Image Guided Autonomous Optical Manipulation of Cell Groups

Abstract:

Optical tweezers (OT) have emerged as very useful tools for manipulating cells. Biologists use them routinely for doing scientific experiments and have made many new important discoveries by utilizing them. By integrating perception, planning, and control, we have turned optical tweezers into robots for precise manipulation of microscale objects. This makes them useful tool for conducting sophisticated biology experiments that require concurrent manipulation of multiple cells. This poster presentation will describe a new manipulation approach for preventing direct exposure of cells to lasers. Optically trapped inert microspheres are used for manipulating cells either by gripping or pushing. A planning and control approach will be described to automate this new type of manipulation. The planning algorithm takes the motion constraints of the gripper or pushing formation into account to minimize the manipulation time. Two different types of cells (Saccharomyces cerevisiae and Dictyostelium discoideum) are manipulated to demonstrate the effectiveness of the new manipulation approach. This poster presentation will also focus on integrating microfluidics with optical tweezers to provide precise position control as well as high throughput. Microfluidic devices are well suited for biological study since they can manipulate large number of objects simultaneously. An automated, physics-aware, planning approach will be presented for fast transport of cells in optical tweezers assisted microfluidic chambers. The effectiveness of the planning algorithm will be demonstrated using both simulation and physical experiments in microfluidic-optical tweezers hybrid manipulation setup.

  • CPS Domains
  • Medical Devices
  • Real-Time Coordination
  • Health Care
  • Robotics
  • CPS Technologies
  • Foundations
  • National CPS PI Meeting 2013
  • 2013
  • Abstract
  • Poster
  • Academia
Submitted by Sagar Chowdhury on