Automatic trajectory control of single cells using dielectrophoresis based on visual feedback

Abstract

This paper deals with the automatic control of the trajectory of T-lymphocytes using dielectrophoretic (DEP) actuation. Dielectrophoresis is a physical phenomenon induced by a non-uniform electric field enabling application of a force on a dielectric object. In most of the cases, it is used in a passive way. The electric field is in a steady state and the force applied on the cells depends on the cell's characteristics and position inside the channel. These systems are limited as cells with similar characteristics will undergo the same forces. To overcome this issue, active devices where the electric field changes over time were developed. However, the voltages that should be applied to generate the desired electric field are mostly computed offline using finite element methods. Thus, there is a low number of devices using automatic approaches with dielectrophoretic actuation where the electric field is computed and updated in real time based on the current position of the cell. We propose here an experimental bench used to study the automatic trajectory control of cells by dielectrophoresis. The computation of the dielectrophoretic force is done online with a model based on the Fourier series depending on the cell's characteristics, position and electric field. This model allows the use of a controller based on visual feedback running at 120 Hz to control the position of cells inside a microfluidic chip. As cells are sensitive to the electric field, the controller limits the norm of the electric field while maximizing the gradient to maximize the DEP force. Experiments have been performed and T-lymphocytes were successfully steered along several types of trajectories at a speed of five times their size per second. The mean error along those trajectories is below 2 μm. The viability of the cells has been checked after the experiments and confirms that this active DEP actuation does not harm the cells.