阅读说明：本技术 一种光电镊操控系统及使用其操控可操控对象的方法 (Photoelectric forceps control system and method for controlling controllable object by using same ) 是由 冯林 梁树璋 甘淳元 曹宇晴 于 2021-08-24 设计创作，主要内容包括：本发明公开了一种光电镊操控系统及使用其操控可操控对象的方法,该光电镊操控系统不仅能通过光电微流体芯片产生的介电泳力来操控、捕获、搬运可操控对象,还进一步设置有远程控制系统,使得操作员无需近距离接触实验装置,仅在远程控制系统的移动终端通过用户界面即可实现对光学图案的设计、信号的发送、可操控对象的操控以及接收反馈图像等实验操作,有效打破实验人员和场地的局限性,使得远程实验成为可能,保护实验环境不被污染,能为各类实验人员提供更多便利实验。(The invention discloses a photoelectric tweezers operation and control system and a method for operating and controlling an operable and controlled object by using the same, wherein the photoelectric tweezers operation and control system not only can operate, capture and carry the operable and controlled object through dielectrophoresis force generated by a photoelectric microfluid chip, but also is further provided with a remote control system, so that an operator does not need to contact an experimental device at a short distance, and can realize experimental operations such as design of an optical pattern, sending of a signal, operation and control of the operable and controlled object, receiving of a feedback image and the like only through a user interface at a mobile terminal of the remote control system, thereby effectively breaking the limitations of experimenters and fields, enabling remote experiments to become possible, protecting the experimental environment from being polluted, and providing more convenient experiments for various experimenters.)

1. The photoelectric tweezers operation system is characterized by comprising a projector (1), a beam shrinking lens group, a first beam splitter (4), an objective lens (5), a photoelectric microfluidic chip (6), a second beam splitter (7), a third convex lens (8), an image sensor (9), a fourth convex lens (10), a light source (11), a control unit and a function generator (14); wherein the content of the first and second substances,

the optical pattern generated by the projector (1) can be projected to the photoelectric micro-fluid chip (6) through the beam reduction lens group, the first beam splitter (4) and the objective lens (5);

the function generator (14) is configured to be able to apply a voltage signal to the optoelectronic microfluidic chip (6) such that the optoelectronic microfluidic chip (6) generates dielectrophoretic forces applicable to the steerable object under the effect of the optical pattern;

the light generated by the light source (11) can be projected to the photoelectric micro-fluid chip (6) through the fourth convex lens (10), the second beam splitter (7), the first beam splitter (4) and the objective lens (5),

the light of the optoelectronic microfluidic chip (6) can reach the image sensor (9) through the objective lens (5), the first beam splitter (4), the second beam splitter (7) and the third convex lens (8), so that the image sensor (9) generates an image about the steerable object;

the control unit is configured to be able to communicate with the projector (1) and the image sensor (9) to transmit data and/or control signals, respectively.

2. The optoelectronic forceps manipulation system of claim 1, further comprising a cloud-based remote control system comprising the control unit, a remote terminal, a cloud server (16); the control unit, the remote terminal and the cloud server (16) can realize pairwise interactive communication based on a cloud network of a WebSocket protocol to transmit data and/or control signals.

3. The optoelectronic tweezers manipulation system according to claim 2, wherein said control unit and/or said remote terminal is configured to enable real time monitoring of said image sensor (9), design and control of said optical pattern generated by said projector (1), post-processing of the obtained image, recognition result display for said optoelectronic tweezers manipulation system; the control unit and the remote terminal are both provided with user interfaces for human-computer interaction, and based on the user interfaces, an operator controls the photoelectric forceps operation system through the control unit and/or the remote terminal.

4. The system for operating the photoelectric tweezers according to any one of claims 1 to 3, wherein the projector (1) is a projector comprising a DMD chip; the beam reduction lens group comprises a first convex lens (2) and a second convex lens (3), and the optical pattern generated by the projector (1) can pass through the first convex lens (2) and the second convex lens (3) in sequence; the first beam splitter (4) is a PBS dichroic mirror; the image sensor (9) is a CCD camera; the light source (11) is an LED light source.

5. The system for manipulation of optical tweezers according to any one of claims 1 to 4, wherein the manipulable objects are particles and/or cells, and the manipulable objects are spherical, rod-like or spiral in shape.

6. The system for controlling photoelectric forceps according to any one of claims 1 to 5, wherein the controllable object is spherical, rod-shaped or spiral in shape.

