Wang Wenhui, Sun Yu, Zhang Ming, Anderson Robin, Langille Lowell, Chan Warren
Department of Mechanical Engineering, University of Canterbury, Private Bag 4800, Christchurch 8140, New Zealand.
Rev Sci Instrum. 2008 Oct;79(10):104302. doi: 10.1063/1.3006000.
This paper reports on a semi-automated microrobotic system for adherent cell injection. Different from embryos/oocytes that have a spherical shape and regular morphology, adherent cells are flat with a thickness of a few micrometers and are highly irregular in morphology. Based on computer vision microscopy and motion control, the system coordinately controls a three-degrees-of-freedom microrobot and a precision XY stage, demonstrating an injection speed of 25 endothelial cells per minute with a survival rate of 95.7% and a success rate of 82.4% (n=1012). The system has a high degree of performance consistency. It is operator skill independent and immune from human fatigue, only requiring a human operator to select injection destinations through computer mouse clicking as the only operator intervention. The microrobotic system makes the injection of a large number of adherent cells practical for testing cellular responses to foreign molecules.
本文报道了一种用于贴壁细胞注射的半自动微机器人系统。与具有球形形状和规则形态的胚胎/卵母细胞不同，贴壁细胞是扁平的，厚度为几微米，形态高度不规则。基于计算机视觉显微镜和运动控制，该系统协同控制一个三自由度微机器人和一个精密XY平台，展示了每分钟注射25个内皮细胞的速度，存活率为95.7%，成功率为82.4%（n = 1012）。该系统具有高度的性能一致性。它不依赖操作员技能，不受人为疲劳影响，只需要操作员通过计算机鼠标点击来选择注射目的地作为唯一的操作员干预。该微机器人系统使大量贴壁细胞的注射对于测试细胞对外源分子的反应变得切实可行。
