Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 30, Issue 14, Pages 1681-1694Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364911413479
Keywords
automatic transportation; cell manipulation; optical tweezers; robot; synchronization control
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Funding
- Research Grants Council of the Hong Kong Special Administrative Region, China (GRF) [CityU 120310]
- City University of Hong Kong [7002715]
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The positioning of biological cells has become increasingly important in biomedical research such as drug discovery, cell-to-cell interaction, and tissue engineering. Significant demand for both accuracy and productivity in cell manipulation highlights the need for automated cell transportation with integrated robotics and micro/nano-manipulation technologies. Optical tweezers, which use highly focused low-power laser beams to trap and manipulate particles at the micro/nanoscale, can be treated as special robot 'end-effectors' to manipulate biological objects in a noninvasive way. In this paper, we propose to use a robot-tweezer manipulation system for automatic transportation of biological cells. A dynamics equation of the cell in an optical trap is analyzed. Closed-loop controllers are designed for positioning single cells as well as multiple cells. A synchronization control technology is utilized for multicell transportation with maintained cell pattern. Experiments are performed on transporting live cells to demonstrate the effectiveness of the proposed approach.
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