Boukallel M, Gauthier M, Dauge M, Piat E, Abadie J
Robotics Laboratory of Paris (LRP-FRE 2507), 18, route du Panorama, 92265 Fontenay aux Roses, France.
IEEE Trans Biomed Eng. 2007 Aug;54(8):1536-40. doi: 10.1109/TBME.2007.891171.
This paper deals with the effective design of smart microrobots for both mechanical cell characterization and cell convoying for in vitro fertilization. The first microrobotic device was developed to evaluate oocyte mechanical behavior in order to sort oocytes. A multi-axial micro-force sensor based on a frictionless magnetic bearing was developed. The second microrobotic device presented is a cell convoying device consisting of a wireless micropusher based on magnetic actuation. As wireless capabilities are supported by this microrobotic system, no power supply connections to the micropusher are needed. Preliminary experiments have been performed regarding both cell transporting and biomechanical characterization capabilities under in vitro conditions on human oocytes so as to demonstrate the viability and effectiveness of the proposed setups.
本文探讨了用于体外受精的细胞机械特性表征和细胞护送的智能微型机器人的有效设计。开发了首个微型机器人装置以评估卵母细胞的机械行为，从而对卵母细胞进行分类。还开发了一种基于无摩擦磁轴承的多轴微力传感器。所展示的第二个微型机器人装置是一种细胞护送装置，由基于磁驱动的无线微型推进器组成。由于该微型机器人系统支持无线功能，因此无需将电源连接到微型推进器。已在体外条件下对人类卵母细胞进行了关于细胞运输和生物力学表征能力的初步实验，以证明所提出设置的可行性和有效性。
