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Barroso PAA, Nascimento DR, Lima Neto MFD, De Assis EIT, Figueira CS, Silva JRV. Therapeutic potential of nanotechnology in reproduction disorders and possible limitations. ZYGOTE 2023; 31:433-440. [PMID: 37537957 DOI: 10.1017/s0967199423000424] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/05/2023]
Abstract
One of the prominent peculiarities of nanoparticles (NPs) is their ability to cross biological barriers. Therefore, the development of NPs with different properties has great therapeutic potential in the area of reproduction because the association of drugs, hormones and other compounds with NPs represents an alternative for delivering substances directly at a specific site and for treatment of reproductive problems. Additionally, lipid-based NPs can be taken up by the tissues of patients with ovarian failure, deep endometriosis, testicular dysfunctions, etc., opening up new perspectives for the treatment of these diseases. The development of nanomaterials with specific size, shape, ligand density and charge certainly will contribute to the next generation of therapies to solve fertility problems in humans. Therefore, this review discusses the potential of NPs to treat reproductive disorders, as well as to regulate the levels of the associated hormones. The possible limitations of the clinical use of NPs are also highlighted.
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Affiliation(s)
- Pedro Alves Aguiar Barroso
- Laboratory of Biotechnology and Physiology of Reproduction (LABIREP), Federal University of Ceará - UFC, Sobral-CE, Brazil
| | - Danisvânia Ripardo Nascimento
- Laboratory of Biotechnology and Physiology of Reproduction (LABIREP), Federal University of Ceará - UFC, Sobral-CE, Brazil
| | - Miguel F De Lima Neto
- Laboratory of Biotechnology and Physiology of Reproduction (LABIREP), Federal University of Ceará - UFC, Sobral-CE, Brazil
- Research Center of Animal Experimentation (NUPEX), Federal University of Ceará - UFC, Sobral-CE, Brazil
| | - Ernando Igo T De Assis
- Laboratory of Biotechnology and Physiology of Reproduction (LABIREP), Federal University of Ceará - UFC, Sobral-CE, Brazil
- Research Center of Animal Experimentation (NUPEX), Federal University of Ceará - UFC, Sobral-CE, Brazil
| | - Ciro Siqueira Figueira
- Laboratory of Material Engineering and Simulation of Sobral (LEMSS), Federal University of Ceará - UFC, Sobral-CE, Brazil
| | - José Roberto Viana Silva
- Laboratory of Biotechnology and Physiology of Reproduction (LABIREP), Federal University of Ceará - UFC, Sobral-CE, Brazil
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2
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Hou Y, Wang H, Fu R, Wang X, Yu J, Zhang S, Huang Q, Sun Y, Fukuda T. A review on microrobots driven by optical and magnetic fields. LAB ON A CHIP 2023; 23:848-868. [PMID: 36629004 DOI: 10.1039/d2lc00573e] [Citation(s) in RCA: 15] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Due to their small sizes, microrobots are advantageous for accessing hard-to-reach spaces for delivery and measurement. However, their small sizes also bring challenges in on-board powering, thus usually requiring actuation by external energy. Microrobots actuated by external energy have been applied to the fields of physics, biology, medical science, and engineering. Among these actuation sources, light and magnetic fields show advantages in high precision and high biocompatibility. This paper reviews the recent advances in the design, actuation, and applications of microrobots driven by light and magnetic fields. For light-driven microrobots, we summarized the uses of optical tweezers, optoelectronic tweezers, and heat-mediated optical manipulation techniques. For magnetically driven microrobots, we summarized the uses of torque-driven microrobots, force-driven microrobots, and shape-deformable microrobots. Then, we compared the two types of field-driven microrobots and reviewed their advantages and disadvantages. The paper concludes with an outlook for the joint use of optical and magnetic field actuation in microrobots.
