Gerena Edison, Legendre Florent, Molawade Akshay, Vitry Youen, Régnier Stéphane, Haliyo Sinan
Institut des Systèmes Intelligents et de Robotique, ISIR, Sorbonne Université, CNRS, F-75005 Paris, France.
TIPS Laboratory, CP 165/67, Université libre de Bruxelles, 50 Avenue F. Roosevelt, B-1050 Brussels, Belgium.
Micromachines (Basel). 2019 Oct 8;10(10):677. doi: 10.3390/mi10100677.
Single-cell manipulation is considered a key technology in biomedical research. However, the lack of intuitive and effective systems makes this technology less accessible. We propose a new tele-robotic solution for dexterous cell manipulation through optical tweezers. A slave-device consists of a combination of robot-assisted stages and a high-speed multi-trap technique. It allows for the manipulation of more than 15 optical traps in a large workspace with nanometric resolution. A master-device (6+1 degree of freedom (DoF)) is employed to control the 3D position of optical traps in different arrangements for specific purposes. Precision and efficiency studies are carried out with trajectory control tasks. Three state-of-the-art experiments were performed to verify the efficiency of the proposed platform. First, the reliable 3D rotation of a cell is demonstrated. Secondly, a six-DoF teleoperated optical-robot is used to transport a cluster of cells. Finally, a single-cell is dexterously manipulated through an optical-robot with a fork end-effector. Results illustrate the capability to perform complex tasks in efficient and intuitive ways, opening possibilities for new biomedical applications.
单细胞操作被认为是生物医学研究中的一项关键技术。然而，缺乏直观有效的系统使得这项技术难以普及。我们提出了一种通过光镊进行灵巧细胞操作的新型远程机器人解决方案。从设备由机器人辅助平台和高速多阱技术组合而成。它允许在具有纳米分辨率的大工作空间中操纵超过15个光阱。主设备（6 + 1自由度（DoF））用于控制光阱在不同排列中的三维位置，以实现特定目的。通过轨迹控制任务进行精度和效率研究。进行了三个最先进的实验来验证所提出平台的效率。首先，展示了细胞可靠的三维旋转。其次，使用六自由度远程操作光学机器人运输一群细胞。最后，通过带有叉形末端执行器的光学机器人灵巧地操纵单个细胞。结果表明能够以高效和直观的方式执行复杂任务，为新的生物医学应用开辟了可能性。
