Robot aided optical tweezers and microneedle assisted minimally invasive single cell mitochondria biopsy system.

Single cell surgery, which involves removing or manipulating subcellular organelles from single cells, is increasingly being utilized in precision medicine to investigate illnesses and their causes. This article describes an optical tweezers (OTs)-assisted mitochondria biopsy method for performing minimally invasive automated organelle biopsy of single cells. A microfluidic chip device is utilized to hold a single cell, and OTs is used to trap and move the mitochondria to the edge of the cell membrane automatically, followed by automatic mitochondria biopsy with a bevelled microneedle. An image processing technique is also being developed to identify the location of the mitochondria and cell. To achieve precise and robust manipulation of organelles within the viscous cytoplasmic environment, a hybrid PID-adaptive sliding mode controller is implemented, ensuring accurate positioning of mitochondria for biopsy. The efficacy of the proposed robotic surgical system is proven experimentally using automated mitochondria biopsy from Hela cancer cells. Following mitochondrial extraction, JC-1 staining and cell viability assays were performed to evaluate immediate mitochondrial integrity as well as biopsied cell viability. The experimental findings indicate that the proposed OT aided mitochondria biopsy system outperforms the current mitochondria biopsy techniques in terms of cell viability and biopsy efficiency.