Abstract
Stimulated by state-of-the-art robotic and computer technology, cell injection automation aims to scale and seamlessly transfer the human hand movements into more precise and fast movements of the micromanipulator. This chapter presents a robotic cell-injection system for automatic injection of batch-suspended cells. To facilitate the process, these suspended cells are held and fixed to a cell array by a specially designed cell holding device, and injected one by one through an “out-ofplane” cell injection process. Starting from image identifying the embryos and injector pipette, a proper batch cell injection process, including the injection trajectory of the pipette, is designed for this automatic suspended cell injection system. A micropipette equipped with a PVDF micro force sensor to measure real time injection force, is integrated in the proposed system. Through calibration, an empirical relationship between the cell injection force and the desired injector pipette trajectory is obtained in advance. Then, after decoupling the out-of-plane cell injection into a position control in X–Y horizontal plane and an impedance control in the Z- axis, a position and force control algorithm is developed for controlling the injection pipette. The depth motion of the injector pipette, which cannot be observed by microscope, is indirectly controlled via the impedance control, and the desired force is determined from the online X–Y position control and the cell calibration results. Finally, experimental results demonstrate the effectiveness of the proposed approach.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Accessed (2011), http://www.test.org/doe
Accessed (2011), http://www.eppendorf.com
Accessed (2011), http://www.dynacitytech.com
Ammi, M., Ferreira, A.: Realistic visual and haptic rendering for biological-cell injection. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, pp. 918–923 (2005)
Arai, F., Sugiyama, T., Fukuda, T., Iwata, H., Itoigawa, K.: Micro tri-axial force sensor for 3d bio-manipulation. In: Proceedings. 1999 IEEE International Conference on Robotics and Automation (1999)
Cho, S.Y., Shim, J.H.: A new micro biological cell injection system. In: Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2004 (2004)
Fujisato, T., Abe, S., Tsuji, T., Sada, M., Miyawaki, F., Ohba, K.: The development of an ova holding device made of microporous glass plate for genetic engineering. In: Proceedings of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (1998)
Huang, H., Sun, D., Mills, J., Cheng, S.H.: Integrated vision and force control in suspended cell injection system: Towards automatic batch biomanipulation. In: IEEE International Conference on Robotics and Automation, ICRA 2008, pp. 3413–3418 (2008)
Huang, H., Sun, D., Mills, J., Li, W., Cheng, S.H.: Visual-based impedance control of out-of-plane cell injection systems. IEEE Transactions on Automation Science and Engineering 6(3), 565–571 (2009)
Huang, H.B., Sun, D., Mills, J.K., Cheng, S.H.: Robotic cell injection system with position and force control: toward automatic batch biomanipulation. Trans. Rob. 25, 727–737 (2009), http://dx.doi.org/10.1109/TRO.2009.2017109
Kallio, P.: Capillary pressure microinjection of living adherent cells: challenges in automation. Journal of Micromechatronics 3(32), 189–220 (2006)
Kawaji, A.: 3d calibration for micro-manipulation with precise position measurement. Journal of Micromechatronics 1(14), 117–130 (2001)
Kim, D.H., Yun, S., Kim, B.: Mechanical force response of single living cells using a microrobotic system. In: Proceedings. 2004 IEEE International Conference on Robotics and Automation, ICRA (2004)
Kumar, R., Kapoor, A., Taylor, R.: Preliminary experiments in robot/human cooperative microinjection. In: Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003, vol. 3&4, pp. 3186–3191 (2003)
Lai, K., Kwong, C., Li, W.: Kl probes for robotic-based cellular nano surgery. In: 2003 Third IEEE Conference on Nanotechnology, IEEE-NANO 2003, vol. 1&2, pp. 152–155 (2003)
Li, G., Xi, N.: Calibration of a micromanipulation system. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2002)
Li, X., Zong, G., Bi, S.: Development of global vision system for biological automatic micro-manipulation system. In: Proceedings. 2001 IEEE International Conference on Robotics and Automation, ICRA (2001)
