Review of Microinjection Systems

Cell microinjection plays an important role in genetics, transgenics, molecular biology, drug discovery, reproductive studies, and other biomedical fields. Robotic cell microinjection has been popularly applied due to its high precision, high repeatability, and high throughput. In this chapter, the state-of-the-art research on microinjection of both adherent cells and suspended cells with microforce-sensing techniques is reviewed. The challenges and promising methods in automating the cell microinjection process are discussed.

[1]  John F. Canny,et al.  A Computational Approach to Edge Detection , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[2]  Roland Strauss,et al.  Highwire Regulates Synaptic Growth in Drosophila , 2000, Neuron.

[3]  S T Quek,et al.  Mechanical models for living cells--a review. , 2006, Journal of biomechanics.

[4]  Jaydev P. Desai,et al.  Force feedback interface for cell injection , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[5]  Haibo Huang,et al.  Robotic Cell Injection System With Position and Force Control: Toward Automatic Batch Biomanipulation , 2009, IEEE Transactions on Robotics.

[6]  Bradley J. Nelson,et al.  Vision-based force measurement , 2004, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[7]  Jakob Schelten,et al.  Piezoresistive sensors on AFM cantilevers with atomic resolution , 1998 .

[8]  Jaydev P. Desai,et al.  Evaluating the Effect of Force Feedback in Cell Injection , 2007, IEEE Transactions on Automation Science and Engineering.

[9]  Jungsik Kim,et al.  A Haptic Interaction Method Using Visual Information and Physically Based Modeling , 2010, IEEE/ASME Transactions on Mechatronics.

[10]  Shigeo Wada,et al.  Proposed Spring Network Cell Model Based on a Minimum Energy Concept , 2010, Annals of Biomedical Engineering.

[11]  D Marr,et al.  Theory of edge detection , 1979, Proceedings of the Royal Society of London. Series B. Biological Sciences.

[12]  T R Tiersch,et al.  Fertilization of Eggs of Zebrafish, Danio rerio, by Intracytoplasmic Sperm Injection1 , 2001, Biology of reproduction.

[13]  Demetri Terzopoulos,et al.  Snakes: Active contour models , 2004, International Journal of Computer Vision.

[14]  Yu Sun,et al.  MEMS capacitive force sensors for cellular and flight biomechanics , 2007, Biomedical materials.

[15]  Gloria J. Wiens,et al.  A Mechanism Approach for Enhancing the Dynamic Range and Linearity of MEMS Optical Force Sensing , 2011 .

[16]  P. Kallio,et al.  Challenges in capillary pressure microinjection , 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[17]  H. Fujiwara,et al.  A new assisted hatching technique using a piezo-micromanipulator. , 1998, Fertility and sterility.

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

[19]  Edward Grant,et al.  A Review of Automated Microinjection Systems for Single Cells in the Embryogenesis Stage , 2016, IEEE/ASME Transactions on Mechatronics.

[20]  Qingsong Xu,et al.  Design and Precision Position/Force Control of a Piezo-Driven Microinjection System , 2017, IEEE/ASME Transactions on Mechatronics.

[21]  Pasi Kallio,et al.  Multi-purpose impedance-based measurement system to automate microinjection of adherent cells , 2005, 2005 International Symposium on Computational Intelligence in Robotics and Automation.

[22]  Imad H. Elhajj,et al.  A 2-D PVDF force sensing system for micro-manipulation and micro-assembly , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[23]  T. Tsuji,et al.  The development of an ova holding device made of microporous glass plate for genetic engineering , 1998, Proceedings of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Vol.20 Biomedical Engineering Towards the Year 2000 and Beyond (Cat. No.98CH36286).

[24]  Sung-Yong Cho,et al.  Vision-guided micromanipulation system for biomedical application , 2004, SPIE Optics East.

[25]  Xinyu Liu,et al.  Nanonewton Force Sensing and Control in Microrobotic Cell Manipulation , 2008, Int. J. Robotics Res..

[26]  Toshiro Higuchi,et al.  A micropositioning device for precision automatic assembly using impact force of piezoelectric elements , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[27]  Brian A. Aguado,et al.  Improving viability of stem cells during syringe needle flow through the design of hydrogel cell carriers. , 2012, Tissue engineering. Part A.

