Indirect pushing based automated micromanipulation of biological cells using optical tweezers

In this paper, we introduce an indirect pushing based technique for automated micromanipulation of biological cells. In indirect pushing, an optically trapped glass bead pushes a freely diffusing intermediate bead that in turn pushes a freely diffusing target cell towards a desired goal. Some cells can undergo significant changes in their behaviors as a result of direct exposure to a laser beam. Indirect pushing eliminates this problem by minimizing the exposure of the cell to the laser beam. We report an automated feedback planning algorithm that combines three motion maneuvers, namely, push, align, and backup for micromanipulation of cells. We have developed a dynamics based simulation model of indirect pushing dynamics and also identified parameters of measurement noise using physical experiments. We present an optimization-based approach for automated tuning of planner parameters to enhance its robustness. Finally, we have tested the developed planner using our optical tweezers physical setup and carried out a detailed analysis of the experimental results. The developed approach can be utilized in biological experiments for studying collective cell migration by accurately arranging the cells in arrays without exposing them to a laser beam.

[1]  Rustam Stolkin,et al.  Prediction learning in robotic pushing manipulation , 2009, 2009 International Conference on Advanced Robotics.

[2]  Gamini Dissanayake,et al.  Models for pushing objects with a mobile robot using single point contact , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  K Bergman,et al.  Characterization of photodamage to Escherichia coli in optical traps. , 1999, Biophysical journal.

[4]  K. Neuman,et al.  Single-molecule force spectroscopy: optical tweezers, magnetic tweezers and atomic force microscopy , 2008, Nature Methods.

[5]  Wolfgang Singer,et al.  3D-force calibration of optical tweezers for mechanical stimulation of surfactant-releasing lung cells , 2001 .

[6]  H. Amini,et al.  Label-free cell separation and sorting in microfluidic systems , 2010, Analytical and bioanalytical chemistry.

[7]  Yunjiang Lou,et al.  Flocking Multiple Microparticles With Automatically Controlled Optical Tweezers: Solutions and Experiments , 2013, IEEE Transactions on Biomedical Engineering.

[8]  Juho Pokki,et al.  In Vitro Oxygen Sensing Using Intraocular Microrobots , 2012, IEEE Transactions on Biomedical Engineering.

[9]  Fathi H. Ghorbel,et al.  Analysis of the occurrence of stick-slip in AFM-based nano-pushing , 2012 .

[10]  Satyandra K. Gupta,et al.  Automated Indirect Optical Micromanipulation of Biological Cells Using Indirect Pushing for Minimizing Photo-Damage , 2012 .

[11]  Matthew T. Mason,et al.  Posing Polygonal Objects in the Plane by Pushing , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[12]  Satyandra K. Gupta,et al.  Gripper synthesis for indirect manipulation of cells using Holographic Optical Tweezers , 2012, 2012 IEEE International Conference on Robotics and Automation.

[13]  P. Zemánek,et al.  Long-range one-dimensional longitudinal optical binding. , 2008, Physical review letters.

[14]  L. Oddershede,et al.  Optical Tweezers Cause Physiological Damage to Escherichia coli and Listeria Bacteria , 2008, Applied and Environmental Microbiology.

[15]  Nikolai Dechev,et al.  Development of an Autonomous Biological Cell Manipulator With Single-Cell Electroporation and Visual Servoing Capabilities , 2009, IEEE Transactions on Biomedical Engineering.

[16]  Donald E Ingber,et al.  Mechanical control of tissue morphogenesis during embryological development. , 2006, The International journal of developmental biology.

[17]  Wenhao Huang,et al.  Force analysis and path planning of the trapped cell in robotic manipulation with optical tweezers , 2010, 2010 IEEE International Conference on Robotics and Automation.

[18]  Satyandra K. Gupta,et al.  Generating Simplified Trapping Probability Models From Simulation of Optical Tweezers System , 2009, J. Comput. Inf. Sci. Eng..

[19]  Oliver Graydon Optical manipulation: Tweezer app for iPad , 2011 .