Liu, X., Lu, Z., Sun, Y.: Orientation control of biological cells under inverted microscopy. IEEE/ASME Transactions on Mechatronics (99), 1–7 (2010), doi:10.1109/TMECH.2010.2056380
Liu, X., Sun, Y.: Microfabricated glass devices for rapid single cell immobilization in mouse zygote microinjection. Biomedical Microdevices 11(6), 1169–1174 (2009)
Lu, Z., Chen, P.C.Y., Nam, J., Ge, R., Lin, W.: A micromanipulation system with dynamic force-feedback for automatic batch microinjection. Journal of Micromechanics and Microengineering 17(2), 314 (2007)
Matsuoka, H., Komazaki, T., Mukai, Y., Shibusawa, M., Akane, H., Chaki, A., Uetake, N., Saito, M.: High throughput easy microinjection with a single-cell manipulation supporting robot. Journal of Biotechnology 116(2), 185–194 (2005)
Mattos, L., Grant, E., Thresher, R.: Semi-automated blastocyst microinjection. In: Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, pp. 1780–1785 (2006)
Pillarisetti, A., Pekarev, M., Brooks, A., Desai, J.: Evaluating the effect of force feedback in cell injection. IEEE Transactions on Automation Science and Engineering 4(3), 322–331 (2007)
Qu, W.T.: Chord midpoint hough transform based ellipse detection method. Journal of Zhejiang University (Engineering Science) 39(8), 1132–1135 (2005)
Sun, D., Liu, Y.: Modeling and impedance control of a two-manipulator system handling a flexible beam. In: Proceedings. 1997 IEEE International Conference on Robotics and Automation, vol. 2, pp. 1787–1792 (1997)
Sun, Y., Nelson, B.J.: Biological Cell Injection Using an Autonomous MicroRobotic System. The International Journal of Robotics Research 21(10-11), 861–868 (2002)
Sun, Y., Wan, K.T., Roberts, K., Bischof, J., Nelson, B.: Mechanical property characterization of mouse zona pellucida. IEEE Transactions on NanoBioscience 2(4), 279–286 (2003)
Tan, K.K., Ng, D.C., Xie, Y.: Optical intra-cytoplasmic sperm injection with a piezo micromanipulator. In: The 4th World Congress on Intelligent Control and Automation, 2002. Proceedings (2002)
Tan, Y., Sun, D., Huang, W., Cheng, S.H.: Mechanical modeling of biological cells in microinjection. IEEE Transactions on NanoBioscience 7(4), 257–266 (2008)
Wang, W., Liu, X., Gelinas, D., Ciruna, B., Sun, Y.: A fully automated robotic system for microinjection of zebrafish embryos. PLoS ONE 2(9), e862 (2007)
Xie, Y., Sun, D., Liu, C., Cheng, S.H.: An adaptive impedance force control approach for robotic cell microinjection. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, pp. 907–912 (2008)
Xie, Y., Sun, D., Liu, C., Cheng, S.H.: A flexible force-based cell injection approach in a bio-robotic system. In: Proceedings 2009 IEEE International Conference on Robotics and Automation (2009)
Xie, Y., Sun, D., Liu, C., Tse, H., Cheng, S.: A force control approach to a robot-assisted cell microinjection system. Int. J. Rob. Res. 29, 1222–1232 (2010), http://dx.doi.org/10.1177/0278364909354325
Xudong, L.: Automatic micromanipulating system for biological applications with visual servo control. Journal of Micromechatronics 1(4), 345–363 (2002)
Sun, Y., Wejinya, U.C., Xi, N., Pomeroy, C.A.: Force measurement and mechanical characterization of living drosophila embryos for human medical study. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 221, 99–112 (2006)
Yu, S., Nelson, B.: Microrobotic cell injection. In: Proceedings. 2001 IEEE International Conference on Robotics and Automation, ICRA (2001)
Zhang, X.J., Zappe, S., Bernstein, R.W., Sahin, O., Chen, C.C., Fish, M., Scott, M.P., Solgaard, O.: Micromachined silicon force sensor based on diffractive optical encoders for characterization of microinjection. Sensors and Actuators A: Physical 114(2-3), 197–203 (2004); Selected papers from Transducers 03
Zhou, Y., Nelson, B.J., Vikramaditya, B.: Integrating optical force sensing with visual servoing for microassembly. J. Intell. Robotics Syst. 28, 259–276 (2000)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 IFIP
About this chapter
Cite this chapter
Huang, H., Sun, D., Su, H., Mills, J.K. (2012). Force Sensing and Control in Robot-Assisted Suspended Cell Injection System. In: Gulrez, T., Hassanien, A.E. (eds) Advances in Robotics and Virtual Reality. Intelligent Systems Reference Library, vol 26. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23363-0_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-23363-0_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23362-3
Online ISBN: 978-3-642-23363-0
eBook Packages: EngineeringEngineering (R0)