7. A method of manipulating a steerable object using an electro-optical tweezers manipulation system according to any of the claims 1-6, the method comprising:

-a step of placing said manipulatable object on said optoelectronic microfluidic chip (6);

a step of applying a voltage signal to the optoelectric microfluidic chip (6) by the function generator (14);

a step of generating an optical pattern by means of said projector (1) and acting on said optoelectronic microfluidic chip (6) through this optical pattern to generate dielectrophoretic forces applicable to said manipulable object;

further comprising the step of simultaneously steering one or more of said steerable objects by projecting one or more spots.

8. A method of manipulating a steerable object using an electro-optical tweezers manipulation system according to any of the claims 1-6, the method comprising:

a step of placing a plurality of said manipulatable objects on said optoelectronic microfluidic chip (6);

a step of adhering a plurality of said manipulatable objects placed on said optoelectronic microfluidic chip (6) on large-sized particles to form a stack of adhered particles;

a step of applying a voltage signal to the optoelectric microfluidic chip (6) by the function generator (14);

a step of generating an optical pattern by means of said projector (1) and acting on said optoelectronic microfluidic chip (6) through this optical pattern to generate dielectrophoretic forces applicable to said stack of adherent particles;

the particle adhesion ratio of the adhered particle mass is 1: 2.

9. the method according to any one of claims 7-8, wherein the optoelectronic forceps manipulation system comprises a cloud-based remote control system comprising the control unit, a portable terminal (13), a cloud server (16); wherein the control unit and the portable terminal (13) are both provided with user interfaces for human-computer interaction, and the method further comprises the step that an operator controls the photoelectric forceps operation system through the control unit and/or the portable terminal (13) based on the user interfaces.

Technical Field

The invention belongs to the technical field of optical microscopic imaging and optical control, and particularly relates to a photoelectric forceps control system and a method for controlling a controllable object by using the same.

Background

The optoelectronic tweezers, also called optical induced dielectrophoresis (OET), can use small power to manipulate cells and micro-nano particles in parallel, and are currently applied to various micro-nano manufacturing and biological applications. For example, OET-based micro-robots have been validated for isolation of single cells for clonal amplification and RNA sequencing (Shuailong, Z et al (2019), Proceedings of the National Academy of sciences, 116(30), 14823-14828). OET was also used to analyse the relative hardness of red blood cells (blood, s.l et al (2012) Proceedings of Spie the International Society for Optical Engineering, 8458(7), 27) and conditions affecting the cell membranes of e.coli (a.mishra et al (2016) Lab on a Chip, 16(6), 10.1039). In the fields of energy storage, catalysis and complex electronic devices, the photoelectric tweezers can also be Applied to manufacture microelectronic devices with excellent performance, such as batteries (Yang, W et al (2017) Small, 13(5), 1602769), graphene assemblies (Lim, M et al (2018) Applied Physics Letters, 113(3), 031106) and three-dimensional hydrogel microstructures of molybdenum disulfide thin film transistors (Meng (2017) Acs Applied Materials & Interfaces, 9, 8361 and 8370.).

The photoelectric tweezers system is different from a fixed electrode structure prepared in advance by dielectrophoresis control, and the programmable optical pattern projection enables the photoelectric tweezers system to have great flexibility, and meanwhile, the photoelectric tweezers system can generate required control force by using smaller optical power, and is a micro-control technology with good application prospect.

However, in the currently used optical tweezers system, low manipulation flux is still a problem to be solved urgently, and mass manipulation of a plurality of cells is still a technical difficulty. Secondly, the wireless remote control of the photoelectric tweezers system can reduce the biological pollution of the experimental environment, and the possibility of the remote control system is not researched at present. In a microfluidic chip, under the action of an optical induction electric field, the photoelectric tweezers system shows an electrodynamic mechanism, wherein micro-nano particles are polarized by the electric field and have different dielectric properties. In conventional applications of the optical tweezers technique, the target particles are typically manipulated with either positive or negative dielectrophoretic forces alone, which limits the applicability of the technique in other studies.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a system for controlling photoelectric tweezers, wherein an operator can remotely control the system, so as to reduce the pollution of the experimental environment and improve the control efficiency; secondly, another object of the present invention is to provide a method for manipulating a steerable object using the aforementioned optoelectronic tweezers manipulation system, which can utilize the dielectric properties of the steerable object particles themselves to improve the manipulation efficiency.

