Reality-Based Real-Time Cell Indentation Simulator

Hamid Ladjal (1) , Jean-Luc Hanus (2) , Anand Pillarisetti (3) , Carol Keefer (4) , Antoine Ferreira (1) , Jaydev P.Desai (5)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
2 F2ME
3 MEAM - Department of Mechanical Engineering and Applied Mechanics [University of Pennsylvania]
4 DAAS - Department of Animal and Avian Sciences
5 RCISR - Robotics Center, Institute for Systems Research

Training simulators that provide realistic visual and haptic feedback during cell indentation tasks are currently inves tigated. Complex cell geometry inherent to biological cells and intricate mechanical properties drive the need for precise mechan ical and numerical modeling to assure accurate cell deformation and force calculations. Advances in alternative finite-element for mulation, such as the mass-tensor approach, have reached a state, where they are applicable to model soft-cell deformation in real time. The geometrical characteristics and the mechanical proper ties of different cells are determined with atomic force microscopy (AFM) indentation. A real-time, haptics-enabled simulator for cell centered indentation has been developed, which utilizes the AFM data (mechanical and geometrical properties of embryonic stem cells) to accurately replicate the indentation task and predict the cell deformation during indentation in real time. This tool can be used as a mechanical marker to characterize the biological state of the cell. The operator is able to feel the change in the stiff ness during cell deformation between fixed and live cells in real time. A comparative study with finite-element simulations using a commercial software and the experimental data demonstrate the effectiveness of the proposed physically based model.

Domaines: Automatique / Robotique

Hamid Ladjal, Jean-Luc Hanus, Anand Pillarisetti, Carol Keefer, Antoine Ferreira, et al.. Reality-Based Real-Time Cell Indentation Simulator. IEEE/ASME Transactions on Mechatronics, 2012, 17 (2), pp.239 - 250. ⟨10.1109/TMECH.2010.2091010⟩. ⟨hal-00647908⟩