[28]  R. Carthew.  Gene silencing by double-stranded RNA. , 2001, Current opinion in cell biology.

[29]  D. Murphy.  Fundamentals of Light Microscopy and Electronic Imaging , 2001 .

[30]  Chee Peng Lim,et al.  Formulation and Simulation of a 3D Mechanical Model of Embryos for Microinjection , 2013, 2013 IEEE International Conference on Systems, Man, and Cybernetics.

[31]  Yang Chongjun,et al.  Design of a microforce sensor based on fixed-simply supported beam: Towards realtime cell microinjection , 2015, 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER).

[32]  D. P. Potasek,et al.  Characterizing fruit fly flight behavior using a microforce sensor with a new comb-drive configuration , 2005, Journal of Microelectromechanical Systems.

[33]  Thomas T. F. Huang,et al.  The use of piezo micromanipulation for intracytoplasmic sperm injection of human oocytes , 1996, Journal of Assisted Reproduction and Genetics.

[34]  Tomaso Zambelli,et al.  FluidFM: combining atomic force microscopy and nanofluidics in a universal liquid delivery system for single cell applications and beyond. , 2009, Nano letters.

[35]  Yu Xie,et al.  Penetration force measurement and control in robotic cell microinjection , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[36]  Samir Mitragotri,et al.  An experimental and theoretical analysis of ultrasound-induced permeabilization of cell membranes. , 2003, Biophysical journal.

[37]  Anne Balck,et al.  Cell Manipulation System Based on a Self-Calibrating Silicon Micro Force Sensor Providing Capillary Status Monitoring , 2012, IEEE Sensors Journal.

[38]  Shusheng Bi,et al.  Automatic micromanipulating system for biological applications with visual servo control , 2001 .

[39]  Hideaki Matsuoka,et al.  High throughput easy microinjection with a single-cell manipulation supporting robot. , 2005, Journal of biotechnology.

[40]  Stéphane Régnier,et al.  A planar structure sensitive to out-of-plane forces for the force-controlled injection of suspended and adherent cells , 2011, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[41]  Xinyu Liu,et al.  Vision-based cellular force measurement using an elastic microfabricated device , 2007 .

[42]  Frederic Fol Leymarie,et al.  Tracking Deformable Objects in the Plane Using an Active Contour Model , 1993, IEEE Trans. Pattern Anal. Mach. Intell..

[43]  Wenlin Chen,et al.  Robotic cell injection force control based on static PVDF sensor and Fuzzy-PID control method , 2013 .

[44]  Dong Sun,et al.  Mechanical modeling of biological cells in microinjection. , 2008, IEEE transactions on nanobioscience.

[45]  N. Amer,et al.  Novel optical approach to atomic force microscopy , 1988 .

[46]  Yu Sun,et al.  Mechanical property characterization of the zebrafish embryo chorion , 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[47]  Robert Barrett,et al.  Atomic force microscopy using a piezoresistive cantilever , 1991, TRANSDUCERS '91: 1991 International Conference on Solid-State Sensors and Actuators. Digest of Technical Papers.

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

[49]  O. Sahin,et al.  Integrated optical diffractive micrograting-based injection force sensor , 2003, TRANSDUCERS '03. 12th International Conference on Solid-State Sensors, Actuators and Microsystems. Digest of Technical Papers (Cat. No.03TH8664).

[50]  T. Ghosh,et al.  Iontophoresis and electroporation: comparisons and contrasts. , 1999, International journal of pharmaceutics.

[51]  Ben Horan,et al.  Haptic Microrobotic Cell Injection System , 2014, IEEE Systems Journal.

[52]  Hamid Ladjal,et al.  Micro-to-Nano Biomechanical Modeling for Assisted Biological Cell Injection , 2013, IEEE Trans. Biomed. Eng..

[53]  R. W. Bernstein,et al.  Micromachined silicon force sensor based on diffractive optical encoders for characterization of microinjection , 2004 .

[54]  N. Xi,et al.  Novel micro gripping, probing, and sensing devices for single-cell surgery , 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[55]  B. Nelson,et al.  A Six-Axis MEMS Force–Torque Sensor With Micro-Newton and Nano-Newtonmeter Resolution , 2009, Journal of Microelectromechanical Systems.

