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

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 micr...

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Bibliographic Details
Published in:IEEE transactions on automation science and engineering 2014-04, Vol.11 (2), p.338-347
Main Authors: Chowdhury, Sagar, Thakur, Atul, Svec, Petr, Chenlu Wang, Losert, Wolfgang, Gupta, Satyandra K.
Format: Article
Language:English
Subjects:
Beads
Biological
Biomedical optical imaging
Cell viability
Cells
Charge carrier processes
Dielectric properties
Feedback
Feedback control
Formations
Generators
Grippers
indirect manipulation
Laser beams
Lasers
Manipulation
motion planning
Optical feedback
Optical sensors
optical tweezers
Transport
Yeast
yeast manipulation
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Summary: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 microscale. 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 speeds and the laser intensity experienced by the cell that depends on the laser power used.
ISSN:1545-5955
1558-3783
DOI:10.1109/TASE.2013.2272512