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Affiliation(s)
- Yaozhen Hou
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
| | - Huaping Wang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Rongxin Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Xian Wang
- Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto, ONT, M5G 1X8, Canada
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
| | - Shuailong Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Qiang Huang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto, ON, M5S 3G9, Canada
| | - Toshio Fukuda
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
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Fan Q, Lu J, Jia J, Qu J. 2D Magnetic Manipulation of a Micro-Robot in Glycerin Using Six Pairs of Magnetic Coils. MICROMACHINES 2022; 13:2144. [PMID: 36557444 PMCID: PMC9784892 DOI: 10.3390/mi13122144] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/22/2022] [Revised: 11/20/2022] [Accepted: 11/30/2022] [Indexed: 06/17/2023]
Abstract
This paper demonstrates the control system of a single magnetic micro-robot driven by combined coils. The combined coils consist of three pairs of Helmholtz coils and three pairs of Maxwell coils. The rotating magnetic field, gradient magnetic field, and combined magnetic field model of the combined coils were analyzed. To make the output magnetic field quickly converge to the reference point without steady-state error, the discrete-time optimal controller was designed based on the auto disturbance rejection technology. We have designed a closed-loop controller based on a position servo. The control system includes the position control and direction control of the micro-robot. To address problems with slow sampling frequency in visual feedback and inability to feed real-time position back to the control system, a Kalman filter algorithm was used to predict the position of the micro-robot in two-dimensional space. Simulations and experiments were carried out based on the proposed structure of combined coils and control scheme. The experimental results demonstrated the uniformity and excellent dynamic performance of the generated magnetic field.
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Affiliation(s)
- Qigao Fan
- College of Internet of Things Engineering, Jiangnan University, Wuxi 214000, China
| | - Jiawei Lu
- College of Internet of Things Engineering, Jiangnan University, Wuxi 214000, China
| | - Jie Jia
- College of Internet of Things Engineering, Jiangnan University, Wuxi 214000, China
| | - Juntian Qu
- Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China
- Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214000, China
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4
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Wang X, Wang T, Chen X, Law J, Shan G, Tang W, Gong Z, Pan P, Liu X, Yu J, Ru C, Huang X, Sun Y. Microrobotic Swarms for Intracellular Measurement with Enhanced Signal-to-Noise Ratio. ACS NANO 2022; 16:10824-10839. [PMID: 35786860 DOI: 10.1021/acsnano.2c02938] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
In cell biology, fluorescent dyes are routinely used for biochemical measurements. The traditional global dye treatment method suffers from low signal-to-noise ratios (SNR), especially when used for detecting a low concentration of ions, and increasing the concentration of fluorescent dyes causes more severe cytotoxicity. Here, we report a robotic technique that controls how a low amount of fluorescent-dye-coated magnetic nanoparticles accurately forms a swarm and increases the fluorescent dye concentration in a local region inside a cell for intracellular measurement. Different from existing magnetic micromanipulation systems that generate large swarms (several microns and above) or that cannot move the generated swarm to an arbitrary position, our system is capable of generating a small swarm (e.g., 1 μm) and accurately positioning the swarm inside a single cell (position control accuracy: 0.76 μm). In experiments, the generated swarm inside the cell showed an SNR 10 times higher than the traditional global dye treatment method. The high-SNR robotic swarm enabled intracellular measurements that had not been possible to achieve with traditional global dye treatment. The robotic swarm technique revealed an apparent pH gradient in a migrating cell and was used to measure the intracellular apparent pH in a single oocyte of living C. elegans. With the position control capability, the swarm was also applied to measure calcium changes at the perinuclear region of a cell before and after mechanical stimulation. The results showed a significant calcium increase after mechanical stimulation, and the calcium increase was regulated by the mechanically sensitive ion channel, PIEZO1.
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Affiliation(s)
- Xian Wang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
- Program in Developmental and Stem Cell Biology and Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto M5G 1X8, Canada
| | - Tiancong Wang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Xin Chen
- Program in Developmental and Stem Cell Biology and Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto M5G 1X8, Canada
| | - Junhui Law
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Guanqiao Shan
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Wentian Tang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Zheyuan Gong
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
| | - Peng Pan
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
- Department of Mechanical Engineering, McGill University, Montreal H3A 0C3, Canada
| | - Xinyu Liu
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto M5S 3G9, Canada
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518172, China
| | - Changhai Ru
- School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou 215009, China
| | - Xi Huang
- Program in Developmental and Stem Cell Biology and Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto M5G 1X8, Canada
- Department of Molecular Genetics, University of Toronto, Toronto, Ontario M5S 1A8, Canada
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto M5S 3G9, Canada
- Department of Electrical and Computer Engineering, University of Toronto, Toronto M5S 3G4, Canada
- Department of Computer Science, University of Toronto, Toronto M5S 3G4, Canada
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5
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Liu X, Li A. Multiview three-dimensional imaging using a Risley-prism-based spatially adaptive virtual camera field. APPLIED OPTICS 2022; 61:3619-3629. [PMID: 36256401 DOI: 10.1364/ao.454308] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/19/2022] [Accepted: 04/03/2022] [Indexed: 06/16/2023]
Abstract
We present a three-dimensional (3D) imaging system that incorporates a stationary camera and Risley prisms. By planning prism rotation to generate a spatially adaptive virtual camera field, the system allows multiple virtual cameras in the field to capture any object from different perspectives for 3D reconstruction. An automatic virtual camera calibration method based on perspective projection and geometric optics is developed to enable virtual camera field construction and characterization. Moreover, a 3D computational reconstruction framework is proposed for multiview information fusion using the virtual camera field. This framework combines nonlinear distortion correction with epipolar geometry computation to efficiently perform image rectification and stereo matching, which can further facilitate 3D object reconstruction through multiview triangulation. The experiments on synthetic and real data validate the feasibility and flexibility of our 3D imaging technique.
