Three-dimensional, automated magnetic biomanipulation with subcellular resolution

In our previous work we introduced the inverted MiniMag, a magnetic manipulation system capable of 5 degree-of-freedom (5-DOF) wireless control of micro- and nano structures. In this work, we implement a depth tracking algorithm to provide feedback on the z-position of manipulated particles in the absence of a side camera. We demonstrate 3D closed-loop servoing of magnetic microbeads along predefined trajectories. We successfully position magnetic microbeads functionalized with antibodies in close proximity to macrophages with sub-cellular resolution and record the phagocytosis of the beads. We also show that the system can be used for 3D targeted microtissue manipulation inside microfabricated devices.

[1]  Ioannis K. Kaliakatsos,et al.  Microrobots for minimally invasive medicine. , 2010, Annual review of biomedical engineering.

[2]  B. Shapiro,et al.  Flow Control of Small Objects on Chip: Manipulating Live Cells, Quantum Dots, and Nanowires , 2012, IEEE Control Systems.

[3]  Vijay Kumar,et al.  Wireless manipulation of single cells using magnetic microtransporters , 2011, 2011 IEEE International Conference on Robotics and Automation.

[4]  Wesley R. Legant,et al.  Microfabricated tissue gauges to measure and manipulate forces from 3D microtissues , 2009, Proceedings of the National Academy of Sciences.

[5]  Alexandr Jonás,et al.  Three-dimensional tracking of fluorescent nanoparticles with subnanometer precision by use of off-focus imaging. , 2003, Optics letters.

[6]  Jon Dobson,et al.  Remote control of cellular behaviour with magnetic nanoparticles. , 2008, Nature nanotechnology.

[7]  Chia-Hsiang Menq,et al.  Three-dimensional particle tracking with subnanometer resolution using off-focus images. , 2008, Applied optics.

[8]  Jake J. Abbott,et al.  OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation , 2010, IEEE Transactions on Robotics.

[9]  Jonathan S. Dordick,et al.  Radio-Wave Heating of Iron Oxide Nanoparticles Can Regulate Plasma Glucose in Mice , 2012, Science.

[10]  P. Janmey,et al.  Cell mechanics: integrating cell responses to mechanical stimuli. , 2007, Annual review of biomedical engineering.

[11]  J. Gurdon,et al.  Morphogen gradient interpretation , 2001, Nature.

[12]  Bradley J. Nelson,et al.  Holonomic 5-DOF magnetic control of 1D nanostructures , 2012, 2012 IEEE International Conference on Robotics and Automation.

[13]  Ron Weiss,et al.  Formation and optogenetic control of engineered 3D skeletal muscle bioactuators. , 2012, Lab on a chip.

[14]  Leif H. Finkel,et al.  BIOENGINEERING MODELS OF CELL SIGNALING , 2007 .

[15]  Cecile O. Mejean,et al.  Cell stimulation with optically manipulated microsources , 2009, Nature Methods.