Robotic Cell Injection System With Position and Force Control: Toward Automatic Batch Biomanipulation

Huang, Haibo; Sun, Dong; Mills, James K.; Cheng, Shuk Han

doi:10.1109/tro.2009.2017109

Cited by 191 publications

(90 citation statements)

References 25 publications

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“…For example, Yamanishi et al [5] succeeded in enucleation of oocyte by cutting the surface of the oocyte. Huang et al [6] applied an automated micro-robotic system for cell injection. Motoyoshi et al [7] proposed a local environmental stimulation system using two pipettes controlled by a microhand.…”

Section: Introductionmentioning

confidence: 99%

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

et al. 2017

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This paper presents a non-contact manipulation method using rotational flow generated by high speed motion of a glass needle. In order to generate an applicable motion that can precisely control the speed and position of a target object around an end effector, a manipulator actuated by three piezoelectric actuators is proposed. A compact parallel link produces precise three-dimensional motions. To reach the required end-effector frequency and amplitude, which is necessary for generating the rotational flow that can make rotational movement of microbeads having patterned data, the end effector motion is generated by controlling the three piezoelectric actuators at high speed. In this paper, we focus on rotational flow created by two-dimensional circular motion of the end effector mounted on the parallel link. By changing the amplitude and frequency of the circular motion, the generated swirl flow is analyzed in 3D space using 9.6-μm microbeads. We analyzed the velocity toward to the root of the end effector and angular velocity around the end effector by formulating models. From the analyzed data, we verified that the rotational flow has potential to manipulate micro-objects precisely in 3D space.

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Section: Introductionmentioning

confidence: 99%

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

et al. 2017

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“…These data have been used to propose a theoretical model to study and characterize the mechanical properties of biological cells, and to find the relationship between the deformation of a cell and the associated force (Sun et al 2003;Tan et al 2008). There have been many research efforts and developments directed toward automation of microinjection (Li, Zong, and Bi 2001;Kumar, Kapoor, and Taylor 2003;Matsuoka et al 2005;Mattos et al 2007;Wang, Liu, and Sun 2009;Huang et al 2009;Wang et al 2007;Yu and Nelson 2001;Ammi and Ferreira 2006). However relatively few research efforts have addressed the aforementioned issue.…”

Section: Introductionmentioning

confidence: 99%

A Vision-Based Methodology to Dynamically Track and Describe Cell Deformation during Cell Micromanipulation

Karimirad

Shirinzadeh

Yan

et al. 2013

International Journal of Optomechatronics

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The main objective of this article is to mechanize the procedure of tracking and describing the various phases of deformation of a biological circular cell during micromanipulation. The devised vision-based methodology provides a real-time strategy to track and describe the cell deformation by extracting a geometric feature called dimple angle. An algorithm based on Snake was established to acquire the boundary of the indenting cell and measure the aforementioned feature. Micromanipulation experiments were conducted for zebrafish embryos. Experimental results were used to characterize the deformation of the manipulating embryo by the devised geometric parameter. The results demonstrated the high capability of the methodology. The proposed method is applicable to the micromanipulation of other circular biological embryos such as injection of the mouse oocyte/embryo.

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“…θ axis: MRS102, BOIF, resolution: 0.00125°) controls the motion of the cell holding device and then the injected cells. The cells to be injected are placed and fixed on the working plate through a specially designed cell holding device formed from agarose-gel in a Petri dish (Huang et al 2009b); The second component of the injection system is the injection manipulator that adjusts and controls the piezo-driven cell injector, the injection pose of the pipette can be manually adjusted by a four DOF (L À M À N À a) MM-3 micromanipulator (Narishige) mounted on the Z-axis injection manipulator (Z axis: KR30H, THK, working distance: 60 mm, resolution: 0.1 μm) with a work space of (40mm Â 20mm Â 35mm). Coordinated motion of the X À Y À q table and the Z-axis injection manipulator is required to perform the cell injection task.…”

Section: Introductionmentioning

confidence: 99%

A universal piezo-driven ultrasonic cell microinjection system

Huang

Mills

Lü

et al. 2011

Biomed Microdevices

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Over the past decade, the rapid development of biotechnologies such as gene injection, in-vitro fertilization, intracytoplasmic sperm injection (ICSI) and drug development have led to great demand for highly automated, high precision equipment for microinjection. Recently a new cell injection technology using piezo-driven pipettes with a very small mercury column was proposed and successfully applied in ICSI to a variety of mammal species. Although this technique significantly improves the survival rates of the ICSI process, shortcomings due to the toxicity of mercury and damage to the cell membrane due to large lateral tip oscillations of the injector pipette may limit its application. In this paper, a new cell injection system for automatic batch injection of suspended cells is developed. A new design of the piezo-driven cell injector is proposed for automated suspended cell injection. This new piezo-driven cell injector design relocates the piezo oscillation actuator to the injector pipette which eliminates the vibration effect on other parts of the micromanipulator. A small piezo stack is sufficient to perform the cell injection process. Harmful lateral tip oscillations of the injector pipette are reduced substantially without the use of a mercury column. Furthermore, ultrasonic vibration micro-dissection (UVM) theory is utilized to analyze the piezo-driven cell injection process, and the source of the lateral oscillations of the injector pipette is investigated. From preliminary experiments of cell injection of a large number of zebrafish embryos (n = 200), the injector pipette can easily pierce through the cell membrane at a low injection speed and almost no deformation of the cell wall, and with a high success rate(96%) and survival rate(80.7%) This new injection approach shows good potential for precision injection with less damage to the injected cells.

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Robotic Cell Injection System With Position and Force Control: Toward Automatic Batch Biomanipulation

Cited by 191 publications

References 25 publications

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

A Vision-Based Methodology to Dynamically Track and Describe Cell Deformation during Cell Micromanipulation

A universal piezo-driven ultrasonic cell microinjection system

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