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6
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3D Indoor Scene Reconstruction and Layout Based on Virtual Reality Technology and Few-Shot Learning. COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE 2022; 2022:4134086. [PMID: 35371231 PMCID: PMC8970924 DOI: 10.1155/2022/4134086] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/18/2022] [Revised: 02/18/2022] [Accepted: 02/19/2022] [Indexed: 12/04/2022]
Abstract
Indoor three-dimensional layout has a strong application background, such as virtual office three-dimensional layout planning, museum three-dimensional layout planning, and cave scene three-dimensional layout planning, which have been widely used in telecommuting, education, tourism, and other industries. In view of this, this paper proposes an indoor landscape reconstruction method based on VR (virtual reality) and draws indoor landscape information and images by using VR technology to generate an indoor landscape reconstruction panorama. A model is established to correct the distance error and reflectivity error of depth image, improve the accuracy of the depth image, and finally improve the accuracy of three-dimensional indoor scene TDR (three-dimensional reconstruction). In the process of optimizing layout, the Monte Carlo sampling method is used based on the Markov chain, and constraints are used as density functions to guide layout sampling and generate a number of reasonable scene layout suggestions in the iterative process of the sampler. Experiments show that this method can provide scientific and reasonable guidance to users' scene layout and help them complete the furniture layout quickly.
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Ma W, Huan Z, Xu M. Numerical Optimization and Map-Based Manipulation With a Quadrupole Electromagnetic Actuated System. Front Neurorobot 2022; 16:859996. [PMID: 35370594 PMCID: PMC8967965 DOI: 10.3389/fnbot.2022.859996] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2022] [Accepted: 02/14/2022] [Indexed: 11/17/2022] Open
Abstract
Electromagnetic actuation is a new technique for non-invasive manipulation, which provides wireless and controllable power source for magnetic micro-/nano-particles. This technique shows great potential in the field of precise mechanics, environment protection, and biomedical engineering. In this paper, a new quadrupole electromagnetic actuated system was constructed, which was composed of four electromagnetic coils, each coil being actuated by an independent DC power supplier. The magnetic field distribution in the workspace was obtained through finite element modeling and numerical simulation via COMSOL software, as well as the effect of the current flow through the coil in the field distribution. Moreover, parameters of the electromagnetic system were optimized through parametric modeling analysis. A magnetic field map was constructed for rapidly solving the desired driving current from the required magnetic flux density. Experiments were conducted to manipulate a micro-particle along the desired circular path. The proposed work provides theoretical references and numerical fundamentals for the control of magnetic particle in future.
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8
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Sun W, Gao X, Lei H, Wang W, Cao Y. Biophysical Approaches for Applying and Measuring Biological Forces. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2105254. [PMID: 34923777 PMCID: PMC8844594 DOI: 10.1002/advs.202105254] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/15/2021] [Indexed: 05/13/2023]
Abstract
Over the past decades, increasing evidence has indicated that mechanical loads can regulate the morphogenesis, proliferation, migration, and apoptosis of living cells. Investigations of how cells sense mechanical stimuli or the mechanotransduction mechanism is an active field of biomaterials and biophysics. Gaining a further understanding of mechanical regulation and depicting the mechanotransduction network inside cells require advanced experimental techniques and new theories. In this review, the fundamental principles of various experimental approaches that have been developed to characterize various types and magnitudes of forces experienced at the cellular and subcellular levels are summarized. The broad applications of these techniques are introduced with an emphasis on the difficulties in implementing these techniques in special biological systems. The advantages and disadvantages of each technique are discussed, which can guide readers to choose the most suitable technique for their questions. A perspective on future directions in this field is also provided. It is anticipated that technical advancement can be a driving force for the development of mechanobiology.
