Automated Indirect Optical Micromanipulation of Biological Cells Using Indirect Pushing for Minimizing Photo-Damage

Abstract

Precise micromanipulation of cells or other living systems is allowing for cell transport, sorting, characterization of mechanical properties, cell-cell interaction, migration studies, etc. In this paper, we report an automated indirect pushing-based approach for micromanipulation of cells using dielectric silica beads. In this approach, an optically actuated dielectric silica bead pushes on other bead that in turn pushes the cell, thereby minimizing photo-damage. We have defined three parametrized atomic maneuvers namely, push, align, and go behind the intermediate bead and used them to compose a feedback plan for in-direct pushing. We have developed a simplified dynamics model, which is used in the simulation of operations involving pushing of cells using optically trapped beads. We also present an optimization-based approach for automated tuning of maneuver parameters for different turning angles and measurement noise to increase the robustness of the developed feedback planner. Finally, we have tested the developed planner on a physical setup and obtained experimental results.