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，并分析了其反力机制。针对细胞变形的测量，我们进行了将颗粒附着到细胞上的实验，获得了细胞的三维图像。1)细胞触诊基础数据的采集：我们在不同的细胞上进行了实验。用于实验的细胞是HUVEC(人血管内皮细胞)、Balb(小鼠肾脏细胞)和Hella细胞。我们用光学镊子将粒子连接到这些细胞上，然后施加能量，我们试图计算细胞的弹性。由于电池的小结构散射了一束激光，所以我们还没有实现测量。为了解决这个问题，我们研究了一种新的方法来测量粒子的中心位置，并开发了一套系统。2)反作用力的机制：认为与细胞膜、染色体和脱氧核糖核酸的反作用力是由未知的细胞结构引起的。3)细胞三维变形的测量：在以往的研究中，细胞的内部结构在触诊过程中有很小的变化。我们开发了一种系统，能够测量细胞内的骨架结构及其膜在三维能量压印过程中的变形。我们使用连接在系统上的共焦显微镜单元获取了三维图像。使用该系统，我们可以通过将一个视场透镜扫描到轴上来重建断层图像。至于打印力，我们采用了光学镊子和玻璃微针。我们证实，当施加3μN功率时，电池的弹性变形为3μm，当电源断开时，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.