Control system for the automatic handling of biological cells with mobile microrobots

Hulsen, H.; Trüper, T.; Fatikow, Sergej

doi:10.23919/acc.2004.1383931

Cited by 13 publications

(14 citation statements)

References 6 publications

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“…Autofocusing is widely adopted in microscopy systems (Hülsen et al, 2004; Sun et al, 2004; Santos et al, 1997; Vollath, 1987; Lin et al, 2002; Boddeke et al, 1996). Autofocusing of a single object can be conducted by moving the lens (or the target) in the vertical direction, provided that the lens (or the target) is mounted on a motorized stage.…”

Section: System Designmentioning

confidence: 99%

Automatic control of mechanical forces acting on cell biomembranes using a vision‐guided microrobotic system in computer microscopy

Zhang

Han

Vidyalakshmi

et al. 2009

Journal of Microscopy

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SummaryA prototype for automatic control of mechanical forces acting on cell biomembranes is proposed in this paper. This prototype consists of vision-guided position control of the holder and micro-force sensor, automatic mechanical property characterization of cell biomembranes and automatic control of mechanical forces acting on cell biomembranes. A template-free calibration method and autofocusing of multiple objects are introduced in the vision-guided position control to minimize external biological contamination and position the cell, holder and micro-force sensor into the same focal plane, respectively. A third-order polynomial modified from biomembrane point-load model describing the relationship between the measured mechanical force and the deformations of biomembranes is proposed. This simplified model is easily identified and inversed to facilitate the automatic control of mechanical forces. Experimental results based on zebrafish embryos demonstrate the feasibility of the proposed prototype.

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Section: System Designmentioning

confidence: 99%

Automatic control of mechanical forces acting on cell biomembranes using a vision‐guided microrobotic system in computer microscopy

Zhang

Han

Vidyalakshmi

et al. 2009

Journal of Microscopy

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“…In recent years, a trend towards microrobot-based automation of nanohandling processes has emerged [81,[108][109][110][111][112][113][114][115][116][117][118][119][120][121][122][123][124][125][126][127]. Process feedback, i.e.…”

Section: Microrobot-based Nanohandlingmentioning

confidence: 99%

“…Special algorithms have been developed that allow for real-time object tracking in SEM [125]. Figure 1 presents a generic concept of the automated microrobot-based nanohandling station (AMNS), first introduced in reference [130] and further gradually developed at the University of Karlsruhe and the University of Oldenburg [120][121][122][123][124][125][126][127].…”

Section: Microrobot-based Nanohandlingmentioning

confidence: 99%

Nanohandling automation: Trends and current developments

Fatikow

Eichhorn

2008

Proceedings of the Institution of Mechanical Engineers, Part C:

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Automated robot-based nanomanipulation is one of the key challenges in microsystem technology and nanotechnology, which has recently been addressed by a rising number of R&D groups and companies all over the world. Controlled, reproducible assembly processes at the nanoscale will enable high-throughput manufacturing of revolutionary products and open up new application fields. The ultimate goal of these research activities is the development of automated nanomanipulation processes to build a bridge between existing precise handling strategies for micro and nanoscale objects and aspired high-throughput fabrication of microsystems and nanosystems. Despite the growing interest in automated nanomanipulation, there is hardly any publication that treats this research in a coherent and comprehensive way. This paper is an attempt to provide the researcher with an overview of the most important trends and developments in this rapidly expanding technology. It also informs the practising engineer and the engineering student about automation at the nanoscale level as well as about the promising fields of application. The latter can be of a very different nature as nanohandling is strongly interdisciplinary in character. This paper offers a deeper insight into nanohandling aspects of carbon nanotubes.

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“…The use of an optical microscope as a visual sensor to recognize the three-dimensional position of endeffectors and biological objects has already been realized by a previously developed cell handling station [11]. The coordinate system used in the experiments is defined as the microscope stage being the x-y-plane and the z-coordinate being normal to that plane and parallel to the movement of the microscope's focus drive.…”

Section: Automated Controlmentioning

confidence: 99%

Automated cell characterization by a nanohandling robot station

Krohs

Hagemann

Fatikow

2007

2007 Mediterranean Conference on Control &Amp; Automation

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Abstract-Current research work on the development of a nanohandling robot station for automated characterization of biological cells is presented. The station consists of a sample piezo scanning stage with three degrees of freedom (DoF) and a three-axes nanomanipulator that is equipped with a piezoresistive atomic force microscope (AFM) probe as an endeffector. Thus, the endeffector can be used both to measure mechanical properties of the sample and as a force sensor giving a feedback signal to the underlying control system. While the endeffector can be positioned coarsely by the nanomanipulator, fine positioning of the sample is performed by the piezo stage. As a visual sensor for the station an inverted optical microscope is utilized. The setup is enhanced by a second nano-manipulator equipped with a pipette for injection/extraction tasks or patch clamp purposes. Alternatively, a second piezoresistive AFM probe can be used as an endeffector for the second nanomanipulator. The station provides the opportunity to automatically determine a regionof-interest (i.e. a single cell) by means of object recognition in previously acquired images from the optical microscope. Next, the endeffector is brought into proximity to the sample, and an automated, mechanical characterization of the cell is performed. First experiments cover recordings of single force-distance curves to gain information on elasticity and adhesion of the cell. Using the fast piezo stage, complete adhesion or elasticity maps of the region-of-interest can be obtained. This mechanical characterization delivers valuable information about cell mechanics concerning cell to cell contact or cell motility. It is also of interest in oncology, since tumor cells tend to have a different elasticity than healthy cells. The use of a second nanomanipulator surpasses the capabilities of a standard AFM system, since it enables the station to cover areas as deoxyribonucleic acid (DNA) extraction, measurements of reactions to drug injection or electrophysiological measurements of stress activated ion channels.

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Control system for the automatic handling of biological cells with mobile microrobots

Cited by 13 publications

References 6 publications

Automatic control of mechanical forces acting on cell biomembranes using a vision‐guided microrobotic system in computer microscopy

Automatic control of mechanical forces acting on cell biomembranes using a vision‐guided microrobotic system in computer microscopy

Nanohandling automation: Trends and current developments

Automated cell characterization by a nanohandling robot station

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