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Affiliation(s)
- Wenxu Sun
- School of SciencesNantong UniversityNantong226019P. R. China
| | - Xiang Gao
- Key Laboratory of Intelligent Optical Sensing and IntegrationNational Laboratory of Solid State Microstructureand Department of PhysicsCollaborative Innovation Center of Advanced MicrostructuresNanjing UniversityNanjing210023P. R. China
- Institute of Brain ScienceNanjing UniversityNanjing210023P. R. China
| | - Hai Lei
- Key Laboratory of Intelligent Optical Sensing and IntegrationNational Laboratory of Solid State Microstructureand Department of PhysicsCollaborative Innovation Center of Advanced MicrostructuresNanjing UniversityNanjing210023P. R. China
- Institute of Brain ScienceNanjing UniversityNanjing210023P. R. China
- Chemistry and Biomedicine Innovation CenterNanjing UniversityNanjing210023P. R. China
| | - Wei Wang
- Key Laboratory of Intelligent Optical Sensing and IntegrationNational Laboratory of Solid State Microstructureand Department of PhysicsCollaborative Innovation Center of Advanced MicrostructuresNanjing UniversityNanjing210023P. R. China
- Institute of Brain ScienceNanjing UniversityNanjing210023P. R. China
| | - Yi Cao
- Key Laboratory of Intelligent Optical Sensing and IntegrationNational Laboratory of Solid State Microstructureand Department of PhysicsCollaborative Innovation Center of Advanced MicrostructuresNanjing UniversityNanjing210023P. R. China
- Institute of Brain ScienceNanjing UniversityNanjing210023P. R. China
- MOE Key Laboratory of High Performance Polymer Materials and TechnologyDepartment of Polymer Science & EngineeringCollege of Chemistry & Chemical EngineeringNanjing UniversityNanjing210023P. R. China
- Chemistry and Biomedicine Innovation CenterNanjing UniversityNanjing210023P. R. China
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9
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Carlucci LA, Thomas WE. Modification to axial tracking for mobile magnetic microspheres. BIOPHYSICAL REPORTS 2021; 1:100031. [PMID: 35965968 PMCID: PMC9371438 DOI: 10.1016/j.bpr.2021.100031] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/07/2021] [Accepted: 11/04/2021] [Indexed: 11/30/2022]
Abstract
Three-dimensional particle tracking is a routine experimental procedure for various biophysical applications including magnetic tweezers. A common method for tracking the axial position of particles involves the analysis of diffraction rings whose pattern depends sensitively on the axial position of the bead relative to the focal plane. To infer the axial position, the observed rings are compared with reference images of a bead at known axial positions. Often the precision or accuracy of these algorithms is measured on immobilized beads over a limited axial range, while many experiments are performed using freely mobile beads. This inconsistency raises the possibility of incorrect estimates of experimental uncertainty. By manipulating magnetic beads in a bidirectional magnetic tweezer setup, we evaluated the error associated with tracking mobile magnetic beads and found that the error of tracking a moving magnetic bead increases by almost an order of magnitude compared to the error of tracking a stationary bead. We found that this additional error can be ameliorated by excluding the center-most region of the diffraction ring pattern from tracking analysis. Evaluation of the limitations of a tracking algorithm is essential for understanding the error associated with a measurement. These findings promise to bring increased resolution to three-dimensional bead tracking of magnetic microspheres.
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Affiliation(s)
- Laura A. Carlucci
- Department of Bioengineering, University of Washington, Seattle, Washington
| | - Wendy E. Thomas
- Department of Bioengineering, University of Washington, Seattle, Washington
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Towards a Comprehensive and Robust Micromanipulation System with Force-Sensing and VR Capabilities. MICROMACHINES 2021; 12:mi12070784. [PMID: 34209417 PMCID: PMC8307479 DOI: 10.3390/mi12070784] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/25/2021] [Revised: 06/28/2021] [Accepted: 06/30/2021] [Indexed: 12/02/2022]
Abstract
In this modern world, with the increase of complexity of many technologies, especially in the micro and nanoscale, the field of robotic manipulation has tremendously grown. Microrobots and other complex microscale systems are often to laborious to fabricate using standard microfabrication techniques, therefore there is a trend towards fabricating them in parts then assembling them together, mainly using micromanipulation tools. Here, a comprehensive and robust micromanipulation platform is presented, in which four micromanipulators can be used simultaneously to perform complex tasks, providing the user with an intuitive environment. The system utilizes a vision-based force sensor to aid with manipulation tasks and it provides a safe environment for biomanipulation. Lastly, virtual reality (VR) was incorporated into the system, allowing the user to control the probes from a more intuitive standpoint and providing an immersive platform for the future of micromanipulation.
