Multilevel-based topology design and cell patterning with robotically controlled optical Tweezers

This paper presents the use of robotically controlled optical tweezers to move a group of biological cells into a desired region for required patterning. A multilevel-based topology is designed to present different cell patterning in the desired region. A potential function-based controller is developed to control the cells in forming the required patterning as well as achieving rotation and scaling of the desired patterning. A pattern regulatory control force is additionally designed and added to the cell patterning controller for particularly addressing the local minima problem that causes the cells to stop at the undesired positions. The stability of the controlled system is analyzed using a direct Lyapunov approach. Experiments are performed with a cell manipulation system equipped with holographic optical tweezers to demonstrate the effectiveness of the proposed approach.