Force Characterization and Motion Planning in Automated Cell Manipulation by Optical Tweezers 光鑷在.pdfVIP

CITY UNIVERSITY OF HONGKONG 香港城市大學 Force Characterization and Motion Planning in Automated Cell Manipulation by Optical Tweezers 光鑷在生物細胞自動化操作中的力學標定 和運動規劃 Submitted to Department of Manufacturing Engineering and Engineering Management 制造工程與工程管理學系 in Fulfillment of the Requirements for the Degree of Doctor of Philosophy 哲學博士學位 by Wu Yanhua 吳燕華 June 2011 二零一一年六月 Abstract i Abstract Abstract AAbbssttrraacctt Optical tweezers, which are based on the transfer of photon momentum, can trap and move microscale and nanoscale particles without physical contact. Rapid and precise transportation of live cells can benefit cell microsurgery, rare cell isolation, tissue engineering and cell-to-cell interactions. Increasing demands for both accuracy and efficiency in biological cell manipulation highlight the need for automation with robotics technology. Understanding the forces exerted on live cells is essential to biomechanical characterization and cell manipulation. However, traditional numerical force measurement assumes live cells to be ideal objects, ignoring their complicated inner structures and rough membranes. Furthermore, little reported research has specifically considered the synergy of dynamic analysis in motion planning during automat