Automated Transportation of Multiple Cell Types Using a Robot-Aided Cell Manipulation System With Holographic Optical Tweezers
Automated Transportation of Multiple Cell Types Using a Robot-Aided Cell Manipulation System With Holographic Optical Tweezers
复制标题
使用带有全息光镊的机器人辅助细胞操纵系统自动运输多种细胞类型
DOI：
10.1109/tmech.2016.2624753
复制
发表时间：
2017-04-01
影响因子：
6.4
通讯作者：
Sun, Dong
中科院分区：
文献类型：
--
作者：
Hu, Songyu;Chen, Shuxun;Sun, Dong
以高精度和高效率转移多种细胞类型对于开发基于细胞的测定变得越来越重要。在这项研究中，提出了一种使能技术，利用机器人辅助细胞操作系统配备了全息光镊的多种细胞类型的同时自动化运输。初步分析了被困细胞的动力学。引入控制约束来限制光阱内细胞的偏移，以防止细胞在运输期间逃离光阱。不同于现有的方法，确定临界偏移，通过手动校准，只有一个特定的细胞类型，该方法可以自动推导出控制约束，并适用于多种细胞类型具有不同的半径。然后，开发了一种控制器，用于自动运输多种细胞类型的不同尺寸的模型参数，如捕获刚度和阻力系数的精确值，不需要。最后通过酵母细胞和成骨样细胞MC 3 T3-E1的转运实验验证了该方法的有效性。
Transferring multiple cell types with high precision and efficiency has become increasingly important for developing cell-based assays. In this study, an enabling technology is proposed for simultaneous automated transportation of multiple cell types utilizing a robot-aided cell manipulation system equipped with holographic optical tweezers. The dynamics of a trapped cell is initially analyzed. A control constraint is introduced to confine the offset of cells within the optical trap to prevent cells from escaping the trap during transportation. Unlike existing methods determining the critical offset through manual calibration for only a particular cell type, this proposed approach can automatically derive and apply the control constraint to multiple cell types with different radii. A controller is then developed for automated transportation of multiple cell types with different sizes in which exact values of model parameters, such as trapping stiffness and drag coefficient, are not required. Experiments are finally performed on the transportation of yeast cells and osteoblast-like MC3T3-E1 cells to demonstrate the effectiveness of the proposed approach.