New technology for cellular piercing: rotationally oscillating μ-injector, description and validation tests

Determination of the Microinjected Cytosolic Concentration by Using Mathematical Models of Fluid Dynamics

The precise determination of the intracellular concentration of a drug is a major challenge in drug discovery. Microinjection is a very effective technique for the introduction of macromolecules into single cells. However, due to the large number of parameters that need to be adjusted and the complex physical mechanisms involved, there are currently no means by which the concentration of a microinjected intracellular compound could be theoretically estimated. In this paper, we present a method for the theoretical estimation of intracellular drug concentration, based on the framework of classical fluid mechanism theory — specifically, the modified Bernoulli equation. We introduce into Bernoulli’s classical equation the effect of friction due to the non-laminar regimes of the injected fluid. We also study the compatibility of our theoretical estimation model with variations in injection time and concentration of the compound inside the microinjection needle. Finally, microinjected calcium concentrations estimated with the theoretical model were compared with those determined experimentally in several cell types, by using a Fura-2-based Ca2+ imaging technique.

A novel micro drill design based on Ros-DrillⒸ

This paper presents the development of a novel micro drill device for single living organisms. Currently, microinjection for mice and some other species is performed with the help of piezo-driven actuators with a very small amount of mercury column in the proximal end of the pipette in order to increase the success rate. However, the toxicity of mercury exhibits a risk factor both for the operator and the injected cells. Therefore, mercury-free devices have become a necessity. Here, a novel micro drill is developed based on the same principle of Ros-Drill^Ⓒ piercing approach; piercing via rotational movements. The new drill is driven by a brushless motor, and it incorporates the micropipette holder. Both the amplitude and the frequency of rotational oscillations can be adjusted in very wide ranges. The experiments reveal that the drill is suitable for different tasks such as microinjection and biopsy of different organisms. It presents good performance in terms of success rate, ease of usage, compactness and compatibility with different manipulation systems.

Passive microinjection within high-throughput microfluidics for controlled actuation of droplets and cells

Microinjection is an effective actuation technique used for precise delivery of molecules and cells into droplets or controlled delivery of genes, molecules, proteins, and viruses into single cells. Several microinjection techniques have been developed for actuating droplets and cells. However, they are still time-consuming, have shown limited success, and are not compatible with the needs of high-throughput (HT) serial microinjection. We present a new passive microinjection technique relying on pressure-driven fluid flow and pulsative flow patterns within an HT droplet microfluidic system to produce serial droplets and manage rapid and highly controlled microinjection into droplets. A microneedle is secured within the injection station to confine droplets during the microinjection. The confinement of droplets on the injection station prevents their movement or deformation during the injection process. Three-dimensional (3D) computational analysis is developed and validated to model the dynamics of multiphase flows during the emulsion generation. We investigate the influence of pulsative flows, microneedle parameters and synchronization on the efficacy of microinjection. Finally, the feasibility of implementing our microinjection model is examined experimentally. This technique can be used for tissue engineering, cells actuation and drug discovery as well as developing new strategies for drug delivery.

Hydrogel Encapsulation of Cells in Core-Shell Microcapsules for Cell Delivery

A newly designed 3D core-shell microcapsule structure composed of a cell-containing liquid core and an alginate hydrogel shell is fabricated using a coaxial dual-nozzle electrospinning system. Spherical alginate microcapsules are successfully generated with a core-shell structure and less than 300 μm in average diameter using this system. The thickness of the core and shell can be easily controlled by manipulating the core and shell flow rates. Cells encapsulated in core-shell microcapsules demonstrate better cell encapsulation and immune protection than those encapsulated in microbeads. The observation of a high percentage of live cells (≈80%) after encapsulation demonstrates that the voltage applied for generation of microcapsules does not significantly affect the viability of encapsulated cells. The viability of encapsulated cells does not change even after 3 d in culture, which suggests that the core-shell structure with culture medium in the core can maintain high cell survival by providing nutrients and oxygen to all cells. This newly designed core-shell structure can be extended to use in multifunctional platforms not only for delivery of cells but also for factor delivery, imaging, or diagnosis by loading other components in the core or shell.