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11
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3D Navigation Control of Untethered Magnetic Microrobot in Centimeter-Scale Workspace Based on Field-of-View Tracking Scheme. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2021.3118205] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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12
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Hao Y, Cheng S, Tanaka Y, Hosokawa Y, Yalikun Y, Li M. Mechanical properties of single cells: Measurement methods and applications. Biotechnol Adv 2020; 45:107648. [DOI: 10.1016/j.biotechadv.2020.107648] [Citation(s) in RCA: 19] [Impact Index Per Article: 4.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/12/2020] [Revised: 09/11/2020] [Accepted: 10/12/2020] [Indexed: 12/22/2022]
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13
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Wang X, Law J, Luo M, Gong Z, Yu J, Tang W, Zhang Z, Mei X, Huang Z, You L, Sun Y. Magnetic Measurement and Stimulation of Cellular and Intracellular Structures. ACS NANO 2020; 14:3805-3821. [PMID: 32223274 DOI: 10.1021/acsnano.0c00959] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
From single-pole magnetic tweezers to robotic magnetic-field generation systems, the development of magnetic micromanipulation systems, using electromagnets or permanent magnets, has enabled a multitude of applications for cellular and intracellular measurement and stimulation. Controlled by different configurations of magnetic-field generation systems, magnetic particles have been actuated by an external magnetic field to exert forces/torques and perform mechanical measurements on the cell membrane, cytoplasm, cytoskeleton, nucleus, intracellular motors, etc. The particles have also been controlled to generate aggregations to trigger cell signaling pathways and produce heat to cause cancer cell apoptosis for hyperthermia treatment. Magnetic micromanipulation has become an important tool in the repertoire of toolsets for cell measurement and stimulation and will continue to be used widely for further explorations of cellular/intracellular structures and their functions. Existing review papers in the literature focus on fabrication and position control of magnetic particles/structures (often termed micronanorobots) and the synthesis and functionalization of magnetic particles. Differently, this paper reviews the principles and systems of magnetic micromanipulation specifically for cellular and intracellular measurement and stimulation. Discoveries enabled by magnetic measurement and stimulation of cellular and intracellular structures are also summarized. This paper ends with discussions on future opportunities and challenges of magnetic micromanipulation in the exploration of cellular biophysics, mechanotransduction, and disease therapeutics.
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Affiliation(s)
- Xian Wang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, Ontario M5S 3G9, Canada
| | - Junhui Law
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
| | - Mengxi Luo
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
| | - Zheyuan Gong
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
| | - Jiangfan Yu
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
| | - Wentian Tang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
| | - Zhuoran Zhang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
| | - Xueting Mei
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, Ontario M5S 3G9, Canada
| | - Zongjie Huang
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
| | - Lidan You
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, Ontario M5S 3G9, Canada
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, Ontario M5S 3G9, Canada
- Department of Electrical and Computer Engineering, University of Toronto, Toronto, Ontario M5S 3G4, Canada
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14
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Yang L, Yu J, Zhang L. Statistics-Based Automated Control for a Swarm of Paramagnetic Nanoparticles in 2-D Space. IEEE T ROBOT 2020. [DOI: 10.1109/tro.2019.2946724] [Citation(s) in RCA: 41] [Impact Index Per Article: 10.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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15
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Zhu M, Zhang K, Tao H, Hopyan S, Sun Y. Magnetic Micromanipulation for In Vivo Measurement of Stiffness Heterogeneity and Anisotropy in the Mouse Mandibular Arch. RESEARCH (WASHINGTON, D.C.) 2020; 2020:7914074. [PMID: 32666052 PMCID: PMC7327709 DOI: 10.34133/2020/7914074] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/31/2020] [Accepted: 05/20/2020] [Indexed: 12/14/2022]
Abstract
The mechanical properties of tissues are pivotal for morphogenesis and disease progression. Recent approaches have enabled measurements of the spatial distributions of viscoelastic properties among embryonic and pathological model systems and facilitated the generation of important hypotheses such as durotaxis and tissue-scale phase transition. There likely are many unexpected aspects of embryo biomechanics we have yet to discover which will change our views of mechanisms that govern development and disease. One area in the blind spot of even the most recent approaches to measuring tissue stiffness is the potentially anisotropic nature of that parameter. Here, we report a magnetic micromanipulation device that generates a uniform magnetic field gradient within a large workspace and permits measurement of the variation of tissue stiffness along three orthogonal axes. By applying the device to the organ-stage mouse embryo, we identify spatially heterogenous and directionally anisotropic stiffness within the mandibular arch. Those properties correspond to the domain of expression and the angular distribution of fibronectin and have potential implications for mechanisms that orient collective cell movements and shape tissues during development. Assessment of anisotropic properties extends the repertoire of current methods and will enable the generation and testing of hypotheses.
