter based on liquid crystal vector holography of the present invention includes a light source module, a vector light field modulation module and a sample chamber module arranged sequentially along the optical path;

[0008] The light source module is used to output illumination light with a wavelength located in the photosensitive band of the target active substance, and the illumination light is transformed into a preset polarization state by the collimation and polarization state preparation unit.

[0009] The vector light field modulation module includes a liquid crystal vector holographic phase plate, which is used to jointly modulate the spatial phase and polarization state of the incident light to generate a target vector light field, and to project the target vector light field onto the sample plane through a beam shaping and light guiding unit.

[0010] The sample chamber module includes a sample chamber and its positioning and supporting unit, which are used to contain the target living material and achieve motion control under the irradiation of the target vector light field. The sample chamber module also includes an imaging acquisition unit, which is used to acquire image data of the motion trajectory, orientation or distribution of the target living material.

[0011] Furthermore, the target living material is a light-polarization-sensitive active material, including biologically derived euglena, bacteria, or artificially prepared light-driven micro / nano motors.

[0012] The on-chip programmable arbitrary manipulation method for living matter based on liquid crystal vector holography described in this invention is implemented by the aforementioned manipulation device, and the manipulation method includes the following steps:

[0013] S1. Calibrate the polarization response characteristics of the target active substance to determine the velocity of the target active substance;

[0014] S2. Define the target motion pattern of the target living substance according to the experimental requirements;

[0015] S3. Based on the response characteristics of the target living substance calibrated in step S1 and the target motion mode defined in step S2, perform reverse mapping to obtain the target vector light field used to drive the living substance to achieve the target motion mode.

[0016] S4. Calculate the pixelated pointing angle distribution of the liquid crystal layer corresponding to the target vector light field obtained in step S3, and write the pixelated pointing angle distribution into the liquid crystal material through photo-alignment technology to make a liquid crystal vector holographic phase plate.

[0017] S5. The liquid crystal vector holographic phase plate modulates the light field to generate a target vector light field, which irradiates the target active material in the sample chamber and regulates the motion of the target active material.

[0018] Furthermore, target movement patterns are categorized into trajectory-based targets, speed / orientation-based targets, group distribution-based targets, and time-series manipulation-based targets.

[0019] Furthermore, step S3 is as follows:

[0020] S31. Based on the results of the polarization response characteristics of the target active substance calibrated in step S1, establish an intermediate response model and determine the mapping relationship between the local motion response of the target active substance and the physical optical field parameters.

[0021] S32. Inversely map the target motion pattern defined in step S2 to the intermediate control variables of the intermediate response model;

[0022] S33. Perform a second-level inverse mapping on the intermediate control variables to solve the local vector light field;

[0023] S34. Perform joint optimization on the local spatial light intensity distribution and local spatial polarization direction distribution of the local vector light field to solve for the target vector light field;

[0024] S35. Project the target vector light field generated in step S34 onto the sample plane, collect the actual motion trajectory / density distribution of the target living substance, compare it with the target motion pattern to calculate the error and feed it back to step S34, iteratively update the light field parameters until the error is less than the preset threshold.

[0025] Furthermore, in step S32, when the target motion pattern of the target living substance is a trajectory-type target, the intermediate control variable of the target motion direction generated by polarization control... for

[0026]

[0027]

[0028]

[0029]

[0030]

[0031] in, For the target orientation field, For the target angular velocity, For the alignment coefficient, The speed at which the target moves along the trajectory; For the target trajectory in arc length parameter Curvature at that point; This represents the desired y-coordinate of the target trajectory at the arc length parameter y; This represents the desired x-coordinate of the target trajectory at the arc length parameter; Let represent the unit tangent vector of the target trajectory at the arc length parameter 𝑠; It represents the derivative of the unit tangent vector as a function of arc length.

[0032] Furthermore, in step S33, the local spatial light intensity distribution for

[0033]

[0034] Local spatial polarization direction distribution for

[0035]

[0036] in, Velocity response function The inverse function is used to inversely calculate the target velocity into the required light intensity; Directional response function The inverse function is used to determine the direction of target motion. Inversely calculate to the desired polarization direction distribution .

[0037] Furthermore, in step S34, the joint optimization objective... for

[0038]

[0039] in, For trajectory error term, For the orientation error term, This is the population distribution error term. For light intensity smoothing / total variation regularization, This is a polarization direction smoothing regularization term. , , , and These are the weighting coefficients.

