IEEE Trans Biomed Eng. 2019 Jan;66(1):199-207. doi: 10.1109/TBME.2018.2828136. Epub 2018 Apr 18.
In many cell surgery applications, cell must be oriented properly such that the microsurgery tool can access the target components with minimum damage to the cell. In this paper, a scheme for out of image plane orientation control of suspended biological cells using robotic controlled optical tweezers is presented for orientation-based cell surgery. Based on our previous work on planar cell rotation using optical tweezers, the dynamic model of cell out-of-plane orientation control is formulated by using the T-matrix approach. Vision-based algorithms are developed to extract the cell out of image plane orientation angles, based on 2-D image slices obtained under an optical microscope. A robust feedback controller is then proposed to achieve cell out-of-plane rotation. Experiments of automated out of image plane rotational control for cell nucleus extraction surgery are performed to demonstrate the effectiveness of the proposed approach. This approach advances robot-aided single cell manipulation and produces impactful benefits to cell surgery applications such as nucleus transplantation and organelle biopsy in precision medicine.
在许多细胞手术应用中，必须正确定位细胞，以便微创手术工具能够以最小的细胞损伤到达目标组件。在本文中，提出了一种使用机器人控制的光镊对悬浮生物细胞进行离轴取向控制的方案，用于基于取向的细胞手术。基于我们之前使用光镊进行平面细胞旋转的工作，使用 T 矩阵方法推导出细胞离轴取向控制的动态模型。基于在光学显微镜下获得的 2-D 图像切片，开发了基于视觉的算法来提取细胞离轴取向角。然后提出了一个鲁棒的反馈控制器来实现细胞离轴旋转。进行了自动离轴旋转控制实验，以演示所提出方法的有效性。该方法推进了机器人辅助单细胞操作，并为细胞手术应用（如核移植和细胞器活检）带来了重要的益处，在精准医学中具有重要意义。
