In Vivo Manipulation of Single Biological Cells With an Optical Tweezers-Based Manipulator and a Disturbance Compensation Controller

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalNot applicablepeer-review

10 Scopus Citations
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Author(s)

  • Chichi Liu
  • Shuxun Chen
  • Yong Wang

Detail(s)

Original languageEnglish
Article number7976371
Pages (from-to)1200-1212
Journal / PublicationIEEE Transactions on Robotics
Volume33
Issue number5
Publication statusPublished - Oct 2017

Abstract

In vivo manipulation of biological cells has attracted considerable attention in recent years. This process is particularly useful for precision medicine, such as cancer target therapy. Robotics technology is becoming necessary to stably and effectively manipulate and control single target cells in a complex in vivo environment. This paper presents a robot-aided optical tweezers-based manipulation technology that serves a function in the transport of single biological cells in vivo. An enhanced disturbance compensation controller is developed to minimize the effect of fluids (e.g., blood flow) on the cell. The method has exhibited advantages of flexibility in adjusting cell tracking trajectory online and the capability to minimize steady-state error and eliminate overshoot. Simulations and experiments of tracking single target cells in living zebrafish embryos have demonstrated the effectiveness of the proposed approach in a dynamic in vivo environment.

Research Area(s)

  • Automatic control, disturbance compensation controller, in vivo cell transportation, optical tweezers

Citation Format(s)

In Vivo Manipulation of Single Biological Cells With an Optical Tweezers-Based Manipulator and a Disturbance Compensation Controller. / Li, Xiaojian; Liu, Chichi; Chen, Shuxun; Wang, Yong; Cheng, Shuk Han; Sun, Dong.

In: IEEE Transactions on Robotics, Vol. 33, No. 5, 7976371, 10.2017, p. 1200-1212.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalNot applicablepeer-review