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Affiliation(s)
- Min Zhu
- Department of Mechanical and Industrial Engineering, University of Toronto, Canada M5S 3G8
- Program in Developmental and Stem Cell Biology, Research Institute, The Hospital for Sick Children, Toronto, ON, Canada M5G 0A4
| | - Kaiwen Zhang
- Department of Mechanical and Industrial Engineering, University of Toronto, Canada M5S 3G8
- Program in Developmental and Stem Cell Biology, Research Institute, The Hospital for Sick Children, Toronto, ON, Canada M5G 0A4
| | - Hirotaka Tao
- Program in Developmental and Stem Cell Biology, Research Institute, The Hospital for Sick Children, Toronto, ON, Canada M5G 0A4
| | - Sevan Hopyan
- Program in Developmental and Stem Cell Biology, Research Institute, The Hospital for Sick Children, Toronto, ON, Canada M5G 0A4
- Department of Molecular Genetics, University of Toronto, Canada M5S 1A8
- Division of Orthopaedic Surgery, The Hospital for Sick Children and University of Toronto, Canada M5G 1X8
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Canada M5S 3G8
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Canada M5S 3G9
- Department of Electrical and Computer Engineering, University of Toronto, Canada M5S 3G4
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16
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Yu J, Jin D, Chan KF, Wang Q, Yuan K, Zhang L. Active generation and magnetic actuation of microrobotic swarms in bio-fluids. Nat Commun 2019; 10:5631. [PMID: 31822669 PMCID: PMC6904566 DOI: 10.1038/s41467-019-13576-6] [Citation(s) in RCA: 136] [Impact Index Per Article: 27.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/14/2019] [Accepted: 11/11/2019] [Indexed: 12/02/2022] Open
Abstract
In nature, various types of animals will form self-organised large-scale structures. Through designing wireless actuation methods, microrobots can emulate natural swarm behaviours, which have drawn extensive attention due to their great potential in biomedical applications. However, as the prerequisite for their in-vivo applications, whether microrobotic swarms can take effect in bio-fluids with complex components has yet to be fully investigated. In this work, we first categorise magnetic active swarms into three types, and individually investigate the generation and navigation behaviours of two types of the swarms in bio-fluids. The influences of viscosities, ionic strengths and mesh-like structures are studied. A strategy is then proposed to select the optimised swarms in different fluidic environments based on their physical properties, and the results are further validated in various bio-fluids. Moreover, we also realise the swarm generation and navigation in bovine eyeballs, which also validates the proposed prediction in the ex-vivo environment.
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Affiliation(s)
- Jiangfan Yu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
| | - Dongdong Jin
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
| | - Kai-Fung Chan
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
| | - Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
| | - Ke Yuan
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong.
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong.
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong.
- T-Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong.
- Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, China.
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17
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Ong LLS, Zhu H, Banik D, Guan Z, Feng Y, Reinherz EL, Lang MJ, Asada HH. A Robotic Microscope System to Examine T Cell Receptor Acuity Against Tumor Neoantigens: A New Tool for Cancer Immunotherapy Research. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2894466] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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18
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Ceylan H, Yasa IC, Yasa O, Tabak AF, Giltinan J, Sitti M. 3D-Printed Biodegradable Microswimmer for Theranostic Cargo Delivery and Release. ACS NANO 2019; 13:3353-3362. [PMID: 30742410 PMCID: PMC6728090 DOI: 10.1021/acsnano.8b09233] [Citation(s) in RCA: 203] [Impact Index Per Article: 40.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/05/2018] [Accepted: 02/11/2019] [Indexed: 05/19/2023]
Abstract
Untethered mobile microrobots have the potential to leverage minimally invasive theranostic functions precisely and efficiently in hard-to-reach, confined, and delicate inner body sites. However, such a complex task requires an integrated design and engineering, where powering, control, environmental sensing, medical functionality, and biodegradability need to be considered altogether. The present study reports a hydrogel-based, magnetically powered and controlled, enzymatically degradable microswimmer, which is responsive to the pathological markers in its microenvironment for theranostic cargo delivery and release tasks. We design a double-helical architecture enabling volumetric cargo loading and swimming capabilities under rotational magnetic fields and a 3D-printed optimized 3D microswimmer (length = 20 μm and diameter = 6 μm) using two-photon polymerization from a magnetic precursor suspension composed from gelatin methacryloyl and biofunctionalized superparamagnetic iron oxide nanoparticles. At normal physiological concentrations, we show that matrix metalloproteinase-2 (MMP-2) enzyme could entirely degrade the microswimmer in 118 h to solubilized nontoxic products. The microswimmer rapidly responds to the pathological concentrations of MMP-2 by swelling and thereby boosting the release of the embedded cargo molecules. In addition to delivery of the drug type of therapeutic cargo molecules completely to the given microenvironment after full degradation, microswimmers can also release other functional cargos. As an example demonstration, anti-ErbB 2 antibody-tagged magnetic nanoparticles are released from the fully degraded microswimmers for targeted labeling of SKBR3 breast cancer cells in vitro toward a potential future scenario of medical imaging of remaining cancer tissue sites after a microswimmer-based therapeutic delivery operation.
