Abstract
Robot-assisted cell microinjection, which is precise and can enable a high throughput, is attracting interest from researchers. Conventional probe-type cell microforce sensors have some real-time injection force measurement limitations, which prevent their integration in a cell microinjection robot. In this paper, a novel supported-beam based cell micro-force sensor with a piezoelectric polyvinylidine fluoride film used as the sensing element is described, which was designed to solve the real-time force-sensing problem during a robotic microinjection manipulation, and theoretical mechanical and electrical models of the sensor function are derived. Furthermore, an array based cell-holding device with a trapezoidal microstructure is micro-fabricated, which serves to improve the force sensing speed and cell manipulation rates. Tests confirmed that the sensor showed good repeatability and a linearity of 1.82%. Finally, robot-assisted zebrafish embryo microinjection experiments were conducted. These results demonstrated the effectiveness of the sensor working with the robotic cell manipulation system. Moreover, the sensing structure, theoretical model, and fabrication method established in this study are not scale dependent. Smaller cells, e.g., mouse oocytes, could also be manipulated with this approach.
Highlights
With the fast development of cell biology and related biotechnology, robot-assisted cell manipulation, which is precise and can enable a high throughput, is attracting interest from researchers [1,2,3,4]
We present a new design of a microelectromechanical systems (MEMS)-based micro-force sensor capable of present a new design of a MEMS-based micro-force sensor capable of providing real-time cell force providing real-time force feedback in cell microinjection manipulation
We demonstrate the suitability of these sensors in a robot-assisted cell microinjection application by determining the real-time injection force on zebrafish eggs
Summary
With the fast development of cell biology and related biotechnology, robot-assisted cell manipulation, which is precise and can enable a high throughput, is attracting interest from researchers [1,2,3,4]. In a study by Liuforce, et al [11], to than a flexible beam, theforce, gravity is far greater than the injection a vision-based method was developed positioning the force-sensing structure i.e., of the force order measurement of micro-newtons. The micro-force force asensor is a key stepcell-holding for the controller indesigned To this end, sensor, this will improve the measurement speed and allow the researchers better understand the a trapezoidal array based cell-holding device is specially designed. Combined with the micro-force single cell characteristics by comparing the force characteristics of a batch of cells at same robotic sensor, this will improve the measurement speed and allow the researchers better understand the manipulation environment. We demonstrate the suitability of these sensors in a robot-assisted cell microinjection application by determining the real-time injection force on zebrafish eggs
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