Achieving Automated Organelle Biopsy on Small Single Cells Using a Cell Surgery Robotic System
A robotic surgery system to achieve automated organelle biopsy of single cells with dimensions of less than 20 µm in diameter is presented. A microfludic device is used to pattern cells in 1D array. A sliding mode nonlinear controller is developed to enable extraction of organelles, such as the mitochondria and the nucleus, from single cells with high precision. An image processing algorithm is also developed to automatically detect the position of the desired organelle. Experiments of automated extraction of mitochondria and nucleus from human acute promyelocytic leukemia cells and human fibroblast cells are performed. The results presented here have revealed that the proposed approach of automated organelle biopsy on single small cells is feasible.