Abstract

This chapter presents the design, fabrication, and testing of a piezo-driven cell microinjection system with force sensing and control. By using piezoresistive sensors for measuring the cell penetration force and micropipette position in real time, the developed cell microinjection system enables high operation speed, high success rate, and high survival rate. The effectiveness of the microinjection system is verified by penetrating zebrafish embryos with both position control and force control through experimental study. Results indicate that the force control produces a higher survival rate than position control. A smooth position and force switching control is proposed to mitigate the oscillation during the transition between the two control objectives. The experimental results quantitatively demonstrate the superiority of force control over conventional position control for biological cell microinjection.

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