Micro-Scale Biological Process Automation: Modelling, Sensing and Control

微尺度生物过程自动化：建模、传感和控制

• 批准号: 42116-2013
• 负责人: Mills, James
• 金额: $ 2.33万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=568884
• 关键词: Micro; Scale; Biological; Process; Automation

The last decade has witnessed a growing interest in the development of advanced techniques for what is now referred to single as cell surgery. An increasing demand for processing of cells and embryos using this technique, from both the biomedical research and medical communities, is placing pressure on labs carrying out his work to increase both the throughput and success rate of this process. Currently, these processes are carried out manually by highly trained technicians. To meet increasing demand, advances in the state-of-the-art of the automation of these tasks must be developed. Our previous experience in the robotics and automation field applied to large scale manufacturing, and developments we have made in bioengineering in the last 6-7 years, involving injection of single cell embryos, control of injection forces in the cell injection, visual servo control for cell injection, and 3D MEMS assembly automation has uniquely positioned us to investigate the automation of micro-scale biotechnology tasks. In this proposal, we will investigate the following challenges required in micro-scale cell processing technology automation. This proposed research aims to investigate automation of single cell surgery with an automated robotic bio-manipulation system. Our proposed work includes: (i) Develop an automated system to pattern individual cells for robotic surgery; (ii) Develop sensing and control strategies for robotic automation of cell membrane perforation using a PZT actuated cell membrane cutter; (iii) Using electric field actuation, under closed-loop control with visual feedback to image internal cell organelles, develop closed-loop vision based controllers allowing cells to be re-oriented for surgery; (iv) Develop vision and force based trajectory generation, sensing and control methodologies to ensure precise perforation of cells; (v) Develop automated robotic approaches for the removal of cell bodies using laser tweezers. This work will advance the state of the art, creating new technologies to permit automated cell surgery to be carried out.

在过去的十年里，人们对开发先进的技术越来越感兴趣，这种技术现在被称为单细胞外科。生物医学研究和医学界对使用这种技术处理细胞和胚胎的需求不断增加，这给开展他的工作的实验室带来了压力，要求他们提高这一过程的产量和成功率。目前，这些过程是由训练有素的技术人员手动进行的。为了满足日益增长的需求，必须在这些任务的自动化方面取得最先进的进展。我们以前在机器人和自动化领域的经验应用于大规模制造，以及我们在过去6-7年在生物工程方面取得的发展，包括单细胞胚胎注射、细胞注射中注射力量的控制、细胞注射的视觉伺服控制，以及3D MEMS组装自动化，这些都使我们能够独特地研究微型生物技术任务的自动化。在这份提案中，我们将调查微尺度细胞处理技术自动化所需的以下挑战。 这项拟议的研究旨在研究使用自动化机器人生物操作系统实现单细胞手术的自动化。我们拟议的工作包括：(I)开发用于机器人手术的单个细胞的自动化系统；(Ii)开发使用PZT驱动的细胞膜切割器实现机器人细胞膜穿孔的传感和控制策略；(Iii)利用电场驱动，在具有视觉反馈的闭环控制下对细胞内部细胞器进行图像处理，开发基于视觉的闭环控制器，使细胞能够重新定位以进行手术；(Iv)开发基于视觉和力的轨迹生成、传感和控制方法，以确保细胞的精确穿孔；(V)开发使用激光镊子去除细胞体的自动化机器人方法。这项工作将推进最先进的技术，创造新的技术，使自动化细胞手术得以进行。