Robotic Cell Rotation Based on Optimal Poking Direction

It is essential to have three-dimensional orientation of cells under a microscope for biological manipulation. Conventional manual cell manipulation is highly dependent on the operator’s experience. It has some problems of low repeatability, low efficiency, and contamination. The current popular robotic method uses an injection micropipette to rotate cells. However, the optimal poking direction of the injection micropipette has not been established. In this paper, a strategy of robotic cell rotation based on optimal poking direction is proposed to move the specific structure of the cell to the desired orientation. First, analysis of the force applied to the cell during rotation was done to find the optimal poking direction, where we had the biggest moment of force. Then, the moving trajectory of the injection micropipette was designed to exert rotation force based on optimal poking direction. Finally, the strategy was applied to oocyte rotation in nuclear transfer. Experimental results show that the average completion time was up to 23.6 s and the success rate was 93.3% when the moving speed of the injection micropipette was 100 μm/s, which demonstrates that our strategy could overcome slippage effectively and with high efficiency.