This video demonstrates an automated micromanipulation technique using which a cell is indirectly pushed by a silica bead actuated by an optical trap. The actuated bead pushes on an intermediate bead that is in direct contact with the cell, causing it to move. This manipulation scheme ensures that the cell does not come in proximity of a laser spot and thereby minimizes photo-damage. The micromanipulation planning strategy is based on motion maneuvers, namely, push, align, and backup. The developed feedback planner combines these motion maneuvers depending upon the ensemble configuration (made up of the optically actuated bead, intermediate bead, and the cell). We have developed a simplified motion model to simulate indirect pushing operation and identified parameters of measurement noise using physical experiments. We have developed an optimization based approach for automated tuning of parameters of the planner to enhance its robustness.
Post time: Jul-08-2017