An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder

A novel control methodology which uses a low-resolution encoder is presented for a cellular microinjection technology called the Ros-Drill (rotationally oscillating drill). It is developed primarily for ICSI (intracytoplasmic sperm injection) operations, with the objective of generating a desired oscillatory motion at the tip of a micro glass pipette. It is an inexpensive setup, which creates high-frequency (higher than 500 Hz) and small-amplitude (around 0.2 deg) rotational oscillations at the tip of an injection pipette. These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage. Such a motion control procedure presents no particular difficulty when it uses sufficiently precise motion sensors. However, size, costs, and accessibility of technology to the hardware components severely constrain the sensory capabilities. Consequently, the control mission and the trajectory tracking are adversely affected. This paper presents two contributions: (a) a dedicated novel adaptive feedback control method to achieve a satisfactory trajectory tracking capability. We demonstrate via experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity; (b) some important analytical features and related observations associated with the controlled harmonic motion which is created by the low-resolution feedback control structure.

Geometric Characterization of Cell Membrane of Mouse Oocytes for ICSI

Intracytoplasmic sperm injection (ICSI) is a broadly utilized assisted reproductive technology. A number of technologies for this procedure have evolved lately, such as the most commonly utilized piezo-assisted ICSI technique (P-ICSI). An important problem with this technique, however, is that it requires a small amount of mercury to stabilize the tip of the penetration micropipette. A completely different and mercury-free injection technology, called the rotationally oscillating drill (Ros-Drill©) (RD-ICSI), was recently developed. It uses microprocessor-controlled rotational oscillations of a spiked micropipette after the pipette deforms the membrane to a certain tension level. Inappropriate selection of this initiation instant typically results in cell damage, which ultimately leads to unsuccessful ICSI. During earlier manual clinical tests of Ros-Drill, the technicians’ expertise determined this instant in an ad hoc fashion. In this paper, we introduce a computer-vision-based tool to mechanize this process with the objective of maintaining the repeatability and introducing potential automation. Computer images are used for monitoring the membrane deformations and curvature variations as the basis for decision making. The main contribution of this paper is in the specifics of the computer logic to perform the monitoring. These new tools are expected to provide a practicable means for automating the Ros-Drill-assisted ICSI operation.

Visual Feedback Automation for ICSI With Rotationally Oscillating Drill (Ros-Drill©)

Intracytoplasmic sperm injection has attracted research interest from both biological and engineering groups. The technology is constantly evolving to perform this procedure with precision and speed. One such development is the contribution of this paper. We focus on a relatively recent procedure called Ros-Drill© (rotationally oscillating drill), of which the early versions have already been effectively utilized for the mice. Here, we present a procedure to automate a critical part of the operation: initiation of the rotational oscillation. Visual feedback is used to track the pipette tip. Predetermined species-specific penetration depth is successfully utilized to initiate the rotational oscillation command. Penetration-depth-based decisions concur with our earlier curvature-based approach.

Small diameter carbon nanopipettes

Nanoscale multifunctional carbon probes facilitate cellular studies due to their small size, which makes it possible to interrogate organelles within living cells in a minimally invasive fashion. However, connecting nanotubes to macroscopic devices and constructing an integrated system for the purpose of fluid and electrical signal transfer is challenging, as is often the case with nanoscale components. We describe a non-catalytic chemical vapor deposition based method for batch fabrication of integrated multifunctional carbon nanopipettes (CNPs) with tip diameters much smaller (10-30 nm) than previously reported (200 nm and above) and approaching those observed for multiwalled carbon nanotubes. This eliminates the need for complicated attachment/assembly of nanotubes into nanofluidic devices. Variable tip geometries and structures were obtained by controlled deposition of carbon inside and outside quartz pipettes. We have shown that the capillary length and gas flow rate have a marked effect on the carbon deposition. This gives us a flexible protocol, useful for growing carbon layers of different thicknesses at selective locations on a glass pipette to yield a large variety of cellular probes in bulk quantities. The CNPs possess an open channel for fluid transfer with the carbon deposited inside at 875 degrees C behaving like an amorphous semiconductor. Vacuum annealing of the CNP tips at temperatures up to 2000 degrees C yields graphitic carbon structures with an increase in conductivity of two orders of magnitude. Penetration of the integrated carbon nanoprobes into cells was shown to produce minimal Ca(2+) signals, fast recovery of basal Ca(2+) levels and no adverse activation of the cellular metabolism during interrogation times as long as 0.5-1 h.

