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

目前，卵母细胞的去核是使用机械微操作器进行的。高通量、高精度、高效率的眼球摘除是一项非常重要的要求。在这项研究中，我们挑战了卵母细胞的位置和方向控制以及微流控芯片上连续和精确的去核的基本技术。我们提出了利用磁力驱动的微型机器人的非接触操作来控制卵母细胞的位置和方向。我们开发了一种带有微抓手的磁力驱动微型机器人。用微针成功地在透明带做了一个小大厅，并用微夹子推动卵母细胞去核。为了在芯片上实现连续、精确的去核，我们提出了一种加载机制，它可以利用重力逐个加载卵母细胞。实验结果表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.