[0040] Furthermore, in step S4, the pixelated pointing angle distribution of the liquid crystal layer corresponding to the target vector light field is calculated based on the target vector light field, as follows:

[0041] Based on the principle of vector holography, the target spatial polarization direction distribution and target spatial light intensity distribution of the target vector light field are decomposed into complex amplitudes of two channels: left-hand circular polarization and right-hand circular polarization. An improved Gerchberg-Saxton algorithm is used to perform double-loop iterative optimization calculations to obtain two phase distributions corresponding to left-hand circular polarization and right-hand circular polarization, respectively. According to the principle of geometric phase, the two phase distributions are converted into corresponding liquid crystal orientation angle distributions. Through a spatial multiplexing function, a pixelated director angle distribution of the liquid crystal layer is generated based on the two liquid crystal orientation angle distributions.

[0042] The computer-readable storage medium of the present invention stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0043] Beneficial Effects: Compared with existing technologies, the significant advantages of this invention are: 1. This invention uses a pixelated liquid crystal vector holographic plate as the core light field modulation device, replacing the traditional bulky optical system, achieving a technological leap from "limited light field adaptation to living matter" to "customizing arbitrary light fields for living matter"; 2. This invention uses a monolithic liquid crystal vector holographic phase plate, eliminating the need for a bulky spatial light modulator and complex optical path, achieving true "chip-scale" control, making it highly suitable for highly integrated, automated, and portable lab-on-a-chip systems, laying the foundation for the development of portable, integrated bioanalytical devices; 3. This invention, based on liquid crystal vector holography technology, achieves complete control over the amplitude and polarization of the light field. The invention possesses decoupling and independent control capabilities, generating vector light fields with arbitrary complex spatial distributions (such as maze-like polarization streamlines superimposed with custom light intensity fences). This allows for guiding living matter to move along any preset complex path or form arbitrary-shaped aggregation patterns, overcoming the limitations of traditional methods that can only achieve simple modes such as unidirectional movement. Furthermore, the proposed methodology of "response characteristic calibration → target definition → reverse design of light field" is universally applicable. It is not only suitable for living matter sensitive to linear polarization (such as slender Euglena), but also, by adjusting the holographic algorithm, for other types of living matter sensitive to circular or elliptical polarization (such as certain genetically modified bacteria or artificial micro / nano motors). Only the specific polarization response function of the object to be manipulated needs to be input. 5. The liquid crystal vector holographic phase plate of this invention can achieve a spatial resolution of no more than 800 nm, and can form a submicron-scale light intensity gradient, polarization direction gradient or light field boundary on the sample plane, thereby generating a fine vector light field with extremely high gradient, which is suitable for fine manipulation of individual micron-scale cells or micro-nano active particles; This method uses the biological photoresponse behavior itself rather than physical constraints to achieve non-contact control of microbial movement, and the required light intensity is much lower than that of optical tweezers, which greatly reduces the risk of photodamage and is highly responsive; 6. If an electro-controlled liquid crystal material is used, this invention can dynamically switch the hologram by changing the applied voltage to adjust the video refresh rate, and in the future, it is expected to realize advanced control functions such as real-time dynamic sorting of living matter and path replanning. Attached Figure Description

[0044] Figure 1 A schematic diagram comparing the volume of the spatial light modulator system and the integrated liquid crystal vector holographic phase plate system of the present invention;

[0045] Figure 2 A schematic diagram illustrating the light field modulation principle of a liquid crystal vector holographic phase plate;

[0046] Figure 3 A schematic diagram illustrating the implementation of an on-chip micro-circulation virtual stirrer using this invention;

[0047] Figure 4A schematic diagram illustrating the use of this invention to implement complex path ("Z") guidance and light intensity fencing;

[0048] Figure 5 This is a schematic diagram of the device in the embodiment. Detailed Implementation

[0049] The on-chip programmable arbitrary manipulation device for living matter based on liquid crystal vector holography according to the present invention includes a light source module, a vector light field modulation module, and a sample chamber module arranged sequentially along the optical path;

[0050] The light source module is used to output illumination light with a wavelength located in the photosensitive band of the target active substance, and the illumination light is transformed into a preset polarization state by the collimation and polarization state preparation unit.

[0051] The vector light field modulation module includes a liquid crystal vector holographic phase plate, which is used to jointly modulate the spatial phase and polarization state of the incident light to generate a target vector light field, and to project the target vector light field onto the sample plane through a beam shaping and light guiding unit.

