Manipulation of Living Biological Cells : Challenges in Automation

This paper discusses challenges related to the automatic microinjection of single adherent cells. The discussion covers all necessary components of a capillary pressure microinjection system: a micromanipulator, a microinjector, a microcapillary, a vision system and an environment control system. The other part of the paper describes the research performed on the automatic capillary pressure microinjection at the Tampere University of Technology. The advanced microinjection system includes two micromanipulators, a microinjector, a vision system and a cell cultivation system. The control system comprises of motion control schemes for the micromanipulators to accurately position a microcapillary and to precisely penetrate a cell membrane. A measurement system for the detection of the capillary-membrane contact, capillary clogging and capillary breakage is under development. Results of the penetration evaluation show as high successes rates as 96%. Injection success and cell survival studies are presently on-going.

[1]  Mohamed-Jalal Fadili,et al.  Image segmentation via multiple active contour models and fuzzy clustering with biomedical applications , 2000, Proceedings 15th International Conference on Pattern Recognition. ICPR-2000.

[2]  Fumihito Arai,et al.  Design and dextrous control of micromanipulator with 6 D.O.F , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[3]  P. Gao,et al.  A six-degree-of-freedom micro-manipulator based on piezoelectric translators , 1999 .

[4]  W. Ansorge,et al.  Improved system for capillary microinjection into living cells. , 1982, Experimental cell research.

[5]  Tatsuo Arai,et al.  Development of 3 DOF micro finger , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[6]  Bradley J. Nelson,et al.  Microrobotic cell injection , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[7]  M W Berns,et al.  Laser scissors and tweezers. , 1998, Scientific American.

[8]  John T. Feddema,et al.  CAD-driven microassembly and visual servoing , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[9]  Bradley J. Nelson,et al.  Visually guided microassembly using optical microscopes and active vision techniques , 1997, Proceedings of International Conference on Robotics and Automation.

[10]  A. Bergander,et al.  PZT based manipulators for cell biology , 2001, MHS2001. Proceedings of 2001 International Symposium on Micromechatronics and Human Science (Cat. No.01TH8583).

[11]  J. Bereiter-Hahn,et al.  Quantitation of the volume of liquid injected into cells by means of pressure. , 1989, Experimental cell research.

[12]  Kok-Kiong Tan,et al.  Optimal intra-cytoplasmic sperm injection with a piezo micromanipulator , 2002, Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527).

[13]  Quan Zhou,et al.  A 3-DOF piezohydraulic parallel micromanipulator , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[14]  Fumihito Arai,et al.  Teleoperated laser manipulator with dielectrophoretic assistance for selective separation of a microbe , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[15]  I. Laffafian,et al.  Lipid-assisted microinjection: introducing material into the cytosol and membranes of small cells. , 1998, Biophysical journal.

[16]  Shuxiang Guo,et al.  Complex control of a human scale tele-operating system for cell biology , 2002, Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527).

[17]  Peter K. Allen,et al.  Visual servoed micropositioning for protein manipulation tasks , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Pasi Kallio,et al.  Current control of piezoelectric actuators with power loss compensation , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[19]  Tsuneo Yoshikawa,et al.  Analysis of maneuverability and stability of micro-teleoperation systems , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[20]  Ping Ge,et al.  Tracking control of a piezoceramic actuator , 1996, IEEE Trans. Control. Syst. Technol..

[21]  Tatsuo Arai,et al.  Development of 3-DOF finger module for micro manipulation , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[22]  Ricardo Perez,et al.  Characterization and control of a 1-DOF monolithic piezoactuator (MPA) , 2001, Optics East.

[23]  Tianzi Jiang,et al.  An evolutionary tabu search for cell image segmentation , 2002, IEEE Trans. Syst. Man Cybern. Part B.

[24]  Kok-Meng Lee,et al.  Kinematic analysis of a three degrees of freedom in-parallel actuated manipulator , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[25]  Fumihito Arai,et al.  Prototyping design and automation of micro/nano manipulation system , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[26]  Kristofer S. J. Pister,et al.  Miniature heart cell force transducer system implemented in MEMS technology , 2001, IEEE Transactions on Biomedical Engineering.

