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- 实验方案
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High-bandwidth 3D Multi-Trap Actuation Technique for 6-DoF Real-Time Control of Optical Robots
摘要： Optical robots are micro-scale structures actuated using laser trapping techniques. However, the lack of robust and real-time 3D actuation techniques reduces most applications to planar space. We present here a new approach to generate and control several optical traps synchronously in 3D with low latency and high bandwidth (up to 200 Hz). This time-shared technique uses only mirrors, hence is aberration-free. Simultaneous traps are used to actuate optical robots and provide 6-DoF telemanipulation. Experiments demonstrate the flexibility and dexterity of the implemented user control, paving the way to novel applications in micro-robotics and biology.
关键词： Optical Manipulation,Biological Cell Manipulation,Micro/Nano Robots,Telerobotics and Teleoperation
更新于2025-09-23 15:22:29
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Modulation of acoustic radiation forces on three-layered nucleate cells in a focused Gaussian beam
摘要： The acoustic cell manipulation is of great interest to many applications. A three-layered micro-shell (TLS) model is proposed to simulate the three-layered nucleate cell. Acoustic radiation forces (ARFs) of a focused Gaussian beam on the TLS are studied theoretically. The ARF may change from positive to negative if the TLS moves across the centre of the beam waist. It is found that the geometry parameters of the TLS have great influence on the ARF. The positive ARF increases with the inner core radius while the negative ARF grows strong at first and then descends. With increasing thickness of the outer shell, the positive ARF is enhanced while the negative ARF is depressed and might even turn into positive. We further found that sound velocities in the TLS also affect the ARF significantly.
关键词： acoustic radiation forces,acoustic cell manipulation,three-layered nucleate cells,focused Gaussian beam
更新于2025-09-11 14:15:04
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Sorting and manipulation of biological cells and the prospects for using optical forces
摘要： Contemporary biomedical research requires development of novel techniques for sorting and manipulation of cells within the framework of a microfluidic chip. The desired functions of a microfluidic chip are achieved by combining and integrating passive methods that utilize the channel geometry and structure, as well as active methods that include magnetic, electrical, acoustic and optical forces. Application of magnetic, electric and acoustics-based methods for sorting and manipulation have been and are under continuous scrutiny. Optics-based methods, in contrast, have not been explored to the same extent as other methods, since they attracted insufficient attention. This is due to the complicated, expensive and bulky setup required for carrying out such studies. However, advances in optical beam shaping and computer hardware, and software have opened up new opportunities for application of light to development of advanced sorting and manipulation techniques. This review outlines contemporary techniques for cell sorting and manipulation, and provides an in-depth view into the existing and prospective uses of light for cell sorting and manipulation.
关键词： Cell manipulation,Optical sorting,Microfluidics,Acoustic sorting,Cell separation,Dielectrophoresis,Magnetic manipulation
更新于2025-09-04 15:30:14
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Achieve Automated Organelle Biopsy on Small Single Cells Using a Cell Surgery Robotic System
摘要： Single cell surgery such as manipulation or removal of subcellular components or/and organelles from single cells is increasingly used for the study of diseases and their causes in precision medicine. This paper presents a robotic surgery system to achieve automated organelle biopsy of single cells with dimensions of less than 20 μm in diameter. The complexity of spatial detection of the organelle position is reduced by patterning the cells using a microfluidic chip device. A sliding mode nonlinear controller is developed to enable extraction of organelles, such as the mitochondria and the nucleus, from single cells with high precision. An image processing algorithm is also developed to automatically detect the position of the desired organelle. The effectiveness of the proposed robotic surgery system is demonstrated experimentally with automated extraction of mitochondria and nucleus from human acute promyelocytic leukemia cells and human fibroblast cells. Extraction is followed by biological tests to indicate the functionality of biopsied mitochondria as well as the cell viability after removal of mitochondria. The results presented here have revealed that the proposed approach of automated organelle biopsy on single small cells is feasible.
关键词： mitochondria,single cell manipulation,organelle biopsy,robotic surgery
更新于2025-09-04 15:30:14