CN110426949A - A kind of unicellular operation micro-nano control method can be used for nucleus extraction - Google Patents

A kind of unicellular operation micro-nano control method can be used for nucleus extraction Download PDF

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Publication number
CN110426949A
CN110426949A CN201910567552.3A CN201910567552A CN110426949A CN 110426949 A CN110426949 A CN 110426949A CN 201910567552 A CN201910567552 A CN 201910567552A CN 110426949 A CN110426949 A CN 110426949A
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China
Prior art keywords
nucleus
control method
unicellular
micro
cell
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CN201910567552.3A
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解明扬
张瀚
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to CN201910567552.3A priority Critical patent/CN110426949A/en
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    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12N—MICROORGANISMS OR ENZYMES; COMPOSITIONS THEREOF; PROPAGATING, PRESERVING, OR MAINTAINING MICROORGANISMS; MUTATION OR GENETIC ENGINEERING; CULTURE MEDIA
    • C12N5/00—Undifferentiated human, animal or plant cells, e.g. cell lines; Tissues; Cultivation or maintenance thereof; Culture media therefor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12N—MICROORGANISMS OR ENZYMES; COMPOSITIONS THEREOF; PROPAGATING, PRESERVING, OR MAINTAINING MICROORGANISMS; MUTATION OR GENETIC ENGINEERING; CULTURE MEDIA
    • C12N2509/00—Methods for the dissociation of cells, e.g. specific use of enzymes
    • C12N2509/10—Mechanical dissociation

Abstract

The present invention relates to a kind of unicellular operation micro-nano control methods that can be used for nucleus extraction, belong to micro-nano robot manipulation and control field.This method comprises the following steps: (1) target cell identifies；(2) target cell attitude angle manipulates；(3) micropin positioning operation；(4) nucleus extracts；(5) nucleus discharges.This method is based on robot assisted optical tweezer for the first time and the automation of micro-pipe platform is realized and extracts nucleus operation, and operation precision reaches 0.1 micron.

