Study On Robotic Manipulation Of Biological Cell With Optical Tweezers

Cells are the basic units that make up the structure and function of organisms.The study of the basic laws of cell life activities is the basis of all life science research,and it is also extremely important for the prevention,diagnosis,and treatment of human diseases.Therefore,how to observe and analyze various changes in cells,extract vital information from them,and carry out the qualitative,quantitative,and structural changes of various chemical substances in inventory cells have important academic and application values.Compared with traditional cell biotechnology,single-cell research based on cell manipulation can directly reflect the internal state of cells,such as single cell DNA sequencing and single-cell timing quantitative PCR.Cell manipulation of cell physical location is the basis of single-cell research.The combination of optical tweezers and robot technology to realize cell transport is an effective means of cell manipulation,which greatly promotes the development of single-cell research.At present,cell manipulation are mainly divided into direct manipulation and indirect manipulation.However,there are still some problems:The control algorithm for direct manipulation only applies to single cell,and the heat generated by laser can cause certain damage to sensitive cells and affect the physiological function of cells.At present,the way people use indirect control cells is still in the stage of manual manipulation.During the actual operation,it is time-consuming and the accuracy is poor.This paper carries out the following research on the above problems:(1)The robot technology is combined with optical tweezers to manipulate different types of cells.Firstly,the dynamic model of the cell is analyzed,and a new variable control constraint is introduced to replace the critical offset in the dynamic model.Then a model reference adaptive control algorithm for different types of cell movement is proposed by using on-line identification of relevant parameters.In order to demonstrate the rationality of the proposed algorithm,using yeast cells and osteoblasts as experimental samples.Using point control method and trajectory tracking control method to transport different types of cells,the effectiveness of the proposed controller is demonstrated.(2)The technology of robot and optical tweezers are combined to realize indirect control cells.A micro-tool with translation and rotation function is designed.Through microscopic visual real-time feedback micro-nano tool posture and the position of cells,the control method based on behavior of micro tool posture can response control decisions,make cell movement along a given path at a certain speed,finally reach the target location.In order to demonstrate the effectiveness of the proposed method,yeast cells were used as experimental samples to demonstrate the good effect of the proposed method on cell transport.