In Situ Autonomous Biomechanical Characterization [chapter]

Mehdi Boukallel, Maxime Girot, Stéphane Régnier
Springer Tracts in Advanced Robotics  
This paper presents a fully automated microrobotic system based on force/vision referenced control designed for cell mechanical characterization. The design of the prototype combines Scanning Probe Microscopy (SPM) techniques with advanced robotics approaches. As a result, accurate and non-destructive mechanical characterization based on soft contact mechanisms are achieved. The in vitro working conditions are supported by the experimental setup so that mechanical characterizations can be
more » ... med in biological environmental requirements as well as in cyclical operating mode during several hours. The design of the different modules which compose the experimental setup are detailed. Mechanical cell characterization experiments under in vitro conditions on human adherent cervix Epithelial Hela cells are presented to demonstrate the viability and effectiveness of the proposed setup. Nowadays robotics and microroboticst echniques playa ni mportantr ole for exploring them echanical cell behaviour. Thea bilityt os tudya ccuratelyt he mechanical behaviour of individual cells is ak ey component in understandingt he elementaryb iologicalf unctions thatv arious biological cellse xhibit. Furthermore,t he individual mechanical cellc haracterization is am ajor step towards the knowledge and understanding the behavior of the complex mechanical tissues. Up to date, several experimental setups have been developed to identify the controlm echanismso ft he cellm echanicalr esponse [1]-[5]. Among these robotics and microrobotics systems, the most promising ones H.I. Christensen (Ed.): European
doi:10.1007/11681120_4 dblp:conf/euros/BoukallelGR06 fatcat:obnfmmgei5b2leqoo74bopcdie