[0052] The sample chamber module includes a sample chamber and its positioning and supporting unit, which are used to contain the target living material and achieve motion control under the irradiation of the target vector light field. The sample chamber module also includes an imaging acquisition unit, which is used to acquire image data of the motion trajectory, orientation or distribution of the target living material.

[0053] The on-chip programmable arbitrary manipulation method for living matter based on liquid crystal vector holography described in this invention is implemented by the aforementioned manipulation device, and the manipulation method includes the following steps:

[0054] S1: Determine the velocity of the target living matter With local light intensity Local optical polarization direction Functional relationship between That is, its polarization response characteristics;

[0055] S2: Based on experimental requirements, define the spatial distribution pattern or movement trajectory of the desired living matter population, and define the corresponding light intensity constraints (such as path light intensity, fence light intensity).

[0056] S3: Based on the response calibration model of the living matter to the light field parameters obtained in S1, and the target motion mode defined in S2, a two-level inverse mapping model of "target motion mode → intermediate control variable → physical light field parameters" is established. The spatial light intensity distribution used to drive the living matter to achieve the target motion mode is obtained by solving the model. and spatial polarization direction distribution ;

[0057] S4: The result obtained from S3 and As the objective, the pixelated director angle distribution of the liquid crystal layer required to achieve the target light field was calculated. The distribution is written into the liquid crystal material using techniques such as photoalignment to create the pixelated liquid crystal vector holographic phase plate.

[0058] S5: Provides a light source system, which generates a preset spatially varying vector light field through a light field control module, and places the group of living matter in the light field to realize programmable guidance and control of the target living matter.

[0059] Furthermore, the living substance has photoresponsive characteristics (such as phototaxis and polarization sensitivity), can sense the polarization direction of light, and adjust its movement direction to be perpendicular or parallel to the polarization direction of the polarized light.

[0060] Furthermore, the inverse mapping method described in S3 specifically involves: based on the characteristic that the direction of motion of living matter tends to be parallel or perpendicular to the local polarization direction, at each point of the target trajectory, making the designed local polarization direction... Maintaining a preset fixed angle (such as 0° or 90°) with the desired direction of motion at that point, the polaritropic property of the living matter is used to guide its movement along the trajectory; simultaneously, the light intensity distribution is designed... Provide appropriate light intensity along the trajectory path to maintain motion, and form high-intensity "light walls" or low-intensity "dark zones" outside the trajectory to constrain the activity range of living matter.

[0061] Preferably, S3 includes the following sub-steps:

[0062] S31: Target motion pattern parameterization. Represent the target motion pattern defined in S2 as one or more of the following forms:

[0063] 1. Trajectory-type target: target path ,in For arc length parameters;

[0064] 2. Velocity / Orientation Type Targets: Target Velocity Field Or the target orientation field ;

[0065] 3. Group-distributed targets: Target probability density or target flow field ;

[0066] 4. Time-series manipulation targets: discrete time intervals The target state sequence below .

[0067] For trajectory-type targets, the trajectory tangential angle and curvature are further calculated:

[0068]

[0069] in The unit tangent vector. If the target's velocity along the trajectory is set to... Then the target angular velocity is:

[0070]

[0071] S32: Establish an intermediate response model based on the S1 calibration results. Based on the S1 calibration data, establish the mapping relationship between the local motion response of living matter and the physical optical field parameters, including but not limited to:

[0072] 1. Light intensity-velocity mapping:

[0073] 2. Light intensity-steering gain mapping (or alignment intensity):

[0074] 3. Light intensity-rotational diffusion mapping:

[0075] 4. Polarization direction - target orientation mapping:

[0076] in This represents an intermediate variable indicating the direction of target motion generated by polarization control (which can be understood as the direction in which living matter tends to align).

[0077] S33: Inverse mapping from target motion mode to intermediate control variables. The target motion parameters obtained from S31... Inverse mapping to intermediate control variables that satisfy the dynamics model of living matter For trajectory-tracking targets, under the local quasi-steady-state approximation, let the actual orientation of the living matter be... and satisfy the target angular velocity Then we have:

[0078]

[0079] Therefore, we can conclude that:

[0080]

[0081] in If this condition is not met, at least one of the following constraint handling procedures shall be performed:

[0082] 1. Increase local light intensity to increase ;

[0083] 2. Reduce target speed ;

[0084] 3. Perform curvature smoothing on the target trajectory to reduce... .