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Affiliation(s)
- Hakan Ceylan
- Physical
Intelligence Department, Max Planck Institute
for Intelligent Systems, 70569 Stuttgart, Germany
| | - Immihan Ceren Yasa
- Physical
Intelligence Department, Max Planck Institute
for Intelligent Systems, 70569 Stuttgart, Germany
| | - Oncay Yasa
- Physical
Intelligence Department, Max Planck Institute
for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ahmet Fatih Tabak
- Physical
Intelligence Department, Max Planck Institute
for Intelligent Systems, 70569 Stuttgart, Germany
- Mechatronics
Engineering Department, Bahcesehir University, 34353 Istanbul, Turkey
| | - Joshua Giltinan
- Physical
Intelligence Department, Max Planck Institute
for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical
Intelligence Department, Max Planck Institute
for Intelligent Systems, 70569 Stuttgart, Germany
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19
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Wang X, Ho C, Tsatskis Y, Law J, Zhang Z, Zhu M, Dai C, Wang F, Tan M, Hopyan S, McNeill H, Sun Y. Intracellular manipulation and measurement with multipole magnetic tweezers. Sci Robot 2019; 4:4/28/eaav6180. [DOI: 10.1126/scirobotics.aav6180] [Citation(s) in RCA: 75] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/03/2018] [Accepted: 01/16/2019] [Indexed: 12/15/2022]
Abstract
The capability to directly interrogate intracellular structures inside a single cell for measurement and manipulation is important for understanding subcellular and suborganelle activities, diagnosing diseases, and developing new therapeutic approaches. Compared with measurements of single cells, physical measurement and manipulation of subcellular structures and organelles remain underexplored. To improve intracellular physical measurement and manipulation, we have developed a multipole magnetic tweezers system for micromanipulation involving submicrometer position control and piconewton force control of a submicrometer magnetic bead inside a single cell for measurement in different locations (spatial) and different time points (temporal). The bead was three-dimensionally positioned in the cell using a generalized predictive controller that addresses the control challenge caused by the low bandwidth of visual feedback from high-resolution confocal imaging. The average positioning error was quantified to be 0.4 μm, slightly larger than the Brownian motion–imposed constraint (0.31 μm). The system is also capable of applying a force up to 60 pN with a resolution of 4 pN for a period of time longer than 30 min. The measurement results revealed that significantly higher stiffness exists in the nucleus’ major axis than in the minor axis. This stiffness polarity is likely attributed to the aligned actin filament. We also showed that the nucleus stiffens upon the application of an intracellularly applied force, which can be attributed to the response of structural protein lamin A/C and the intracellular stress fiber actin filaments.
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20
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Callaghan NI, Hadipour-Lakmehsari S, Lee SH, Gramolini AO, Simmons CA. Modeling cardiac complexity: Advancements in myocardial models and analytical techniques for physiological investigation and therapeutic development in vitro. APL Bioeng 2019; 3:011501. [PMID: 31069331 PMCID: PMC6481739 DOI: 10.1063/1.5055873] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/11/2018] [Accepted: 12/31/2018] [Indexed: 02/06/2023] Open
Abstract
Cardiomyopathies, heart failure, and arrhythmias or conduction blockages impact millions of patients worldwide and are associated with marked increases in sudden cardiac death, decline in the quality of life, and the induction of secondary pathologies. These pathologies stem from dysfunction in the contractile or conductive properties of the cardiomyocyte, which as a result is a focus of fundamental investigation, drug discovery and therapeutic development, and tissue engineering. All of these foci require in vitro myocardial models and experimental techniques to probe the physiological functions of the cardiomyocyte. In this review, we provide a detailed exploration of different cell models, disease modeling strategies, and tissue constructs used from basic to translational research. Furthermore, we highlight recent advancements in imaging, electrophysiology, metabolic measurements, and mechanical and contractile characterization modalities that are advancing our understanding of cardiomyocyte physiology. With this review, we aim to both provide a biological framework for engineers contributing to the field and demonstrate the technical basis and limitations underlying physiological measurement modalities for biologists attempting to take advantage of these state-of-the-art techniques.
