Robotic In Situ Measurement of Multiple Intracellular Physical Parameters Based on Three-micropipettes System
Mengya Liu, Jinyu Qiu, Shaojie Fu, Ruimin Li, Yuzhu Liu, Hao Chen, Xin Zhao, Qili Zhao
Abstract
Physical parameters of the intracellular environment such as mass density, intracellular pressure and elasticity have significant effects on the physiological activities of the cell and intracellular operation results. However, the significantly different measurement principles of the above parameters make it a challenging task for in situ measurement of them for the same cell, which significantly limits the study of their comprehensive regulation mechanisms to cell physiological activities and intracellular operation results. For the first time, a robotic in situ measurement system of multiple intracellular physical parameters is proposed based on a self-developed three-micropipettes system in this paper. Using this system, the mass density, elasticity and intracellular pressure of the same cell are measured automatically in sequence, according to a robotic in situ measurement process. Experimental results on sheep oocytes demonstrate an 83.3% measurement success rate at an average speed of 97.75 s/cell. The measurement results of the above three parameters are close to the reported results of individual, while with a significantly shorter operation time than theirs combined in references. Our system lays a solid foundation for the future research on the comprehensive regulation mechanism of these parameters to cell physiological activities and intracellular operation results.
BibTeX
@inproceedings{iros2025_roboticinsitumea,
title = {Robotic In Situ Measurement of Multiple Intracellular Physical Parameters Based on Three-micropipettes System},
author = {Mengya Liu and Jinyu Qiu and Shaojie Fu and Ruimin Li and Yuzhu Liu and Hao Chen and Xin Zhao and Qili Zhao},
booktitle = {IROS 2025},
year = {2025}
}