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Showing content from https://pubmed.ncbi.nlm.nih.gov/33137746/ below:

Intracellular manipulation and measurement with multipole magnetic tweezers

. 2019 Mar 13;4(28):eaav6180. doi: 10.1126/scirobotics.aav6180. Intracellular manipulation and measurement with multipole magnetic tweezers X Wang^{1 2}, C Ho¹, Y Tsatskis³, J Law¹, Z Zhang¹, M Zhu^{1 4}, C Dai¹, F Wang⁵, M Tan⁶, S Hopyan^{4 7}, H McNeill^{3 8}, Y Sun^{9 2 10}

Affiliations

¹ Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada.
² Institute of Biomaterials and Biomedical Engineering, Toronto, Ontario M5S 3G9, Canada.
³ Lunenfeld-Tanenbaum Research Institute, Mt. Sinai Hospital, Toronto, Ontario M5G 1X5, Canada.
⁴ Program in Developmental and Stem Cell Biology, The Hospital for Sick Children, Toronto, Ontario M5G 1X8, Canada.
⁵ HRG Central Institute of Robotics, HIT Robot Group, Harbin, Heilongjiang 150001, China.
⁶ Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.
⁷ Division of Orthopaedic Surgery, Hospital for Sick Children and University of Toronto, Toronto, Ontario M5G 1X8, Canada.
⁸ Department of Developmental Biology, Washington University School of Medicine, St. Louis, MO 63108, USA.
⁹ Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada. sun@mie.utoronto.ca.
¹⁰ Department of Electrical and Computer Engineering, University of Toronto, Toronto, Ontario M5S 3G4, Canada.

PMID: 33137746
DOI: 10.1126/scirobotics.aav6180

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Intracellular manipulation and measurement with multipole magnetic tweezers

X Wang et al. Sci Robot. 2019.

. 2019 Mar 13;4(28):eaav6180. doi: 10.1126/scirobotics.aav6180. Authors X Wang^{1 2}, C Ho¹, Y Tsatskis³, J Law¹, Z Zhang¹, M Zhu^{1 4}, C Dai¹, F Wang⁵, M Tan⁶, S Hopyan^{4 7}, H McNeill^{3 8}, Y Sun^{9 2 10} Affiliations

¹ Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada.
² Institute of Biomaterials and Biomedical Engineering, Toronto, Ontario M5S 3G9, Canada.
³ Lunenfeld-Tanenbaum Research Institute, Mt. Sinai Hospital, Toronto, Ontario M5G 1X5, Canada.
⁴ Program in Developmental and Stem Cell Biology, The Hospital for Sick Children, Toronto, Ontario M5G 1X8, Canada.
⁵ HRG Central Institute of Robotics, HIT Robot Group, Harbin, Heilongjiang 150001, China.
⁶ Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.
⁷ Division of Orthopaedic Surgery, Hospital for Sick Children and University of Toronto, Toronto, Ontario M5G 1X8, Canada.
⁸ Department of Developmental Biology, Washington University School of Medicine, St. Louis, MO 63108, USA.
⁹ Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada. sun@mie.utoronto.ca.
¹⁰ Department of Electrical and Computer Engineering, University of Toronto, Toronto, Ontario M5S 3G4, Canada.

PMID: 33137746
DOI: 10.1126/scirobotics.aav6180

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Abstract

The capability to directly interrogate intracellular structures inside a single cell for measurement and manipulation is important for understanding subcellular and suborganelle activities, diagnosing diseases, and developing new therapeutic approaches. Compared with measurements of single cells, physical measurement and manipulation of subcellular structures and organelles remain underexplored. To improve intracellular physical measurement and manipulation, we have developed a multipole magnetic tweezers system for micromanipulation involving submicrometer position control and piconewton force control of a submicrometer magnetic bead inside a single cell for measurement in different locations (spatial) and different time points (temporal). The bead was three-dimensionally positioned in the cell using a generalized predictive controller that addresses the control challenge caused by the low bandwidth of visual feedback from high-resolution confocal imaging. The average positioning error was quantified to be 0.4 μm, slightly larger than the Brownian motion-imposed constraint (0.31 μm). The system is also capable of applying a force up to 60 pN with a resolution of 4 pN for a period of time longer than 30 min. The measurement results revealed that significantly higher stiffness exists in the nucleus' major axis than in the minor axis. This stiffness polarity is likely attributed to the aligned actin filament. We also showed that the nucleus stiffens upon the application of an intracellularly applied force, which can be attributed to the response of structural protein lamin A/C and the intracellular stress fiber actin filaments.

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