[0085] Preferably, select based on the target speed first. make Then by Check if it meets the requirements. If not satisfied, then... or Joint adjustment.

[0086] S34: Inverse mapping from intermediate control variables to physical optical field parameters. The second-level inverse mapping is performed using the calibration function in S32 to solve for the local physical optical field parameters:

[0087] 1. Solve for light intensity:

[0088] Based on the target velocity (or the target population migration rate):

[0089]

[0090] like If the solution is not monotonic, then select the solution that satisfies the constraints and minimizes the cost function within the feasible interval.

[0091] 2. Determine the polarization direction:

[0092] According to S33 and calibration relationship We obtain:

[0093]

[0094] If the calibration results show a fixed offset between the direction of movement of the living matter and the polarization direction (e.g., perpendicular or nearly parallel), then this offset is directly included in... The compensation is performed in the inverse function.

[0095] S35: Construct and solve a global inverse optimization problem. Preferably, to improve control accuracy in complex scenarios, based on the local analytical inverse mapping in S34, a global optimization problem is further constructed to... and Perform joint optimization:

[0096]

[0097] in, This is the trajectory error term, which is the deviation between the actual trajectory and the target trajectory; This is the orientation error term, which is the deviation between the actual orientation and the target orientation; It is the population distribution error term, that is, the deviation between the actual density distribution and the target density distribution; It is a light intensity smoothing / total variation regularization term that suppresses excessively strong local gradients and improves adapter resolution. It is a polarization direction smoothing regularization term to avoid distortion in light field reconstruction caused by abrupt changes between adjacent pixels.

[0098] Simultaneously apply physical and device constraints:

[0099]

[0100] It also takes into account constraints such as spatial sampling resolution, gray level, refresh rate, and exposure time.

[0101] The solution can be obtained by numerical optimization methods such as gradient descent, L-BFGS, particle swarm optimization, CMA-ES, and SPSA; alternatively, an offline trained neural network model can be used as an inverse mapping initial value generator, and then refined through online optimization.

[0102] S36: Generate and discretize the target light field distribution map. Then, solve the continuous parameter field... The pixel size of the liquid crystal vector holographic phase plate is sampled to obtain a discrete light field parameter map:

[0103] ,

[0104] Preferably, a smooth transition is performed at the path boundary or the target region boundary to reduce control oscillations caused by discretization.

[0105] S37: Closed-loop correction. Optionally, preferably, the correction generated in S36... and After being projected onto the sample plane, the actual motion trajectory / density distribution of the living material is collected, compared with the target motion pattern, the error is calculated and fed back to step S35, and the optical field parameters are iteratively updated until the error is less than a preset threshold. This closed-loop correction mechanism can compensate for model errors, individual differences, device aberrations and environmental disturbances, improving the stability and repeatability of arbitrary manipulation.

[0106] Furthermore, the utilization described in S4 and Calculate the required pixelation direction angle distribution of the liquid crystal layer The specific method is as follows: based on the principle of vector holography... and The amplitudes are decomposed into complex amplitudes for left-handed and right-handed circular polarization channels. Then, an improved Gerchberg-Saxton algorithm is used to calculate two phase distributions corresponding to left-handed and right-handed circular polarization through a double-loop iterative optimization. Based on the geometric phase principle, these two phase distributions are converted into corresponding liquid crystal alignment angle distributions. Finally, a spatial multiplexing function is used to generate the pixelated director angle distribution of the liquid crystal layer based on the two liquid crystal alignment angle distributions. .

[0107] The computer-readable storage medium of the present invention stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0108] Example 1: On-chip Micro-circulation Virtual Stirrer

[0109] like Figure 3 As shown, in a microfluidic chamber, continuous annular stirring of the slender Euglena is required to promote nutrient exchange, but mechanical stirrers cannot be used. Euglena are known to tend to swim perpendicular to the direction of light polarization.

[0110] S1: The direction of motion of this batch of Euglena is stable and perpendicular to the local linear polarization direction under experimental light intensity;

[0111] S2: The objective is defined as forming a stable annular flow in the central region of the chamber;

[0112] S3: Reverse design of the light field. Design of light intensity distribution. Design a bright ring; design the polarization distribution. The direction is radial (from the center of the ring outwards). Since the Euglena moves perpendicular to the polarization direction, in the radial polarization field, its direction of motion is tangential to the ring, thus inducing a circulation.

