Robotic cell injection force control based on static PVDF sensor and Fuzzy-PID control method

Abstract

Cell injection procedure is very essential in the field of molecular biology, and the injection force affects the success rates very much. However, conventional methods of manipulating individual biological cell failed to make use of the injection force information. This article is intended to design a static micro-force sensor with a simple structure which employs the piezoelectric material PVDF (polyvinylidene fluoride) film as its sensing element to detect the micro-force during cells injection and to develop a close-loop control method to regulate the whole fore-tracking system. A Fuzzy-PID and an ordinary PD feedback control method are employed separately in this article to regulate the micro-force tracking system which is used to carry out automatic living-cell injection tests. Experimental results with different control methods are achieved. And the Fuzzy-PID and PVDF sensor based force control method is validated.

Recent advances in critical nodes of embryo engineering technology

“…The results of this study can be used to measure forces during microinjection of biological cells, such as mouse oocytes/embryos, and are particularly suitable for situations requiring force feedback. Sun et al 96 developed a static PVDF microforce sensor based on the inverse model method to detect the cell injection force and developed a fuzzy-PID feedback-based closed-loop control method to control the cell injection force. Experiments show that the system can track and control the injection force in cell micromanipulation, but the accuracy and stability need to be further improved.…”