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In this paper, we demonstrate the effectiveness of robotic cell stretching with optical tweezers for biomechanical characterization. Optical traps serve as end-effectors to manipulate micro-beads attached to the cell surface. The dynamics of the cell-bead mixture during cell stretching is investigated for the first time. Based on our previous work, cell stiffness is extracted and biomechanical properties...
Increasing demand for both accuracy and productivity in cell positioning highlights the need for automation process that integrates robotics and micro/nano manipulation technologies. Optical tweezers, which use low power laser beams to trap and manipulate particles at micro/nano scale, can be treated as special robot “end-effectors” to position biological objects in a noninvasive way. In this paper,...
This paper presents a robot-assisted methodology that integrates optical tweezer and microfluidic chip technologies to realize automatic cell sorting from small sample population. The microfluidic chip used for cell sorter is designed and fabricated, and the flow environment within the microfluidic channel is investigated with simulation. Two image processing methods, depending on size and fluorescence...
The inertia force and moment of inertia of engine piston-connecting rod-crank is the main vibration source of motorcycle vibration. In order to reduce the strength of the vibration source, the method of singular balancing shaft is adopted to counterbalance the first-order inertial force based on the structure of single cylinder diesel engine. For the additional first-order moment of inertia of the...
Robot-assisted microinjection has attracted considerable attention from both engineering and biological communities, due to its advantages of high precision and throughput. This paper addresses two issues in the development of enable technologies for robot-assisted microinjection. One is the microforce measurement during the embryo-injection process. A new injection force-sensing scheme based on a...
Cell mechanics, in particular mechanical properties, has been suggested as a new biomarker indicative of cell state and phenotype. Acute myeloid leukemia (AML) is characterized by the abnormal increase of myeloblasts in blood and bone marrow. While AML has been extensively studied from the perspectives of biochemical and genetic aspects, little is known about its cellular biophysical properties. In...
Sorting of specific target cells is an important process in biotechnological research and clinical medicine. This paper proposes a methodology that integrates optical tweezers and microfluidic chip technologies to realize the automatic cell sorting in a continuous flow environment. In the proposed system, cells are driven through the region of interest, and the digital image processing technique is...
Cell manipulation has received considerable attentions in recent years. Most of cell manipulations are performed manually without guarantee of high precision and high throughput. This paper reports our latest research on integrating robotics technologies into optical tweezers system for manipulation and biomechanical characterization of human red blood cells (RBCs). We first demonstrate the effectiveness...
Increasing demands for both accuracy and productivity in cell manipulation highlight the need for automated process that integrates robotics and micro manipulation technologies. Optical tweezers, which use low power laser beams to trap and manipulate particles at micro/nano scale, have provided a revolutionary solution to manipulate biological objects in a noninvasive way. In this paper, we propose...
Optical trap provides a new and unique tool for manipulation in micro/nano scale and have wide applications in biological fields. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and optical tweezers technologies. A clear understanding of the forces exerted on cells, i.e., trapping and viscous drag forces, is...
Zebrafish is increasingly used as a model for the pathogenic mechanisms of human disease and drug discovery. Robot-assisted microinjection has attracted much attention due to their great potential in providing high precision and high throughput in biological industry. In this paper, we propose a flexible and integrated robot-assisted microinjection platform, which is able to (1) conduct precise position/velocity...
Laser trapping in the near infrared regime is a noninvasive and convenient manipulation tool, which can be utilized as micromanipulator for a large number of biological applications. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and tweezers technologies. In this paper, we propose a robotic manipulation system...
Human red blood cells (RBCs) are responsible to transport oxygen and carbon dioxide for human bodies. The physiological functions of RBCs are greatly influenced by their mechanical properties. Any alteration of the cell mechanics may cause human diseases. In this paper, to understand the correlation between the cell properties and their osmotic environments, robotic manipulation technology with optical...
Optical tweezers are a unique tool for manipulating neutral particles in micro/nano scale and have wide applications in biological and physical fields. However, the majority of tasks with optical tweezers are carried out manually at present time. The manual operation is incompetent in dynamic environment. Automated manipulation of micro/nano particles with optical tweezers can improve both the efficiency...
Mechanical properties of biological cells play an important role in regulating cellular functions. Some micromanipulation methods have been reported in the literature to measure cell mechanics, but they are either high-costly or difficultly-operated. This paper presents our approach to use microrobotic cell injection technology as the test bed to characterize the mechanical properties of biological...
In a robotic cell injection system, the penetration force applied on the cell reflects the changes of the physical behavior of the cell. The force, if not controlled properly, may damage to the cells or even lead to death of the cells. The current cellular force measurement is limited by the inherent cantilever structure of the sensor, which may not be applicable to a practical cell injection system...
Robotic cell injection is a technique that employs automated device to insert substances into a single living cell with a fine needle. Most existing microinjection methods are based on position control without explicit regulation of the injection force. The injection force, if not controlled properly, may destroy the cell and lead to death of the cells. In this paper, we propose a force control based...
Microinjection is an effective technique to introduce foreign materials into a biological cell. Although great developments have been achieved, a full understanding of the mechanical response of biological cells to injection operation remains deficient. In this paper, a mechanical model based on membrane theory is proposed. This model utilizes the Mooney-Rivlin material to model the deformation of...
Robotic cell microinjection is a technique that employs an automatic method to insert substances into a single living cell with a fine needle. Most available microinjection methods are based on position/velocity tracking, which make it incapable of controlling the injection force. The uncontrolled injection force, however, may destroy the cell and lead to the death of the cell. In this paper, a new...
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