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The International Journal of Robotics Research
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Injection Guidance System for Cellular Microinjections

Pasi Kallio

Institute of Automation and Control, Tampere University of Technology, PL 692, 33101 Tampere, Finland pasi.kallio{at}tut.fi

Tuukka Ritala

Institute of Automation and Control, Tampere University of Technology, PL 692, 33101 Tampere, Finland pasi.kallio{at}tut.fi

Mikko Lukkari

Institute of Automation and Control, Tampere University of Technology, PL 692, 33101 Tampere, Finland pasi.kallio{at}tut.fi

Seppo Kuikka

Institute of Automation and Control, Tampere University of Technology, PL 692, 33101 Tampere, Finland pasi.kallio{at}tut.fi

In this paper we present a novel injection guidance system that assists an operator in the microinjection of living adherent cells. The system includes a micromanipulator, an injection system, an impedance measurement device and control software. The impedance measurement system detects changes in the resistance of an injection capillary during cell injections. From the measurement signal, the software determines parameters that can be used to detect several injection events such as cell—capillary contact, capillary breakage and capillary clogging, which are all unavailable in the current microinjection systems. Real cell injection experiments indicate that injection success rates can be significantly increased: from 30—40% without the system to 65% with the system.

Key Words: micro/nano robots • biomicromanipulation • intracellular microinjection • injection guidance • adherent cells • automation • real-time software

The International Journal of Robotics Research, Vol. 26, No. 11-12, 1303-1313 (2007)
DOI: 10.1177/0278364907084985
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 The International Journal of Robotics ResearchHome page
Xinyu Liu, K. Kim, Yong Zhang, and Yu Sun
Nanonewton Force Sensing and Control in Microrobotic Cell Manipulation
The International Journal of Robotics Research, August 1, 2009; 28(8): 1065 - 1076.
[Abstract] [PDF]