Hu Songyu, Sun Dong
Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Hong Kong S.A.R., China.
J Lab Autom. 2011 Aug;16(4):263-70. doi: 10.1016/j.jala.2011.03.003. Epub 2011 May 8.
Manipulation of biological cells becomes increasingly important in biomedical engineering to address challenge issues in cell-cell interaction, drug discovery, and tissue engineering. Significant demand for both accuracy and productivity in cell manipulation highlights the need for automated cell transportation with integrated robotics and micro/nano manipulation technologies. Optical tweezers, which use highly focused low-power laser beams to trap and manipulate particles at micro/nanoscale, have emerged as an essential tool for manipulating single cells. In this article, we propose to use a robot-tweezer manipulation system to solve the problem of automatic transportation of biological cells, where optical tweezers function as special robot end effectors. Dynamics equation of the cell in optical tweezers is analyzed. A closed-loop controller is designed for transporting and positioning cells. Experiments are performed on live cells to demonstrate the effectiveness of the proposed approach in effective cell positioning.
在生物医学工程中，对生物细胞进行操控对于解决细胞间相互作用、药物研发和组织工程等挑战性问题变得越来越重要。细胞操控中对准确性和生产率的巨大需求凸显了将集成机器人技术与微/纳米操控技术用于自动细胞运输的必要性。光镊利用高度聚焦的低功率激光束在微/纳米尺度上捕获和操控粒子，已成为操控单个细胞的重要工具。在本文中，我们提议使用机器人-光镊操控系统来解决生物细胞的自动运输问题，其中光镊充当特殊的机器人末端执行器。分析了光镊中细胞的动力学方程。设计了一个用于细胞运输和定位的闭环控制器。对活细胞进行了实验，以证明所提方法在有效细胞定位方面的有效性。
