DocumentCode :
2407875
Title :
Controlled positioning of biological cells inside a micropipette
Author :
Zhang, Xuping ; Leung, Clement ; Lu, Zhe ; Esfandiari, Navid ; Casper, Robert F. ; Sun, Yu
Author_Institution :
Adv. Micro & Nanosyst. Lab., Univ. of Toronto, Toronto, ON, Canada
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
2779
Lastpage :
2784
Abstract :
Manipulating single cells with a micropipette is the oldest, yet still a widely used technique. This paper discusses the positioning of a single cell to a target position inside the micropipette after the cell is aspirated into the micropipette. Due to the small volume of a single cell (pico-liter) and nonlinear dynamics involved, this task has high skill requirements and is labor intensive in manual operation that is solely based on trial and error and has high failure rates. We present automated techniques in this paper for achieving this task. Computer vision algorithm was developed to track a single cell inside a micropipette for automated single-cell positioning. A closed-loop robust controller integrating the dynamics of cell motion was designed to accurately and efficiently position the cell to a target position inside the micropipette. The system achieved high success rates of 97% for cell tracking (n=100) and demonstrated its capability of accurately positioning a cell inside the micropipette within 8 seconds (vs. 25 seconds by highly skilled operators).
Keywords :
biological techniques; cellular biophysics; closed loop systems; computer vision; position control; robust control; automated single-cell positioning; biological cells; cell motion dynamics; cell tracking; closed-loop robust controller; computer vision algorithm; micropipette; positioning control; Equations; Image edge detection; Robust control; Robustness; Target tracking; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6224691
Filename :
6224691
Link To Document :
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