显微注射中细胞位姿调节技术及实验研究

Mechanical Analysis and Experimental Research on Adjusting Technology for Cellular Position and Attitude in Microinjection

显微注射中,细胞位置和姿态对实验效果具有重要影响,但现有人工调节技术存在精度差和效率低等不足。基于机械运动和流场流动的耦合控制,提出了自动化的细胞位姿调节技术。以吸持针为末端执行器,研制了细胞位姿调节系统。以细胞培养液为控制介质,分析了微尺度下的细胞位姿调节技术操作机理,细胞姿态的3个自由度参量由3个正交平面内的翻转运动调节。以小鼠卵母细胞为实验材料,进行了原理性实验研究。实验结果表明,细胞位姿调节技术满足细胞自动定位要求,可实现6个自由度的精确定位。

In microinjection,the experimental result is greatly affected by the position and attitude of injected cell. Nowadays, the low precision and efficiency of cell position and attitude is caused by manual manipulation. Based on coupling control of mechanical motion and liquid flow,an automatable adjusting technology for cell position and attitude was proposed. With end--actuator of microholding pipette, the cell position and attitude adjusting system was developed. On microscale, the manipulation mechanism of adjusting technology for cell position and attitude was analyzed with the control medium of cell culture. In three orthogonal planes, the 3--D attitude parameter of cell was controlled by rotating or revolving motion. In the microinjection experiment of mouse ooeyte, the principle of cell position and attitude adjusting technology was tested. The adjusting technology of cell position and attitude meets the demands of automatic positioning. 6 degree--of--freedom precise cell positioning is achieved.