Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 32, Issue 3, Pages 346-359Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364912472381
Keywords
Microrobotics; micromanipulation; drug delivery; cell manipulation
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Funding
- ARO [W911NF-05-1-0219]
- Penn Genome Frontiers Institute
- Keck Foundation
- ONR [N00014-07-1-0829]
- Directorate For Engineering
- Div Of Engineering Education and Centers [1062672, 1359107] Funding Source: National Science Foundation
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Transport of individual cells or chemical payloads on a subcellular scale is an enabling tool for the study of cellular communication, cell migration, and other localized phenomena. We present a magnetically actuated robotic system capable of fully automated manipulation of cells and microbeads. Our strategy uses autofluorescent robotic transporters and fluorescently labeled microbeads to aid tracking and control in optically obstructed environments. We demonstrate automated delivery of microbeads infused with chemicals to specified positions on neurons. This system is compatible with standard upright and inverted light microscopes and is capable of applying forces less than 1 pN for precision positioning tasks.
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