Automatic transportation of biological cells with a robot-tweezer manipulation system

Hu, Songyu; Sun, Dong

doi:10.1177/0278364911413479

Cited by 168 publications

(92 citation statements)

References 66 publications

(71 reference statements)

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“…Fluorescence-activated cell sorting (FACS) is high-throughput, fast and minimally damaging to the cells (Kovarik and Allbritton, 2011); however, it cannot sort on an arbitrary set of morphological features (Kovarik and Allbritton, 2011). Alternatively, traditional optical tweezers enable the manipulation within a dish, but not the isolation out of a dish of cell aggregates (Zhang and Liu, 2008;Hu and Sun, 2011). Micropipette-based sorting allows the isolation of cell aggregates based upon an arbitrary set of morphological features while having minimal isolation disturbance to neighboring aggregates (Anis et al, 2010).…”

Section: Automated Spheroid Sorting Systemmentioning

confidence: 99%

A process engineering approach to increase organoid yield

et al. 2017

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Temporal manipulation of the in vitro environment and growth factors can direct differentiation of human pluripotent stem cells into organoids -aggregates with multiple tissue-specific cell types and three-dimensional structure mimicking native organs. A mechanistic understanding of early organoid formation is essential for improving the robustness of these methods, which is necessary prior to use in drug development and regenerative medicine. We investigated intestinal organoid emergence, focusing on measurable parameters of hindgut spheroids, the intermediate step between definitive endoderm and mature organoids. We found that 13% of spheroids were pre-organoids that matured into intestinal organoids. Spheroids varied by several structural parameters: cell number, diameter and morphology. Hypothesizing that diameter and the morphological feature of an inner mass were key parameters for spheroid maturation, we sorted spheroids using an automated micropipette aspiration and release system and monitored the cultures for organoid formation. We discovered that populations of spheroids with a diameter greater than 75 μm and an inner mass are enriched 1.5-and 3.8-fold for pre-organoids, respectively, thus providing rational guidelines towards establishing a robust protocol for high quality intestinal organoids.

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Section: Automated Spheroid Sorting Systemmentioning

confidence: 99%

A process engineering approach to increase organoid yield

et al. 2017

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“…Recently, optical trapping has gathered much interest from researchers working in the bio-medical field and it has been used for a number of different purposes due to its precise and non-invasive manipulation ability [5]. Intracellular surgery -modifying the chromosomes of living cells-has been achieved [6].…”

Section: Introductionmentioning

confidence: 99%

“…Cell sorting, classification and cell fusion tasks have been undertaken successfully [8], [9]. The automatic transportation of multi-cells has been achieved [5]. Direct measurement of cell protrusion force to characterize the mechanism of cell migration utilizing a robot-aided optical tweezer system has been accomplished [10].…”

Section: Introductionmentioning

confidence: 99%

Development of a microhand using direct laser writing for indirect optical manipulation

Avci

Yang

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this paper, we propose manipulation ability extension of the optical tweezers by developing microhands, which are to use as end-effectors of the laser beam. First, three different 3D micro-scale handles are designed, then manufactured by the two-photon polymerization method with nano-scale resolution of 100 nm. Second, printed microhands are manipulated by multi-spot laser beam which traps and manipulates numerous objects simultaneously. Third, where direct trapping of the target object is not possible due to target objects' features such as size, shape, material, index of refraction, etc., indirect manipulation of the target microobjects is achieved by using the microhands as an extension of optical tweezers. Finally, three different microhand designs are compared in terms of speed and success rate. Furthermore, suitability of different shapes of microhandles against common usage of spherical shape is discussed.

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“…A sampling RRT based algorithm was developed by Ju et al [40] for automated OTbased transport of cells in 3D. Hu and Sun [41] developed a control architecture for automated transport of biological cells using OT without collision avoidance.…”

Section: Introductionmentioning

confidence: 99%

Automated Manipulation of Biological Cells Using Gripper Formations Controlled By Optical Tweezers

Chowdhury

Thakur

Švec

et al. 2014

IEEE Trans. Automat. Sci. Eng.

120

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The capability of noninvasive and precise micromanipulation of sensitive, living cells is necessary for understanding their underlying biological processes. Optical tweezers (OT) is an effective tool that uses highly focused laser beams for accurate manipulation of cells and dielectric beads at micro-scale. However, direct exposure of the laser beams on the cells can negatively influence their behavior or even cause a photo-damage. In this paper, we introduce a control and planning approach for automated, indirect manipulation of cells using silica beads arranged into gripper formations. The developed approach employs path planning and feedback control for efficient, collision-free transport of a cell between two specified locations. The planning component of the approach computes a path that explicitly respects the nonholonomic constraints of the gripper formations. The feedback control component ensures stable tracking of the path by manipulating the cell using a set of predefined maneuvers. We demonstrate the effectiveness of the approach by transporting a yeast cell using four different types of gripper formations along collision-free paths on our OT setup. We analyzed the performance of the proposed gripper formations with respect to their maximum transport speed that depends on the laser power used.Note to Practitioners -This paper presents computational tools necessary for automated cell micromanipulation using Optical Tweezers. Autonomy in optical manipulation enables us to realize a method for fast and accurate placement of micro-particles. The method presented in the paper is especially useful for accurately placing cells in an array for biological experiments.

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Automatic transportation of biological cells with a robot-tweezer manipulation system

Cited by 168 publications

References 66 publications

A process engineering approach to increase organoid yield

A process engineering approach to increase organoid yield

Development of a microhand using direct laser writing for indirect optical manipulation

Automated Manipulation of Biological Cells Using Gripper Formations Controlled By Optical Tweezers

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