Rotationally oscillating drill (Ros-Drill) for mouse ICSI without using mercury

Intracytoplasmic sperm injection (ICSI) is an important assisted reproductive technology (ART). Due to deployment difficulties and low efficiency of the earlier (conventional) version of ICSI, especially in the mouse, a piezo-assisted ICSI technique had evolved as a popular ART methodology in recent years. An important and remaining problem with this technique, however, is that it requires small amounts of mercury to stabilize the pipette tip when piezoelectric force pulses are applied. To eliminate this problem we developed and tested a completely different and mercury-free technology, called the "Ros-Drill" (rotationally oscillating drill). The technique uses microprocessor-controlled rotational oscillations on a spiked micropipette without mercury or piezo. Preliminary experimental results show that this new microinjection technology gives high survival rate (>70% of the injected oocytes) and fertilization rate (>80% of the survived oocytes), and blastocyst formation rates in early trials (approximately 50% of the survived oocytes). Blastocysts created by Ros-Drill ICSI were transferred into the uteruses of pseudopregnant surrogate mothers and healthy pups were born and weaned. The Ros-Drill ICSI technique is automated and therefore; it requires a very short preliminary training for the specialists, as evidenced in many successful biological trials. These advantages of Ros-Drill ICSI over conventional and piezo-assisted ICSI are clearly demonstrated and it appears to have resolved an important problem in reproductive biology.

Cytoskeleton-Membrane Interactions in Neuronal Growth Cones: A Finite Analysis Study

Revealing the molecular events of neuronal growth is critical to obtaining a deeper understanding of nervous system development, neural injury response, and neural tissue engineering. Central to this is the need to understand the mechanical interactions between the cytoskeleton and the cell membrane, and how these interactions affect the overall growth mechanics of neurons. Using finite element analysis, the stress in the membrane produced by an actin filament or a microtubule acting against a deformable membrane was modeled, and the deformation, stress, and strain were computed for the membrane. Parameters to represent the flexural rigidities of the well-studied actin and tubulin cytoskeletal proteins, as well as the mechanical properties of cell membranes, were used in the simulations. Our model predicts that a single actin filament is able to produce a normal contact stress on the cell membrane that is sufficient to cause membrane deformation but not growth. Our model also predicts that under clamped boundary conditions a filament with a buckling strength equal to or smaller than an actin filament would not cause the areal strain in the membrane to exceed 3%, and therefore the filament is incapable of causing membrane rupture or puncture to a safety factor of ∼15–25. Decreasing the radius of the membrane upon which the normal contact stress is acting allows an increase in the amount of normal contact stress that the membrane can withstand before rupture. The model predicts that a 50nm radius membrane can withstand ∼4MPa of normal contact stress before membrane rupture whereas a 250nm radius membrane can withstand ∼2.5MPa. Understanding how the mechanical properties of cytoskeletal elements have coevolved with their respective cell membranes may yield insights into the events that gave rise to the sequences and superquaternary structures of the major cytoskeletal proteins. Additionally, numerical modeling of membranes can be used to analyze the forces and stresses generated by nanoscale biological probes during cellular injection.

Microinjection as a tool of mechanical delivery

Microinjection to single cells has been widely used in the studies of transduction-challenged cells, transgenic animal production, and in vitro fertilization to mechanically transfer DNAs, RNA interferences, sperms, proteins, peptides, and drugs. The advantages of microinjection include the precision of delivery dosage and timing, high efficiency of transduction as well as low cytotoxicity. However, manual microinjection is labor intensive and time consuming, which limits the application of this technique to large number of cells in a sample. New cell culture matrix ensuring all cells grow in a desired position and orientation is needed for application of high throughput automatic injection systems, which will significantly increase injection speed, cell survival, and success rates.