[20]  Ning Xi,et al.  Dynamics Analysis and Motion Planning for Automated Cell Transportation With Optical Tweezers , 2013, IEEE/ASME Transactions on Mechatronics.

[21]  Philippe Gorce,et al.  Dynamic control of pushing operations , 1999, Robotica.

[22]  Satyandra K. Gupta,et al.  Automated indirect transport of biological cells with optical tweezers using planar gripper formations , 2012, 2012 IEEE International Conference on Automation Science and Engineering (CASE).

[23]  Dong Sun,et al.  Automatic transportation of biological cells with a robot-tweezer manipulation system , 2011, Int. J. Robotics Res..

[24]  Matthew T. Mason,et al.  Mechanics and Planning of Manipulator Pushing Operations , 1986 .

[25]  Kenji Yasuda,et al.  Quantitative measurement of damage caused by 1064-nm wavelength optical trapping of Escherichia coli cells using on-chip single cell cultivation system. , 2006, Biochemical and biophysical research communications.

[26]  Qingguo Li,et al.  Manipulation of Convex Objects via Two-agent Point-contact Push , 2007, Int. J. Robotics Res..

[27]  Sagar Chowdhury,et al.  Indirect optical gripping with triplet traps , 2011 .

[28]  K. König,et al.  Cell damage by near-IR microbeams , 1995, Nature.

[29]  Vijay Kumar,et al.  Automated biomanipulation of single cells using magnetic microrobots , 2013, Int. J. Robotics Res..

[30]  Alois Jungbauer,et al.  Selective removal of undifferentiated human embryonic stem cells using magnetic activated cell sorting followed by a cytotoxic antibody. , 2012, Tissue engineering. Part A.

[31]  Satyandra K. Gupta,et al.  Automated Manipulation of Biological Cells Using Gripper Formations Controlled By Optical Tweezers , 2014, IEEE Transactions on Automation Science and Engineering.

[32]  N. Sims,et al.  Isolation of mitochondria from rat brain using Percoll density gradient centrifugation , 2008, Nature Protocols.

[33]  Satyandra K. Gupta,et al.  Research in Automated Planning and Control for Micromanipulation , 2013, IEEE Transactions on Automation Science and Engineering.

[34]  Sagar Chowdhury,et al.  Optical micromanipulation of active cells with minimal perturbations: direct and indirect pushing , 2013, Journal of biomedical optics.

[35]  Metin Sitti,et al.  Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot , 2009, Int. J. Robotics Res..

[36]  Paolo Dario,et al.  A Miniaturized Mechatronic System Inspired by Plant Roots for Soil Exploration , 2011, IEEE/ASME Transactions on Mechatronics.

[37]  Sagar Chowdhury,et al.  Survey on indirect optical manipulation of cells, nucleic acids, and motor proteins. , 2011, Journal of biomedical optics.

[38]  A. Ashkin,et al.  Internal cell manipulation using infrared laser traps. , 1989, Proceedings of the National Academy of Sciences of the United States of America.

[39]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[40]  Satyandra K. Gupta,et al.  Developing a Stochastic Dynamic Programming Framework for Optical Tweezer-Based Automated Particle Transport Operations , 2010, IEEE Transactions on Automation Science and Engineering.

[41]  M. Sitti,et al.  Magnetically Actuated Soft Capsule With the Multimodal Drug Release Function , 2013, IEEE/ASME Transactions on Mechatronics.

[42]  Satyandra K. Gupta,et al.  Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers , 2012, IEEE Transactions on Automation Science and Engineering.

[43]  Wenhao Huang,et al.  Mechanical Characterization of Human Red Blood Cells Under Different Osmotic Conditions by Robotic Manipulation With Optical Tweezers , 2010, IEEE Transactions on Biomedical Engineering.

[44]  Thomas Huser,et al.  Manipulating CD4+ T cells by optical tweezers for the initiation of cell‐cell transfer of HIV‐1 , 2010, Journal of biophotonics.