In order to achieve the above object, an aspect of the present invention provides an optoelectronic forceps manipulation system, which includes: the device comprises a projection imaging module, a real-time display observation module, an illumination module and an auxiliary module. Wherein, projection imaging module is according to light propagation direction does in proper order: the projection imaging module is mainly used for projecting an optical pattern generated by the projector onto the photoelectric microfluidic chip; the real-time display observation module sequentially comprises the following components in the light propagation direction: the device comprises a photoelectric microfluidic chip, an objective lens, a first beam splitter, a second beam splitter, an imaging lens and an image sensor; the lighting module is sequentially as follows according to the light propagation direction: the system comprises a light source, a condensing lens, a second beam splitter, a first beam splitter, an objective lens and a photoelectric microfluidic chip, wherein scattered light emitted by the light source is converted into parallel light through the condensing lens to provide illumination for the system.

The projection imaging module, the real-time display observation module and the illumination module can share the first beam splitter and the objective lens, and the illumination module and the real-time display observation module can share the second beam splitter.

It will be appreciated by those skilled in the art that as a conventional implementation, the first beam splitter may be selected to be, for example, a PBS dichroic mirror, and/or the light source may be selected to be, for example, an LED illumination lamp, and/or the image sensor may be selected to be, for example, a CCD camera, and/or both the condenser and imaging lenses may be selected to be, for example, convex lenses.

Preferably, in order to ensure the imaging effect, the projector for the system can be a projector with a DMD chip, and the projector can be used as a programmable computer optical pattern generating device. 80 ten thousand to 100 ten thousand small mirrors are densely and numb arranged on the DMD chip, each small mirror can independently turn over 10 degrees in the positive and negative directions and can turn over 65000 times per second, a light source is reflected to a screen through the small mirrors to directly form an image, the optical path is quite simple, and the volume is smaller.

The photoelectric forceps operating system is further provided with a function generator which can be a voltage source essentially. When the function generator applies voltage to the photoelectric microfluidic chip, the light guide layer of the photoelectric microfluidic chip is irradiated by the optical pattern projected by the projection imaging module to generate a virtual electrode, the virtual electrode generates a non-uniform electric field perpendicular to the plane of the light guide layer, and the non-uniform electric field can apply dielectrophoresis force to cells or particles and other controllable objects placed on the photoelectric microfluidic chip.

The photoelectric tweezers operation system is further provided with an object stage, the photoelectric microfluid chip is arranged on the object stage, and the object stage can be a micro-displacement stage.

The photoelectric forceps control system is further provided with a control unit, the control unit can send control signals to the photoelectric forceps experimental equipment and receive result feedback, and an operator can realize various controls on the photoelectric forceps control system on site through the control unit.

In a preferred embodiment of the present invention, the auxiliary module of the control system for the optoelectronic tweezers includes a cloud-based remote control system, and the remote control system is composed of a cloud server, a multi-terminal interactive platform, and the like.

As one conventional implementation, a business server may be selected for the cloud server, as will be appreciated by those skilled in the art. It is well known that commercial servers can handle a large amount of time-consuming computational load, including image processing, projection graphics generation, data format conversion, and the like.

Further, the multi-terminal interaction platform can comprise the control unit and a remote terminal. The control unit, the remote terminal and the cloud server can realize pairwise interactive communication through the cloud network, and transmit control commands and data signals. Preferably, there may be a plurality of computers for the control unit, and a plurality of remote terminals.

For convenience of use, as a conventional implementation manner, the control unit as one of the field devices may be, for example, a computer, and the computer may be any form of computer, such as an industrial control computer, a PC, a notebook computer, etc.; when the remote terminal is a portable terminal, for example, various kinds of mobile terminals can be selected: tablet computers, mobile phones, etc.

It will be appreciated by those skilled in the art that the control unit and/or the remote terminal can each be various types of fixed terminals and/or various types of portable terminals.

Preferably, the remote control system further comprises a router.

Preferably, the control unit and the remote terminal are provided with a display device and a data input and output device for the convenience of manipulation and observation by an operator.

In order to facilitate an operator to control the system on site and/or remotely, cross-platform Graphical User Interfaces (GUIs) are arranged on the control unit and the remote terminal, and are provided with special standard GUI programs, and the standard GUI programs integrate the functions of real-time monitoring of the image sensor, design and control of a projection graph, post-processing of an obtained microscope image, display of an identification result and the like.

The use of standard GUI programs can greatly simplify the operation steps of the operator, and all the functions required for transmitting a designed projection image, controlling the change and movement of images, receiving processed chip images, and the like can be realized on only one interface. For example, the optical projection pattern in the projection imaging module can be designed on a remote terminal using standard GUI programs and then sent to the computer of the control unit through the cloud server.