[56]  Yantao Shen,et al.  Integrated sensing for ionic polymer–metal composite actuators using PVDF thin films , 2007 .

[57]  R Yanagimachi,et al.  Intracytoplasmic sperm injection in the mouse. , 1995, Biology of reproduction.

[58]  H. Craighead,et al.  Microfabricated cantilevers for measurement of subcellular and molecular forces , 1998, IEEE Transactions on Biomedical Engineering.

[59]  Yu Xie,et al.  Force Sensing and Manipulation Strategy in Robot-Assisted Microinjection on Zebrafish Embryos , 2011, IEEE/ASME Transactions on Mechatronics.

[60]  Bradley J. Nelson,et al.  Three-axis micro-force sensor with sub-micro-Newton measurement uncertainty and tunable force range , 2010 .

[61]  L. Zon,et al.  Effects of RAS on the genesis of embryonal rhabdomyosarcoma. , 2007, Genes & development.

[62]  Haibo Huang,et al.  Visual-Based Impedance Control of Out-of-Plane Cell Injection Systems , 2009, IEEE Transactions on Automation Science and Engineering.

[63]  Curt D Sigmund,et al.  Efficiency of chimeraplast gene targeting by direct nuclear injection using a GFP recovery assay. , 2003, Molecular therapy : the journal of the American Society of Gene Therapy.

[64]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[65]  Taisuke Masuda,et al.  Selective and rapid cell injection of fluorescence sensor encapsulated in liposome using optical control of zeta potential and local mechanical stimulus by optical tweezers , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[66]  Peter C. Y. Chen,et al.  A micromanipulation system with dynamic force-feedback for automatic batch microinjection , 2007 .

[67]  K. Chiam,et al.  A three-dimensional random network model of the cytoskeleton and its role in mechanotransduction and nucleus deformation , 2012, Biomechanics and modeling in mechanobiology.

[68]  Michaël Gauthier,et al.  Capillary Force Disturbances on a Partially Submerged Cylindrical Micromanipulator , 2007, IEEE Transactions on Robotics.

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

[70]  Yoshiyuki Miwa,et al.  Automatic positioning of a microinjector in mouse ES cells and rice protoplasts. , 2006, Bioelectrochemistry.

[71]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part III—Applications , 1985 .

[72]  Qingsong Xu,et al.  An overview of micro-force sensing techniques , 2015 .

[73]  J. Uitto,et al.  The gene gun: current applications in cutaneous gene therapy , 2000, International journal of dermatology.

[74]  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).

[75]  D. Ingber.  Tensegrity: the architectural basis of cellular mechanotransduction. , 1997, Annual review of physiology.

[76]  W. Walther,et al.  Viral Vectors for Gene Transfer , 2012, Drugs.

[77]  Bradley J. Nelson,et al.  A bulk microfabricated multi-axis capacitive cellular force sensor using transverse comb drives , 2002 .

[78]  Bradley J. Nelson,et al.  Biological Cell Injection Using an Autonomous MicroRobotic System , 2002, Int. J. Robotics Res..

[79]  Olav Solgaard,et al.  Automated MEMS-based Drosophila embryo injection system for high-throughput RNAi screens. , 2006, Lab on a chip.

[80]  Qingsong Xu,et al.  Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems , 2015 .

[81]  O. Solgaard,et al.  Microoptical characterization of piezoelectric vibratory microinjections in drosophila embryos for genome-wide RNAi screen , 2006, Journal of Microelectromechanical Systems.

[82]  Peter C. Y. Chen,et al.  Force Sensing and Control in Micromanipulation , 2006, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[83]  Mehdi Ammi,et al.  Biological cell injection visual and haptic interface , 2006, Adv. Robotics.

[84]  Qingsong Xu,et al.  Design and Development of a Novel Compliant Gripper With Integrated Position and Grasping/Interaction Force Sensing , 2017, IEEE Transactions on Automation Science and Engineering.

[85]  Xinyu Liu,et al.  An Automated Force-Controlled Robotic Micromanipulation System for Mechanotransduction Studies of Drosophila Larvae , 2016, IEEE Transactions on Automation Science and Engineering.

[86]  Bradley J. Nelson,et al.  Mems for Cellular Force Measurements and Molecular Detection , 2004, Int. J. Inf. Acquis..

