Research on the Palpation of the Cell at Femto Newton Scale by Haptic Force Feedback Device

我们收集了细胞触诊的基本数据，并分析了其反作用力的机制。针对细胞畸变的测量，我们进行了将粒子附着在细胞上的实验，获得了三维图像。1)细胞触诊基础数据的收集：我们在不同的细胞上做了实验。实验使用的细胞是HUVEC（人血管内皮细胞）、Balb（小鼠肾细胞）和Hella细胞。我们用光学镊子把粒子附着在这些细胞上，我们给能量施加压力，我们试着计算细胞的弹性。由于电池的小结构散射激光束，我们还没有实现测量。为了解决这一问题，我们研究了一种从CCD相机图像中测量粒子中心位置的新方法，并开发了一套系统。2)反作用力的机制：认为与细胞膜、染色体、脱氧核糖核酸的反作用力是由细胞结构不明引起的。我们研究了用测量来估计样品内部结构的技术。3)细胞三维变形测量：在之前的研究中，发现在触诊细胞时，细胞内部结构有很小的变化。我们开发了一种系统，可以在三维空间上测量细胞及其膜内骨干结构的扭曲。我们使用附在系统上的共聚焦显微镜单元获得三维图像。利用该系统，我们可以通过扫描场透镜到轴来重建层析图。在刻痕力方面，我们采用了光镊和玻璃微针。结果表明，当施加3 μN的电源时，电池的弹性变形为3 μm，当去除电源时，电池恢复到原来的状态。

We collected the basic data of the palpation of the cell and the analyzed the mechanism of its opposing force. Aiming at the measurement of the cell distortion, we did the experiment to attach particle to a cell and acquired a three-dimensional image.1)The collection of the basic data of the palpation of the cell : We did the experiment on a various cell. The cells used for the experiment were the HUVEC (the human vascular endothelial cell), Balb (the mouse kidney cell), and Hella cell. We attached the particle to these cells using the optical tweezers, and we impressed power and we tried to calculate the elasticity of the cell. Since the small structure of the cell scatters a laser beam, we have not achieved the measurement yet. To solve the problem, we investigated a new method to measure the center position of particle from the image on the CCD camera and we developed a system.2)The mechanism of the opposing force : It is thought that the opposing force with the cell membrane, the chromosome and the deoxyribonucleic acid are caused by unknown structure of the cell. We investigated the technique to estimate the structure inside the sample with the measurement.3)The measurement of the distortion of the cell in 3-D : In the previous research, it is shown that there was small change of the internal structure during palpation of a cell. We developed a system that enables to measure the distortion of the backbone structure within the cell and its membrane during power impressing in the three dimensions. We acquired a three-dimensional image using a confocal microscope unit attached to the system. Using this system, we can reconstruct a tomogram by scanning a field lens to the axis. As for impressing power, we adopted optical tweezers and the glass microneedle. We confirmed that the elastic deformation of the cell was 3 μm when impressing 3 μN power and the cell returned to the original when removing the power.