A Simple Weighing Method for Spherical Cells.
This article presents a simple weighing method for spherical cells to avoid the high cost of correlated devices in traditional cell-weighing methods. In this method, the constant falling speeds of the spherical objects in liquid are derived to estimate their masses online. Using this method, the detected density of one type of microbead is highly in accordance with the known value. This method is proved to be capable of detecting tiny variations of the cell mass (at least within 1% of the cell mass). Finally, the proposed method is applied in nuclear transplantation operations, and, for the first time, the proper amount of the removed cytoplasm in porcine enucleation is estimated. The proposed method is able to weigh cells with a success rate of 92% at an average speed of 22 s/cell, and it can be performed on traditional microoperation systems, which makes it easily applicable in biological applications.
Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Australia.
Qili
Q
Zhao
Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Australia.
Bijan
B
Shirinzadeh
Biotechnology Laboratory of Animal Reproduction, Tianjin Animal Sciences, Tianjin, China.
Maosheng
M
Cui
Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China.
Mingzhu
M
Sun
Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China zhaoxin@nankai.edu.cn.
Xin
X
Zhao
D000465:Algorithms; D000818:Animals; D003584:Cytological Techniques / Q000295:instrumentation* / Q000379:methods*; D003593:Cytoplasm / Q000502:physiology; D004867:Equipment Design; D008846:Micromanipulation; D008863:Microspheres; D008954:Models, Biological; D053652:Nuclear Transfer Techniques; D009865:Oocytes / Q000166:cytology* / Q000502:physiology*; D012371:Robotics / Q000295:instrumentation / Q000379:methods; D013552:Swine
cell operation; depth information; mass detection of cells; microoperation system; nuclear transplantation; template matching