[87]  Bijan Shirinzadeh,et al.  Vision-based force measurement using neural networks for biological cell microinjection. , 2014, Journal of biomechanics.

[88]  Xi Wenming,et al.  Bio-manipulation probe integration with micro-force sensor , 2008, 2008 3rd IEEE International Conference on Nano/Micro Engineered and Molecular Systems.

[89]  Yu Sun,et al.  Nanonewton force-controlled manipulation of biological cells using a monolithic MEMS microgripper with two-axis force feedback , 2008 .

[90]  Marie-Pierre Rols,et al.  Electropermeabilization, a physical method for the delivery of therapeutic molecules into cells. , 2006, Biochimica et biophysica acta.

[91]  Mohammad R. K. Mofrad,et al.  On the Significance of Microtubule Flexural Behavior in Cytoskeletal Mechanics , 2011, PloS one.

[92]  Mehdi Ammi,et al.  Realistic Visual and Haptic Rendering for Biological-Cell Injection , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[93]  G M Rubin,et al.  A brief history of Drosophila's contributions to genome research. , 2000, Science.

[94]  A. Shulev,et al.  Force sensor for cell injection and characterization , 2012, 2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO).

[95]  O. Muraoka,et al.  Sizzled controls dorso-ventral polarity by repressing cleavage of the Chordin protein , 2006, Nature Cell Biology.

[96]  Uchechukwu C. Wejinya,et al.  Force Measurement of Embryonic System Using In Situ PVDF Piezoelectric Sensor , 2006, 2006 49th IEEE International Midwest Symposium on Circuits and Systems.

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

[98]  Byungkyu Kim,et al.  Cellular force measurement for force reflected biomanipulation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[99]  Dong Sun,et al.  Force Sensing and Control in Robot-Assisted Suspended Cell Injection System , 2012 .

[100]  N Xi,et al.  Force measurement and mechanical characterization of living Drosophila embryos for human medical study , 2007, Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine.

[101]  Pasi Kallio,et al.  Capillary Pressure Microinjection of Living Adherent Cells: Challenges in Automation , 2006 .

[102]  Yu Sun,et al.  Microfabricated glass devices for rapid single cell immobilization in mouse zygote microinjection , 2009, Biomedical microdevices.

[103]  Frank Jülicher,et al.  Active behavior of the Cytoskeleton , 2007 .

[104]  U.C. Wejinya,et al.  Closed-loop optimal control-enabled piezoelectric microforce sensors , 2006, IEEE/ASME Transactions on Mechatronics.

[105]  Dean Ho,et al.  Nanofountain-probe-based high-resolution patterning and single-cell injection of functionalized nanodiamonds. , 2009, Small.

[106]  Dong Sun,et al.  Characterizing Mechanical Properties of Biological Cells by Microinjection , 2010, IEEE Transactions on NanoBioscience.

[107]  Assen Shulev,et al.  All-silicon microforce sensor for bio applications , 2013, Microtechnologies for the New Millennium.

[108]  Dong Sun,et al.  A Force Control Approach to a Robot-assisted Cell Microinjection System , 2010, Int. J. Robotics Res..

[109]  Larry S. Davis,et al.  A survey of edge detection techniques , 1975 .

[110]  Michael W. Berns,et al.  Laser trapping in cell biology , 1990 .

[111]  Yu Sun,et al.  A Fully Automated Robotic System for Microinjection of Zebrafish Embryos , 2007, PloS one.

[112]  Jungsik Kim,et al.  Haptic Feedback Based on Physically Based Modeling for Cellular Manipulation Systems , 2008, EuroHaptics.

[113]  M. R. Adams,et al.  Comparative genomics of the eukaryotes. , 2000, Science.

[114]  Qingsong Xu,et al.  Design of a PVDF-MFC Force Sensor for Robot-Assisted Single Cell Microinjection , 2017, IEEE Sensors Journal.

[115]  K. Hasenstein,et al.  Microinjection--a tool to study gravitropism. , 2003, Advances in space research : the official journal of the Committee on Space Research.

[116]  Mehdi Ammi,et al.  Evaluation of 3D Pseudo-Haptic Rendering using Vision for Cell Micromanipulation , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.