Preferably, each module of the remote control system can be deployed in a wireless local area network, and performs secure cloud communication based on a WebSocket protocol, and the WebSocket protocol is used to realize a full-duplex communication channel under one TCP connection, so that the HTTP protocol is avoided, and the overall security of the system is improved.

The remote control system divides various functions of the photoelectric forceps operation system into different modules, and complex centralized data processing is performed in the high-performance cloud server, so that the efficiency and specialization of the system are improved, and remote cross-platform operation is realized.

The photoelectric forceps control system can be used for operating various cells or particles and other controllable objects with unlimited shapes, and the controllable objects can be spherical, rod-shaped or spiral, such as metal particles, non-metal particles, cells, prokaryotic cells, eukaryotic cells, bacterial cells and the like.

Preferably, the size of the controllable object is in the range of 5 μm to 100 μm, and samples of other sizes can be controlled.

In another aspect, the present invention provides a method for manipulating a manipulable object using the above-mentioned optoelectronic tweezers manipulation system, which can be used to capture and/or transport a manipulable object such as particles or cells. In this method, a manipulatable object is placed in an optoelectronic microfluidic chip, and a voltage is applied to the optoelectronic microfluidic chip using a function generator to capture the manipulatable object with dielectrophoretic forces. Meanwhile, the photoelectric forceps operating system can project one or more light spots to simultaneously operate one or more controllable objects.

Preferably, the function generator applies an alternating voltage to the optoelectronic microfluidic chip, wherein the voltage is about 10V_ppThe voltage frequency is about 100kHz, and for a controllable object with the diameter of 15 μm, based on the photoelectric forceps control system provided by the invention, the transmission speed of a single particle can reach 1.60 μm/s and the transmission speed of a plurality of particles can reach 1.54 μm/s when the controllable object is controlled.

Further, as an improvement to the above method, the method is used to improve the efficiency of capturing and/or transporting the steerable objects. In the method, a controllable object is placed in a photoelectric microfluidic chip, a plurality of small-size positively charged particles are adhered to large-size negatively charged particles by utilizing the charge attraction principle to form a combined adhered particle stack, and when an alternating voltage is applied to the photoelectric microfluidic chip by a function generator, the formed combined adhered particle stack is captured and/or transported by utilizing dielectrophoresis force, so that the particle quantity and efficiency of the controllable object in one-time control can be improved.

It will be appreciated by those skilled in the art that the particles of the manipulatable object to be adhered and/or carried in the above method may be particles or cells, and the shape of the particles is not limited.

It should be particularly mentioned that, as a significant advantage of the above-mentioned photoelectric forceps control system provided by the present invention, if the controllable object is a living cell, the living cell is not affected after the control is finished.

As a preference of the invention, the particle adhesion ratio in combination with the adherent particle mass can be up to 1: 2, i.e. means that 2 small-sized positively charged particles can adhere to 1 large-sized negatively charged particle.

Preferably, for the purpose of convenient operation and control, the photoelectric microfluidic chip contains deionized water, and the controllable object is placed in the deionized water.

The photoelectric forceps control system provided by the invention can overcome the limitation problem of micro-nano experiments on personnel and fields, real-time communication between the system and the operation terminal is realized by building the photoelectric forceps control system and a remote control platform, and the operation personnel can realize the experimental operations of designing optical patterns, sending signals, operating micro-nano particles in a photoelectric micro-fluidic chip, receiving feedback images and the like only through a user interface at a mobile terminal without contacting an experimental device in a short distance. In addition, safety of data in a transmission process can be protected by carrying out safety cloud communication based on the WebSocket protocol.

Compared with the prior art, the photoelectric forceps control system provided by the invention has the advantages that the overall structure is simple, the modularization installation is simple and convenient, the construction cost can be greatly reduced, the industrialization prospect is good, the limitation of experimenters and fields can be effectively broken through by attaching the remote control platform, the remote experiment becomes possible, the experiment environment is protected from being polluted, and more convenience is provided for various experimenters.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings. In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore intended to provide a further understanding of the invention, and are not to be considered limiting of its scope, as it is defined by the present application. Wherein:

fig. 1 is a schematic structural diagram of an optoelectronic forceps operating system provided in the present invention;

fig. 2 is a schematic structural diagram of a remote control system of the above-mentioned photoelectric forceps operation system provided in the present invention;

fig. 3 is a schematic diagram of the secure cloud communication of the above-mentioned photoelectric forceps operation system provided by the present invention;

fig. 4 is a schematic diagram of data transmission based on a WebSocket protocol used by the above-mentioned photoelectric forceps operating system provided by the present invention;

fig. 5 is a schematic diagram of an exemplary interface of a standard GUI program used in the above-mentioned optoelectronic forceps manipulation system according to the present invention;

fig. 6 is a real view of an operator controlling the control system of the photoelectric forceps based on a remote control system;

fig. 7 is a real view of the operator controlling the polystyrene particles based on the above-mentioned photoelectric forceps control system;

fig. 8 is a real view of an operator controlling green eyeworms based on the above-mentioned photoelectric tweezers control system;

fig. 9 is a real view of the operator controlling the adhered particle stack based on the above-mentioned photoelectric forceps control system.

