Challenge of On-chip Precise Enucleation of Oocyte Using 3D 6DOF Manipulation

目前，卵母细胞的去核是用机械微操作器进行的。高通量，精确，高效的去核要求很高。在本研究中，我们挑战了在微流控芯片上实现卵母细胞位置和方向控制以及连续精确去核的基本技术。我们提出了利用磁驱动微型机器人的非接触操作来控制卵母细胞的位置和方向。我们研制了一种带微夹持器的磁力驱动微型机器人。利用微针，我们成功地在透明带处制造了一个小的大厅，并用微钳推动卵母细胞去核。为了在芯片上实现连续、精确的去核，我们提出了利用重力将卵母细胞一个一个地加载的加载机制。实验证明了该方法的有效性。

At present, enucleation of oocyte is performed using mechanical micromanipulators. High throughput, precise, and efficient enucleation is highly demanded. In this research, we challenged basic technologies of position and orientation control of oocyte as well as continuous and precise enucleation on a microfluidic chip. We proposed position and orientation control of oocyte by using noncontact manipulation of magnetically driven microrobots. We developed a magnetically driven microrobot with microgripper. By using microneedle, we succeeded in making a small hall at the zona pellucida, and enucleated by pushing the oocyte with the microgripper. For continuous and precise enucleation on a chip, we proposed loading mechanism, which can load the oocyte one by one by using gravitational force. Effectiveness of our method was shown by experiments.