Abstract
We propose a microrobotic platform for single motile microorganism observation and investigation. The platform utilizes a high-speed online vision sensor to realize real-time observation of a microorganism under a microscopic environment with a relatively high magnification ratio. A microfluidic chip was used to limit the vertical movement of the microorganism and reduce the tracking system complexity. We introduce a simple image processing method, which utilizes high-speed online vision characteristics and shows robustness against image noise to increase the overall tracking performance with low computational time consumption. The design also considers the future integration of a stimulation system using microtools. Successful long-time tracking of a freely swimming microorganism inside of a microfluidic chip for more than 30 min was achieved notwithstanding the presence of noises in the environment of the cell. The specific design of the platform, particularly the tracking system, is described, and the performance is evaluated and confirmed through basic experiments. The potential of the platform to apply mechanical stimulation to a freely swimming microorganism is demonstrated by using a 50-µm-thick microtool. The proposed platform can be used for long-term observation and to achieve different kinds of stimulations, which can induce new behavior of the cells and lead to unprecedented discoveries in biological fields.
Highlights
Investigation of single motile microorganisms has become one of the most important topics in biology
It is known to have high potential in the fields of food production [1], bio-fuel, and neurology [2], and related research seeks to understand the specific function of mechanoreceptors and the growth factor of microorganisms
To conduct observations in a highly magnified environment, the motile microorganisms are immobilized before the investigation to drastically reduce their activity [13]
Summary
Investigation of single motile microorganisms has become one of the most important topics in biology. To clarify the characteristics and functions of microorganisms, the stimulus response of microorganisms is examined by applying external stimulations [4,5,6,7]. Because many aquatic microorganisms have motility and agility, it is quite difficult to investigate their dynamic behavior and stimulus response under a microscopic environment. To conduct observations in a highly magnified environment, the motile microorganisms are immobilized before the investigation to drastically reduce their activity [13]. This immobilization acts as an external force that affects the functionality and response of the microorganism.
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