[45]  Dominic R. Frutiger,et al.  Small, Fast, and Under Control: Wireless Resonant Magnetic Micro-agents , 2010, Int. J. Robotics Res..

[46]  Rohit Karnik,et al.  Microfluidic devices for label-free separation of cells through transient interaction with asymmetric receptor patterns , 2012 .

[47]  David J. Cappelleri,et al.  Caging for 2D and 3D micromanipulation , 2012 .

[48]  Chwee Teck Lim,et al.  Emerging modes of collective cell migration induced by geometrical constraints , 2012, Proceedings of the National Academy of Sciences.

[49]  Kevin M. Lynch,et al.  Locally controllable manipulation by stable pushing , 1999, IEEE Trans. Robotics Autom..

[50]  Jake J. Abbott,et al.  Single-Camera Focus-Based Localization of Intraocular Devices , 2010, IEEE Transactions on Biomedical Engineering.

[51]  A. Ashkin,et al.  Optical trapping and manipulation of viruses and bacteria. , 1987, Science.

[52]  Sagar Chowdhury,et al.  Investigation of Automated Cell Manipulation in Optical Tweezers-Assisted Microfluidic Chamber Using Simulations , 2011 .

[53]  Satyandra K. Gupta,et al.  Automated Cell Transport in Optical Tweezers-Assisted Microfluidic Chambers , 2013, IEEE Transactions on Automation Science and Engineering.

[54]  Yong-qing Li,et al.  Raman sorting and identification of single living micro-organisms with optical tweezers. , 2005, Optics letters.

[55]  Burns,et al.  Optical binding. , 1989, Physical review letters.

[56]  Vincent Germain,et al.  Automated trapping, assembly, and sorting with holographic optical tweezers. , 2006, Optics express.

[57]  Yu Sun,et al.  Automated Micropipette Aspiration of Single Cells , 2013, Annals of Biomedical Engineering.

[58]  Vijay Kumar,et al.  Decentralized Algorithms for Multi-Robot Manipulation via Caging , 2004, Int. J. Robotics Res..

[59]  Akansel Cosgun,et al.  Push planning for object placement on cluttered table surfaces , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[60]  M W Berns,et al.  Determination of motility forces of human spermatozoa using an 800 nm optical trap. , 1996, Cellular and molecular biology.

[61]  Richard O. Duda,et al.  Use of the Hough transformation to detect lines and curves in pictures , 1972, CACM.

[62]  M. Nasr-Esfahani,et al.  Density gradient centrifugation before or after magnetic-activated cell sorting: which technique is more useful for clinical sperm selection? , 2011, Journal of Assisted Reproduction and Genetics.

[63]  Takeo Igarashi,et al.  A dipole field for object delivery by pushing on a flat surface , 2010, 2010 IEEE International Conference on Robotics and Automation.

[64]  Johannes Courtial,et al.  Interactive approach to optical tweezers control. , 2006, Applied optics.

[65]  K. Svoboda,et al.  Biological applications of optical forces. , 1994, Annual review of biophysics and biomolecular structure.

[66]  M W Berns,et al.  Physiological monitoring of optically trapped cells: assessing the effects of confinement by 1064-nm laser tweezers using microfluorometry. , 1996, Biophysical journal.

[67]  Jeppe Seidelin Dam,et al.  Effect of long- and short-term exposure to laser light at 1070 nm on growth of Saccharomyces cerevisiae. , 2010, Journal of biomedical optics.

[68]  Dong Sun,et al.  Force and motion analysis for automated cell transportation with optical tweezers , 2011, 2011 9th World Congress on Intelligent Control and Automation.

[69]  C. Weijer Collective cell migration in development , 2009, Journal of Cell Science.

[70]  Clement Leung,et al.  Controlled Aspiration and Positioning of Biological Cells in a Micropipette , 2012, IEEE Transactions on Biomedical Engineering.

[71]  Satyandra K. Gupta,et al.  Using GPUs for Realtime Prediction of Optical Forces on Microsphere Ensembles , 2013, J. Comput. Inf. Sci. Eng..