[0113] S4: Calculate the hologram and fabricate it into a liquid crystal vector holographic phase plate with a size of 2 cm × 1.5 cm;

[0114] S5: The liquid crystal vector holographic phase plate and the microfluidic chamber are integrated into the device and illuminated with a low-power blue LED. Inside the chamber, Euglena spontaneously form an ordered annular flow, acting as a stirring mechanism.

[0115] Example 2: Complex Patrol Routes and Light Intensity Fence

[0116] like Figure 4 As shown, the goal is to guide a polarization-sensitive artificial micro-nano motor to patrol cyclically along a "Z"-shaped path.

[0117] S1: The direction of motion of the artificial micromotor is calibrated to be parallel to the local linear polarization direction;

[0118] S2: Define a “Z” shaped path and set the light intensity on the path to be moderate, while the light intensity outside the path to be extremely low as an “abyss” to prevent deviation;

[0119] S3: Design the local polarization direction at each point along the zigzag path. All directions are aligned with the tangent of the path at that point to guide the micromotor along the path. Light intensity distribution is designed. The light intensity is uniform along the path, and close to zero (dark area) or extremely high (light fright threshold) outside the path, forming a "virtual wall".

[0120] S4: Fabricate a liquid crystal vector holographic phase plate and integrate it into the device. The artificial micro / nano motor can be seen patrolling a zigzag path.

[0121] In one embodiment, the on-chip programmable arbitrary manipulation device for living matter based on liquid crystal vector holography includes: a collimated light source 1 arranged sequentially along the optical path to emit a collimated beam, ensuring the uniformity and directionality of the light field, with its wavelength matching the photosensitive band of the target living matter; a linear polarizer 2 to convert the light emitted by the collimated light source into linearly polarized light; a first quarter-wave plate 3 to convert the linearly polarized light into circularly polarized or ellipsoidally polarized light, initially adjusting the polarization state; and a liquid crystal vector holographic phase plate 4, serving as the core light field modulation element. This phase plate is a liquid crystal cell structure containing a liquid crystal layer, where the director of the liquid crystal molecules within the liquid crystal layer is pixelated in-plane. The director angle of each pixel unit is designed so that the phase plate can convert the incident beam of a specific polarization state into an outgoing beam with a preset spatial amplitude distribution. and spatial polarization angle distribution The system consists of a complex vector light field; a second quarter-wave plate 5, which further modulates the polarization state of the light field; a beam expander 6, which expands the beam diameter to allow the vector light field to cover a larger sample area; a reflector 7, which changes the direction of the light path and precisely guides the modulated vector light field to the sample chamber; a stage 8, which supports and fixes the sample chamber; a sample chamber 9, a transparent container used to hold suspensions of photosensitive microorganisms such as Euglena, allowing the vector light field to penetrate and act on the microorganisms; a beam splitter 10, which splits the beam from the sample chamber to achieve simultaneous multi-scale observation; a telecentric lens 11, which serves as a macroscopic imaging lens and provides a global view without perspective error; a first camera 12, which works with the telecentric lens to record cell movement trajectories and fluid transport processes at the macroscopic scale; a macro lens 13, which serves as a high-magnification imaging lens for observing local details; and a second camera 14, which works with the macro lens to record cell orientation, velocity distribution, and tracer particle displacement at the microscale for quantitative analysis.

Claims

1. A programmable, arbitrary manipulation device for on-chip living matter based on liquid crystal vector holography, characterized in that, It includes a light source module, a vector light field modulation module, and a sample chamber module arranged sequentially along the optical path; The light source module is used to output illumination light with a wavelength located in the photosensitive band of the target active substance, and the illumination light is transformed into a preset polarization state by the collimation and polarization state preparation unit. The vector light field modulation module includes a liquid crystal vector holographic phase plate, which is used to jointly modulate the spatial phase and polarization state of the incident light to generate a target vector light field, and to project the target vector light field onto the sample plane through a beam shaping and light guiding unit. The sample chamber module includes a sample chamber and its positioning and supporting unit, which are used to contain the target living material and achieve motion control under the irradiation of the target vector light field. The sample chamber module also includes an imaging acquisition unit, which is used to acquire image data of the motion trajectory, orientation or distribution of the target living material.

2. The on-chip programmable arbitrary manipulation device based on liquid crystal vector holography according to claim 1, characterized in that, The target living material is a light-polarization-sensitive active material, including biologically derived euglena, bacteria, or artificially prepared light-driven micro / nano motors.

