Robotic End Effector with Impedance Tip for Single Cell Dispensing
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Solution Overview
Problem
Current three-dimensional printing technologies lack the capability to accurately dispense single cells or precise amounts of biological materials onto substrates for biological assays, and there is a need for verification of deposition for quality control purposes.
Innovation Solution
An end effector assembly with an impedance-measuring tip and a tip extension, coupled to a robotic arm, which includes an impedance-measuring sensor to detect changes in fluid impedance and a camera to visually confirm the presence of cells, allowing for precise control and verification of cell dispensing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional three-dimensional printing dispensing tools are used, then the dispensing process is simple, but the precision of dispensing single cells or precise amounts of biological materials cannot be achieved
Solution Approach 1:
The dispensing tool is segmented into functionally distinct components: an impedance-measuring tip for cell detection and a tip extension for visual verification. This segmentation allows each component to specialize in a specific function, achieving high dispensing precision through coordinated operation of multiple specialized elements rather than a single complex device.
Solution Approach 2:
An intermediary measurement and verification system is introduced between the dispensing action and the substrate. The impedance-measuring sensor and camera act as intermediaries that detect and verify cell presence in the dispensing volume before actual deposition, enabling precise control without requiring direct manipulation complexity.
2Reliability
If conventional dispensing tools are used, then the operation is simple, but the capability for verifying deposition for quality control purposes is lacking
Solution Approach 1:
A feedback mechanism is implemented where the impedance-measuring sensor and camera continuously monitor the dispensing volume for cell presence and provide real-time verification. This feedback loop enables quality control by confirming successful cell deposition before the process concludes, enhancing reliability without requiring complex post-processing verification systems.
Solution Approach 2:
Verification actions are performed preliminarily, before the dispensing process is complete. The impedance sensor and camera detect and verify cell presence in the dispensing volume prior to final deposition onto the substrate, allowing quality control to be built into the dispensing process itself rather than requiring separate verification steps.
3Measurement precision
If conventional dispensing tools are used, then the device structure is simple, but the ability to measure and verify cell presence is insufficient
Solution Approach 1:
Mechanical cell detection methods are replaced with electrical impedance measurement and optical imaging. The impedance-measuring sensor detects cell presence through electrical properties, and the camera provides visual confirmation, substituting mechanical manipulation and direct observation with more precise electrical and optical measurement systems.
Solution Approach 2:
The tip assembly serves multiple functions: it dispenses biological materials, measures impedance to detect cell presence, and allows visual verification through the camera. This multi-functionality integrates measurement and verification capabilities into the existing dispensing structure, achieving enhanced detection precision without proportionally increasing overall device complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate dispensing of single cells or precise amounts of biological materials onto substrates, ensuring quality control by confirming the number and type of cells through impedance measurement and visual imaging, enhancing the reliability of biological assays.
Implementation Method 1
The impedance-measuring tip includes an impedance-measuring sensor configured to output a signal indicative of a change in impedance of the fluid advanced out of the first dispensing outlet. The change in impedance is indicative of cells or other objects passing from the first volume out of the first dispensing outlet.
Implementation Method 2
A camera is coupled to the tool body and configured to capture image data of the second volume. The image data captures at least a visual representation of the cells or other objects in the second volume.
Data Source
AI summary
End effector assemblies according to the present disclosure include a tool body mounted to a robotic arm and an impedance-measuring tip coupled to the tool body. The impedance-measuring tip defines a first volume to receive a fluid and a first dispensing outlet for dispensing the fluid. The impedance-measuring tip includes an impedance-measuring sensor configured to output a signal indicative of a change in impedance. A tip extension is fluidically coupled to the impedance-measuring tip that defines a second volume for receiving the fluid. A camera is coupled to the tool body and configured to capture image data of the second volume that captures at least a visual representation of a number of cells or other objects in the second volume. A pump is coupled to the impedance-measuring tip to dispense the fluid from the first volume into the second volume and from the second volume into a receptacle.