Automated Microhand System for Measuring Cell Stiffness By Using Two Plate End-Effectors

Abstract

With the advancements in the field of life sciences, there is an increasing demand for measuring cell characteristics. In this context, we developed a small microhand system that uses two end-effectors, such as chopsticks, to grasp and carry micro-objects. In addition, we succeeded in measuring the stiffness of cells by installing a micro force sensor on the end-effector tip for measuring the reaction force during grasping. However, the stiffness measurement of micro-objects requires precise manipulation and places a significant burden on the experimenter. The problem with the previous system was it required a skilled technician to perform accurate measurements, and there was a limit to the number of cells that were measured in a single short experimental time suitable for characterizing cells. To address this problem, we introduced a simultaneous observation system that included microscopes of different magnifications and optical tweezers. Furthermore, to render stiffness measurement easier, we automated each measurement process. Through evaluation experiments, we confirmed that the system can measure the stiffness of cells with the same speed and high accuracy as the previous system.