[27]  Fumihito Arai,et al.  Calibration for contact type of micro-manipulation , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[28]  J. Edward Colgate,et al.  Robust impedance shaping telemanipulation , 1993, IEEE Trans. Robotics Autom..

[29]  Toshio Fukuda,et al.  Two-dimensional acoustic micromanipulation using three ultrasonic transducers , 1998, MHA'98. Proceedings of the 1998 International Symposium on Micromechatronics and Human Science. - Creation of New Industry - (Cat. No.98TH8388).

[30]  D. Croft,et al.  Creep, Hysteresis, and Vibration Compensation for Piezoactuators: Atomic Force Microscopy Application , 2001 .

[31]  Tatsuo Arai,et al.  Automated calibration for micro hand using visual information , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[32]  Gi Sang Choi,et al.  A study on position control of piezoelectric actuators , 1997, ISIE '97 Proceeding of the IEEE International Symposium on Industrial Electronics.

[33]  Hideki Yamamoto,et al.  Stereoscopic visual servo system for microinjection , 2002, IMTC/2002. Proceedings of the 19th IEEE Instrumentation and Measurement Technology Conference (IEEE Cat. No.00CH37276).

[34]  Yotaro Hatamura,et al.  Development of ultra-micromanipulator system under stereo SEM observation , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[35]  Tatsuo Arai,et al.  Development of a micro-manipulation system having a two-fingered micro-hand , 1999, IEEE Trans. Robotics Autom..

[36]  K. Kosuge,et al.  Implementation of the micro-macro teleoperation system without using slave-side force sensors , 1997, Proceedings of International Conference on Robotics and Automation.

[37]  K.K. Tan,et al.  Computer controlled piezo micromanipulation system for biomedical applications , 2001 .

[38]  G. Corkidi,et al.  A neural network based workstation for automated cell proliferation analysis , 2001, 2001 Conference Proceedings of the 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[39]  F.J. Sanchez-Marin,et al.  Computerized recognition of biological objects using the Hotelling transform , 2000, Proceedings of the 22nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (Cat. No.00CH37143).

[40]  Wan Kyun Chung,et al.  Obtaining passivity of micro-teleoperation handling a small inertia object , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[41]  Jean-Christophe Olivo-Marin,et al.  Improving active contours for segmentation and tracking of motile cells in videomicroscopy , 2002, Object recognition supported by user interaction for service robots.

[42]  Ning Xi,et al.  Calibration of a micromanipulation system , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[43]  Hideki Hashimoto,et al.  Development of micromanipulator and haptic interface for networked micromanipulation , 2001 .

[44]  K. Tanie,et al.  Impedance shaping based on force feedback bilateral control in macro-micro teleoperation system , 1997, Proceedings of International Conference on Robotics and Automation.

[45]  Johana Kuncova.  Calibration of a capillary pressure microinjection and its implementation within a micromanipulator , 2002 .

[46]  K. Ohnuma,et al.  Purification of mouse primordial germ cells by Nycodenz. , 2003, Reproduction.

[47]  Shusheng Bi,et al.  Development of global vision system for biological automatic micro-manipulation system , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[48]  C. Newcomb,et al.  Improving the linearity of piezoelectric ceramic actuators , 1982 .

[49]  Roland Siegwart,et al.  A robot system for automated handling in micro-world , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[50]  Naotake Mohri,et al.  Improvement of control method for piezoelectric actuator by combining induced charge feedback with inverse transfer function compensation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[51]  Pasi Kallio,et al.  Real Time Machine Vision System in Micromanipulator Control , 2001 .

[52]  Kok-Meng Lee,et al.  Kinematic analysis of a three-degrees-of-freedom in-parallel actuated manipulator , 1988, IEEE J. Robotics Autom..

[53]  Michael Goldfarb,et al.  Design of a minimum surface-effect three degree-of-freedom micromanipulator , 1997, Proceedings of International Conference on Robotics and Automation.

[54]  Pasi Kallio,et al.  Current control of piezoelectric actuators with environmental compensation , 2003 .