Description

A kind of unicellular operation micro-nano control method can be used for nucleus extraction
Technical field
The present invention relates to a kind of unicellular operation micro-nano control methods that can be used for nucleus extraction, belong to micro-nano robot Operation and control field.
Background technique
Since the operation of cell attitude angle is that the basic and important cell that is related to is micro- in many unicellular operation applications The attitude angle control of operating technology, biological cell caused many concerns in recent years.These common unicellular operation application packets Cell infusion is included, (IVF) in vitro fertilization, preimplantation genetic diagnosis (PGD), intracytoplasmic sperm injection (ICSI), And organelle extraction and analysis and diagnosis etc..Many unicellular operation application requirements revolve cell to be operated in three dimensions It goes to suitable posture and carries out subsequent operation.For example, egg mother cell must just be directed to suitable appearance in vitro in fertilization process State is convenient for membrane perforation.During PGD and ICSI, also need to carry out the control of cell attitude angle first, so as to microscope Under the organelle that is able to observe that polar body or to be extracted；Then micropin is placed on and is suitably closely located to target, thus Avoid damage intracellular members.Therefore, cell posture angular orientation manipulation is one very important manipulation technology of unicellular operation.
Summary of the invention
The invention proposes a kind of unicellular operation micro-nano control methods that can be used for nucleus extraction, based on holographic optical tweezer With the unicellular surgical procedure system of micropin, automation is realized cell attitude angle control outside microscope focal plane, is further realized Nucleus extraction operation.
The present invention is to solve its technical problem to adopt the following technical scheme that
A kind of unicellular operation micro-nano control method can be used for nucleus extraction, includes the following steps:
(1) target cell identifies；
(2) target cell attitude angle manipulates；
(3) micropin positioning operation；
(4) nucleus extracts；
(5) nucleus discharges.
Step (2) the target cell attitude angle manipulation is to realize that cell attitude angle is accurately controlled using robust control method System.
The robust control method is realized using Robust adaptive controller.
The Robust adaptive controller are as follows:
Wherein: τ is distance of the optical tweezer relative to microscope x/y plane, and K is the torsion stiffness of optical tweezer；SθFor synovial membrane variable,It is about variableFunction, Angular error, θ be cell as plane outside The angle of rotation, θdIt is desired rotation angle, Λ is the symmetrical matrix of positive definite,For it is expected rotation angle degree first derivative,It isDerivative,It is the estimator of true model parameter δ, KdIt is control gain coefficient.
The parameterIt is updated according to following expression:
Wherein Γ is the gain matrix of positive definite,It is the first derivative of model parameter estimation amount.
Beneficial effects of the present invention are as follows:
1) it is realized for the first time based on robot assisted optical tweezer and the automation of micro-pipe platform and extracts nucleus operation.
2) operation precision reaches 0.1 micron.
3) facilitate the biomedical engineerings applications such as unicellular operation, nuclear transplantation, transgenic engineering.
Detailed description of the invention
Fig. 1 carries out the outer cell rotation process schematic diagram of microscopic iage plane using antithesis optical tweezer；Fig. 1 (a) is at the beginning two The position and posture schematic diagram of a optical tweezer and cell；Fig. 1 (b) is by changing the Relative vertical of two optical tweezers along the z-axis direction Height carries out rotation process schematic diagram；
Fig. 1 (c) and (d) are front view；Fig. 1 (e) and (f) are top view.
Fig. 2 (a) is intracellular characteristic point rotation front-rear position variation two-dimensional top plan view；Fig. 2 (b) is intracellular characteristic point rotation Turn front-rear position variation three-dimensional figure.
Fig. 3 is to extract cell characteristic point flow chart；Fig. 3 (a) is original image；Fig. 3 (b) is gray level image；Fig. 3 (c) is Binary picture；Fig. 3 (d) is image after morphologic closing operations and denoising operation；After Fig. 3 (e) is morphology padding Image；The cell centre and its characteristic point center image that Fig. 3 (f) is detected.
Fig. 4 is that the control of cell attitude angle and nucleus extraction flow chart are carried out using unicellular surgical procedure system.
Fig. 5 is to extract nucleus schematic diagram using the automation of robot assisted glass-micropipe.
Specific embodiment
The invention is described in further details with reference to the accompanying drawing.
1) cell attitude angle accurately controls outside microscope focal plane.It is primarily based on optical tweezer capture cell broad sense kinetics equation Based on, establish the outer cell rotation control dynamics model of microscopic iage plane.
WhereinIt is rotary inertia of the cell under inertial coodinate system；θ is angle of the cell as plane external rotation,WithIt is cell angular velocity of rotation and angular acceleration；K is the torsion stiffness of optical tweezer；drFor viscous drag coefficient, τ is optical tweezer phase For the distance (along z-axis) of microscope x/y plane, to control input quantity.Fig. 1 is carried out outside microscopic iage plane using optical tweezer Cell rotation process schematic diagram.
Based on cell rotary motion kinetic model (1), realize that cell attitude angle accurately controls using robust control method. It is defined as follows synovial membrane variable S firstθ:
Wherein θdIt is desired rotation angle,It is angular error,Λ is the symmetrical of positive definite Matrix,For it is expected rotation angle degree first derivative,It is the first derivative of angular error.
Utilize synovial membrane variable Sθ, equation (1) can further be write as:
Wherein:It is synovial membrane variable SθFirst derivative,It isDerivative,It is about variableLetter Number, δ is system parameter.
The Robust adaptive controller of design are as follows:
WhereinIt is the estimator of true model parameter δ, KdIt is control gain coefficient.ParameterMore according to following expression It is new:
Wherein Γ is the gain matrix of positive definite,It is the first derivative of model parameter estimation amount.
2) intracellular Feature point recognition and extraction.In order to design the controller of view-based access control model feedback, must just obtain in real time The attitude angle of cell calculates using model as shown in Figure 2 and extracts the rotation angle of cell.
Characteristic point is calculated in the coordinate in z-axis direction using following publicity:
Wherein R is the radius of cell, and x is characterized a little the x-axis coordinate value in microscopic iage plane, y and is characterized a little micro- Y-axis coordinate value in imaging plane.
Cell is calculated along the angle of microscopic iage plane external rotation using following formula:
Wherein: P1To rotate preceding characteristic point coordinate, P2For rotation after characteristic point coordinate, | | be Euclidean distance.
It can be seen that from formula (6) and (7), it is important to extract cell characteristic point as the two-dimensional coordinate in plane (x,y).Fig. 3 is to extract cell characteristic point flow chart.
Unicellular surgery systems carry out the control of cell attitude angle and nucleus extraction operating process.It performed the operation for unicellular There is a variety of accurate operation modes and the difficulties depositing and couple in journey, the practical need towards physiology and field of pathology It asks, is integrated with the unicellular operation report control platform of diversification of holographic optical tweezer, micropin, motor platform and micro-fluidic chip.Fig. 4 is whole A unicellular surgery systems independently realize the flow chart of nucleus extraction.
Fig. 5 is to extract nucleus schematic diagram using the automation of robot assisted glass-micropipe.

Claims (5)

1. a kind of unicellular operation micro-nano control method that can be used for nucleus extraction, which comprises the steps of:
(1) target cell identifies；
(2) target cell attitude angle manipulates；
(3) micropin positioning operation；
(4) nucleus extracts；
(5) nucleus discharges.
2. a kind of unicellular operation micro-nano control method that can be used for nucleus extraction according to claim 1, feature It is, step (2) the target cell attitude angle manipulation is to realize that cell attitude angle accurately controls using robust control method.
3. a kind of unicellular operation micro-nano control method that can be used for nucleus extraction according to claim 2, feature It is, the robust control method is realized using Robust adaptive controller.
4. a kind of unicellular operation micro-nano control method that can be used for nucleus extraction according to claim 3, feature It is, the Robust adaptive controller are as follows:
Wherein: τ is distance of the optical tweezer relative to microscope x/y plane, and K is the torsion stiffness of optical tweezer；SθFor synovial membrane variable,It is about variableFunction, It is angular error, θ is cell as plane outward turning The angle turned, θdIt is desired rotation angle, Λ is the symmetrical matrix of positive definite,For it is expected rotation angle degree first derivative, It isDerivative,It is the estimator of true model parameter δ, KdIt is control gain coefficient.
5. a kind of unicellular operation micro-nano control method that can be used for nucleus extraction according to claim 4, feature It is, the parameterIt is updated according to following expression:
Wherein Γ is the gain matrix of positive definite,It is the first derivative of model parameter estimation amount.
CN201910567552.3A 2019-06-27 2019-06-27 A kind of unicellular operation micro-nano control method can be used for nucleus extraction Pending CN110426949A (en)

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CN1483817A (en) * 2002-09-18 2004-03-24 李建远 Method for cloning human embryonic stem cell without animal component
CN101982780A (en) * 2010-09-03 2011-03-02 长春理工大学 Technique and system for real-time detecting, controlling and diagnosing cells of robot micro nanometer mixed living body
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