Paper Info
Title
Indirect pushing based automated micromanipulation of biological cells using optical tweezers
Abstract
In this paper, we introduce an indirect pushing based technique for automated micromanipulation of biological cells. In indirect pushing, an optically trapped glass bead pushes a freely diffusing intermediate bead that in turn pushes a freely diffusing target cell towards a desired goal. Some cells can undergo significant changes in their behaviors as a result of direct exposure to a laser beam. Indirect pushing eliminates this problem by minimizing the exposure of the cell to the laser beam. We report an automated feedback planning algorithm that combines three motion maneuvers, namely, push, align, and backup for micromanipulation of cells. We have developed a dynamics based simulation model of indirect pushing dynamics and also identified parameters of measurement noise using physical experiments. We present an optimization-based approach for automated tuning of planner parameters to enhance its robustness. Finally, we have tested the developed planner using our optical tweezers physical setup and carried out a detailed analysis of the experimental results. The developed approach can be utilized in biological experiments for studying collective cell migration by accurately arranging the cells in arrays without exposing them to a laser beam.
Year
DOI
Venue
2014
10.1177/0278364914523690
I. J. Robotic Res.
Keywords
Field
DocType
Optical tweezers,robotic manipulation,automated planning,micromanipulation,indirect pushing,indirect manipulation
Collective cell migration,Planning algorithms,Simulation,Control engineering,Robustness (computer science),Optical tweezers,Mathematics,Laser beams
Journal
Volume
Issue
ISSN
33
8
0278-3649
Citations 
PageRank 
References 
12
0.71
23
Authors
6
Name
Order
Citations
PageRank
Atul Thakur11008.22
Sagar Chowdhury2686.48
Petr Svec3626.68
Chenlu Wang4262.89
Wolfgang Losert5898.53
Satyandra K Gupta668777.11