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Robotic Micropipette Aspiration of Biological Cells

  • Chapter
Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 88))

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Abstract

This paper presents a system for mechanically characterizing single cells using automated micropipette aspiration. Using vision-based control and position control, the system controls a micromanipulator, a motorized translation stage, and a custom-built pressure system to position a micropipette (4 μm opening) to approach a cell, form a seal, and aspirate the cell into the micropipette for quantifying the cell’s elastic and viscoelastic parameters as well as viscosity. Image processing algorithms were developed to provide controllers with real-time visual feedback and to accurately measure cell deformation behavior on line. Experiments on both solid-like and liquid-like cells demonstrated that the system is capable of efficiently performing single-cell micropipette aspiration and has low operator skill requirements.

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Author information

Authors and Affiliations

  1. Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ON, M5S 3G8, Canada

    Ehsan Shojaei-Baghini & Yu Sun

Authors
  1. Ehsan Shojaei-Baghini
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  2. Yu Sun
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Corresponding author

Correspondence to Ehsan Shojaei-Baghini .

Editor information

Editors and Affiliations

  1. (RAMS) Institute for Systems Research, Maryland Robotics Center, University of Maryland, Room 0160, Bldg 088, Glenn L. Martin Hall, College Park, 20742, Maryland, USA

    Jaydev P. Desai

  2. , Centre for Intelligent Machines, McGill University, Room 419, 3480 University Street, Montreal, H3A 2A7, Québec, Canada

    Gregory Dudek

  3. , Department of Computer Science, Stanford University, Stanford, 94305-9010, California, USA

    Oussama Khatib

  4. , School of Engineering & Applied Science, University of Pennsylvania, 107 Towne Building, 220 South 33rd Street, Philadelphia, 19104-6391, Pennsylvania, USA

    Vijay Kumar

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Shojaei-Baghini, E., Sun, Y. (2013). Robotic Micropipette Aspiration of Biological Cells. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_40

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  • DOI: https://doi.org/10.1007/978-3-319-00065-7_40

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00064-0

  • Online ISBN: 978-3-319-00065-7

  • eBook Packages: EngineeringEngineering (R0)

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