3. A method for programmable arbitrary manipulation of on-chip living matter based on liquid crystal vector holography, characterized in that, The control method, implemented by the control device according to claim 1 or 2, includes the following steps: S1. Calibrate the polarization response characteristics of the target active substance to determine the velocity of the target active substance; S2. Define the target motion pattern of the target living substance according to the experimental requirements; S3. Based on the response characteristics of the target living substance calibrated in step S1 and the target motion mode defined in step S2, perform reverse mapping to obtain the target vector light field used to drive the living substance to achieve the target motion mode. S4. Calculate the pixelated pointing angle distribution of the liquid crystal layer corresponding to the target vector light field obtained in step S3, and write the pixelated pointing angle distribution into the liquid crystal material through photo-alignment technology to make a liquid crystal vector holographic phase plate. S5. The liquid crystal vector holographic phase plate modulates the light field to generate a target vector light field, which irradiates the target active material in the sample chamber and regulates the motion of the target active material.

4. The method for programmable arbitrary manipulation of on-chip living matter based on liquid crystal vector holography according to claim 3, characterized in that, Target movement patterns are categorized into trajectory-based targets, speed / orientation-based targets, group distribution-based targets, and time-series manipulation-based targets.

5. The method for programmable arbitrary manipulation of on-chip living matter based on liquid crystal vector holography according to claim 3, characterized in that, Step S3 is as follows: S31. Based on the results of the polarization response characteristics of the target active substance calibrated in step S1, establish an intermediate response model and determine the mapping relationship between the local motion response of the target active substance and the physical optical field parameters. S32. Inversely map the target motion pattern defined in step S2 to the intermediate control variables of the intermediate response model; S33. Perform a second-level inverse mapping on the intermediate control variables to solve the local vector light field; S34. Perform joint optimization on the local spatial light intensity distribution and local spatial polarization direction distribution of the local vector light field to solve for the target vector light field; S35. Project the target vector light field generated in step S34 onto the sample plane, collect the actual motion trajectory / density distribution of the target living substance, compare it with the target motion pattern to calculate the error and feed it back to step S34, iteratively update the light field parameters until the error is less than the preset threshold.

6. The method for programmable arbitrary manipulation of on-chip living matter based on liquid crystal vector holography according to claim 5, characterized in that, In step S32, when the target motion pattern of the target living substance is a trajectory-type target, the intermediate control variable of the target motion direction generated by polarization control... for in, For the target orientation field, For the target angular velocity, For the alignment coefficient, The speed at which the target moves along the trajectory; For the target trajectory in arc length parameter Curvature at that point; This represents the desired y-coordinate of the target trajectory at the arc length parameter y; This represents the desired x-coordinate of the target trajectory at the arc length parameter 𝑠; Let represent the unit tangent vector of the target trajectory at the arc length parameter 𝑠; It represents the derivative of the unit tangent vector as a function of arc length.

7. The method for programmable arbitrary manipulation of on-chip living matter based on liquid crystal vector holography according to claim 6, characterized in that, In step S33, the local spatial light intensity distribution for Local spatial polarization direction distribution for in, Velocity response function The inverse function is used to inversely calculate the target velocity into the required light intensity; Directional response function The inverse function is used to determine the direction of target motion. Inversely calculate to the desired polarization direction distribution .

8. The method for programmable arbitrary manipulation of on-chip living matter based on liquid crystal vector holography according to claim 7, characterized in that, In step S34, the joint optimization objective is... for in, For trajectory error term, For the orientation error term, This is the population distribution error term. For light intensity smoothing / total variation regularization, This is a polarization direction smoothing regularization term. , , , and These are the weighting coefficients.

9. The method for programmable arbitrary manipulation of on-chip living matter based on liquid crystal vector holography according to claim 8, characterized in that, In step S4, the pixelated pointing angle distribution of the liquid crystal layer corresponding to the target vector light field is calculated based on the target vector light field, as follows: Based on the principle of vector holography, the target spatial polarization direction distribution and target spatial light intensity distribution of the target vector light field are decomposed into complex amplitudes of two channels: left-hand circular polarization and right-hand circular polarization. An improved Gerchberg-Saxton algorithm is used to perform double-loop iterative optimization calculations to obtain two phase distributions corresponding to left-hand circular polarization and right-hand circular polarization, respectively. According to the principle of geometric phase, the two phase distributions are converted into corresponding liquid crystal orientation angle distributions. Through a spatial multiplexing function, a pixelated director angle distribution of the liquid crystal layer is generated based on the two liquid crystal orientation angle distributions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 3-9.

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