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Affiliation(s)
| | | | | | | | - Craig A. Simmons
- Author to whom correspondence should be addressed: . Present address: Ted Rogers Centre for Heart
Research, 661 University Avenue, 14th Floor Toronto, Ontario M5G 1M1, Canada. Tel.:
416-946-0548. Fax: 416-978-7753
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21
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Characterizing Inner Pressure and Stiffness of Trophoblast and Inner Cell Mass of Blastocysts. Biophys J 2018; 115:2443-2450. [PMID: 30509858 DOI: 10.1016/j.bpj.2018.11.008] [Citation(s) in RCA: 23] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/10/2018] [Revised: 10/23/2018] [Accepted: 11/05/2018] [Indexed: 12/14/2022] Open
Abstract
It has long been recognized that mechanical forces underlie mammalian embryonic shape changes. Before gastrulation, the blastocyst embryo undergoes significant shape changes, namely, the blastocyst cavity emerges and expands, and the inner cell mass (ICM) forms and changes in shape. The embryo's inner pressure has been hypothesized to be the driving mechanical input that causes the expansion of the blastocyst cavity and the shape changes of the ICM. However, how the inner pressure and the mechanics of the trophoblast and the ICM change during development is unknown because of the lack of a suitable tool for quantitative characterization. This work presents a laser-assisted magnetic tweezer technique for measuring the inner pressure and Young's modulus of the trophoblast and ICM of the blastocyst-stage mouse embryo. The results quantitatively showed that the inner pressure and Young's modulus of the trophoblast and ICM all increase during progression of mouse blastocysts, providing useful data for understanding how mechanical factors are physiologically integrated with other cues to direct embryo development.
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22
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Wang X, Zhao Q, Wang L, Liu J, Pu H, Xie S, Ru C, Sun Y. Effect of Cell Inner Pressure on Deposition Volume in Microinjection. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2018; 34:10287-10292. [PMID: 30095920 DOI: 10.1021/acs.langmuir.8b02102] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
Microinjection is a widely used technique for introducing exogenous materials into cells. Many applications of microinjection, such as gene editing and drug testing, rely on the accurate control of the deposition volume. However, the deposition volume in microinjection is presently calibrated in an open medium without considering the cell inner pressure effect, which we experimentally show in this paper that it can induce an error as large as 30% between the actual deposition volume and the set volume. In this work, the relationship between the cell inner pressure and the deposition volume was analytically modeled and experimentally validated. On the basis of the developed model, the cell inner pressure of a given cell type can be well estimated from the injection pressure and the resulting deposition volume. The quantitated cell inner pressure is then used to reduce the error between the set volume and the actual deposition volume. Experiments conducted on human bladder cancer cells (T24 and RT4) showed that T24 cells have a higher inner pressure than RT4 cells (405 ± 45 Pa vs 341 ± 34 Pa), and after compensating for the cell inner pressure, the error between the intended set volume and the actual deposition volume into a cell became less than 3%.
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Affiliation(s)
- Xian Wang
- Department of Mechanical and Industrial Engineering , University of Toronto , Toronto M5S 3G8 , Canada
- Institute of Biomaterials and Biomedical Engineering , University of Toronto , Toronto M5S 3G9 , Canada
| | - Qili Zhao
- Department of Mechanical and Industrial Engineering , University of Toronto , Toronto M5S 3G8 , Canada
| | - Li Wang
- Department of Mechanical and Industrial Engineering , University of Toronto , Toronto M5S 3G8 , Canada
| | - Jun Liu
- Department of Mechanical and Industrial Engineering , University of Toronto , Toronto M5S 3G8 , Canada
| | - Huayan Pu
- School of Mechatronic Engineering and Automation , Shanghai University , Shanghai 200072 , China
| | - Shaorong Xie
- School of Mechatronic Engineering and Automation , Shanghai University , Shanghai 200072 , China
| | - Changhai Ru
- Research Center of Robotics and Micro System & Collaborative Innovation Center of Suzhou Nano Science and Technology , Soochow University , Suzhou , Jiangsu 215021 , China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering , University of Toronto , Toronto M5S 3G8 , Canada
- Institute of Biomaterials and Biomedical Engineering , University of Toronto , Toronto M5S 3G9 , Canada
- Department of Electrical and Computer Engineering , University of Toronto , Toronto M5S 3G4 , Canada
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