Automated control of micromanipulators - A tool for BioMEMS based cell culture

Abstract

The progress in regenerative medicine in combination with the trend towards miniaturization leads to an increased usage of bio-microsystems for cell culturing. Similar processes can be found in the field of biomaterial research. New scaffold materials and scaffold fabrication technologies give a possibility to create biocompatible biodegradable 3-dimensional artificial extra cellular matrices to improve implant materials designed by tissue engineering. For small and delicate technical and biological structures (hydrogels for scaffolds, cells) a high resolution and precise manipulation system is needed. A semi-open BioMEMS structure offers access to cultivated cells and to the scaffold structures. The bio-microsystem consists of a structured silicon substrate bonded to a glass cover with orifices. Polymer tube adapters, directly bonded to the silicon via nanostructured surfaces, connect it to a perfusion system for the long term cultivation of mammalian or human chondrocytes or fibroblasts. Externally fabricated scaffolds are integrated into the cultivation chambers. In this paper we present a piezo driven micromanipulator with automated control. Several tools such as grippers and needles can be fixed on the manipulators. The manipulation unit is completed by an observation unit to monitor the processes. Image processing software provides parameters for the control algorithm by detecting the position of the manipulation devices. So, a positioning of the tools is achieved in 2D inside the cultivation chamber of the microsystem. It is possible to influence technical and biological structures by deliberate mechanical manipulation.