Automated Microhand System for Measuring Cell Stiffness By Using Two Plate End-Effectors
Automated Microhand System for Measuring Cell Stiffness By Using Two Plate End-Effectors
复制标题
使用两个板末端执行器测量细胞刚度的自动化显微手系统
DOI：
10.1109/lra.2022.3143296
复制
发表时间：
2022
影响因子：
5.2
通讯作者：
Tatsuo Arai
中科院分区：
文献类型：
--
作者：
Masahiro Kawakami;Masaru Kojima;Yuma Masuda;Yasushi Mae;Takato Horii;Takayuki Nagai;Masaki Nakahata;Shinji Sakai;Tatsuo Arai
随着生命科学领域的进步，对测量细胞特性的需求越来越大。在这种背景下，我们开发了一个小型的微手系统，使用两个末端执行器，如筷子，抓住和携带微物体。此外，我们成功地测量刚度的细胞通过安装一个微力传感器的末端执行器尖端测量抓持过程中的反作用力。然而，微物体的刚度测量需要精确的操作，并且给实验者带来了很大的负担。以前的系统的问题是它需要熟练的技术人员进行精确的测量，并且在适合于表征细胞的单个短实验时间内测量的细胞数量有限。为了解决这个问题，我们引入了一个同时观察系统，包括不同放大倍数的显微镜和光学镊子。此外，为了使刚度测量更容易，我们自动化了每个测量过程。通过评价实验，我们证实，该系统可以测量细胞的刚度与以前的系统相同的速度和高精度。
With the advancements in the field of life sciences, there is an increasing demand for measuring cell characteristics. In this context, we developed a small microhand system that uses two end-effectors, such as chopsticks, to grasp and carry micro-objects. In addition, we succeeded in measuring the stiffness of cells by installing a micro force sensor on the end-effector tip for measuring the reaction force during grasping. However, the stiffness measurement of micro-objects requires precise manipulation and places a significant burden on the experimenter. The problem with the previous system was it required a skilled technician to perform accurate measurements, and there was a limit to the number of cells that were measured in a single short experimental time suitable for characterizing cells. To address this problem, we introduced a simultaneous observation system that included microscopes of different magnifications and optical tweezers. Furthermore, to render stiffness measurement easier, we automated each measurement process. Through evaluation experiments, we confirmed that the system can measure the stiffness of cells with the same speed and high accuracy as the previous system.