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Model-Based Robotic Cell Aspiration: Tackling Nonlinear Dynamics and Varying Cell Sizes

机译:基于模型的机器人细胞抽吸:处理非线性动力学和变化的细胞大小

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Aspirating a single cell from the outside to the inside of a micropipette is widely used for cell transfer and manipulation. Due to the small volume of a single cell (picoliter) and nonlinear dynamics involved in the aspiration process, it is challenging to accurately and quickly position a cell to the target position inside a micropipette. This letter reports the first mathematical model that describes the nonlinear dynamics of cell motion inside a micropipette, which takes into account oil compressibility and connecting tube0027;s deformation. Based on the model, an adaptive controller was designed to effectively compensate for the cell position error by estimating the time-varying cell medium length and speed in real time. In experiments, small-sized cells (human sperm, head width: $sim$300A0;$mu$m), medium-sized cells (T24 cancer cells, diameter: $sim$1500A0;$mu$m), and large-sized cells (mouse embryos, diameter: $sim$9000A0;$mu$m) were aspirated using different-sized micropipettes for evaluating the performance of the model and the controller. Based on aspirating 150 cells, the model-based adaptive control method was able to complete the positioning of a cell inside a micropipette within 6 seconds with a positioning accuracy of $pm$300A0;pixels and a success rate higher than 94%.
机译:从微量移液器的外部到内部抽吸单个细胞被广泛用于细胞转移和操纵。由于单个细胞的体积很小(微升),并且抽吸过程涉及非线性动力学,因此准确,快速地将细胞定位到微量移液器内的目标位置具有挑战性。这封信报道了第一个数学模型,该模型描述了微量移液器内部细胞运动的非线性动力学,该动力学模型考虑了油的可压缩性和连接管的变形。基于该模型,设计了一种自适应控制器,通过实时估计时变的细胞培养基长度和速度来有效补偿细胞位置误差。在实验中,小型细胞(人类精子,头宽:$ sim $ 300A0; $ mu $ m),中型细胞(T24癌细胞,直径:$ sim $ 1500A0; $ mu $ m) ,然后使用不同大小的微量移液管吸出大型细胞(小鼠胚胎,直径:$ sim $ 9000A0; $ mu $ m),以评估模型和控制器的性能。基于吸取150个细胞,基于模型的自适应控制方法能够在6秒钟内完成细胞在微型移液器中的定位,定位精度为$ pm $ 300A0;像素,成功率高于94%。

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