Reference numerals:

the system comprises a projector 1, a first convex lens 2, a second convex lens 3, a first beam splitter 4, an objective lens 5, a photoelectric microfluidic chip 6, a second beam splitter 7, a third convex lens 8, an image sensor 9, a fourth convex lens 10, a light source 11, a computer 12, a portable terminal 13, a function generator 14, an objective table 15, a cloud server 16 and a router 17.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and should not be taken to be limiting.

Firstly, the present invention provides a system for controlling photoelectric tweezers, and fig. 1 shows a specific structure of the system for controlling photoelectric tweezers provided by the present invention. In fig. 1, the photoelectric tweezers operation system comprises a projector 1, a beam reduction lens group, a first beam splitter 4, an objective lens 5, a photoelectric microfluidic chip 6, a second beam splitter 7, a third convex lens 8, an image sensor 9, a fourth convex lens 10, a light source 11, a control unit, a function generator 14 and a stage 15. The beam-shrinking lens group comprises a first convex lens 2 and a second convex lens 3, and the photoelectric microfluidic chip 6 is arranged on the objective table 15.

In a preferred embodiment of the present invention, the first convex lens 2 can be a convex lens with a focal length of 150mm, the second convex lens 3 can be a convex lens with a focal length of 300mm, the third convex lens 8 can be a convex lens with a focal length of 100mm, the fourth convex lens 10 can be a convex lens with a focal length of 150mm, and the objective lens 5 can be a 20-fold objective lens.

When the photoelectric tweezers operation system works, an optical pattern is firstly emitted by the projector 1, the optical pattern sequentially passes through the first convex lens 2 and the second convex lens 3 of the beam shrinking lens group to reduce focusing light spots, the energy density of the optical pattern is enhanced, the light path of the optical pattern is changed by the first beam splitter 4, and the optical pattern finally passes through the objective lens 5 and reaches the photoelectric microfluidic chip 6 arranged on the objective table 15.

If the function generator 14 applies a voltage to the optoelectronic microfluidic chip 6, the number of electron-hole pairs is significantly increased due to the surface of the photoconductive layer on the optoelectronic microfluidic chip 6 being partially illuminated by the optical pattern, and a virtual electrode is generated, thereby generating a non-uniform electric field, causing an electrokinetic phenomenon, and applying a dielectrophoretic force to the particles in the electric field.

Meanwhile, the scattered light emitted by the light source 11 is changed into parallel light through the fourth convex lens 10, and then the light path is changed through the second beam splitter 7, and the light path sequentially passes through the first beam splitter 4 and the objective lens 5 to reach the photoelectric microfluidic chip 6 so as to provide illumination for the observation chip.

The observation chip is in particular an optoelectronic microfluidic chip 6 whose image can be collected by an image sensor 9 via a first beam splitter 4, a second beam splitter 7, a third convex lens 8 and whose image information is transmitted to a control unit.

For the convenience of manipulation and observation by the operator, the control unit is usually provided with a display device and a data input and output device for the operator to observe the image of the optoelectric microfluidic chip 6 collected by the image sensor 9 in real time and/or to input further control commands.

It will be appreciated by those skilled in the art that the control unit may include a computer 12 having a display device and data input and output devices. Wherein, the computer 12 is designed to be connected with an object module to be controlled in the photoelectric forceps operation system, and is used for sending a control signal to the object module and receiving result feedback. As shown in fig. 1, the computer 12 is connected to the image sensor 9 and the projector 1, and is used for receiving the image information transmitted by the image sensor 9 and sending control signals to the image sensor 9, and sending data information and control signals to the projector 1, but this is merely an example, and the computer 12 may also be connected to other controllable object modules of the optical tweezers manipulation system separately or in parallel.

In order to improve the control performance of the photoelectric forceps control system and effectively break through the limitations of experimenters and fields, the photoelectric forceps control system provided by the invention is further provided with a remote control function as an improvement and an upgrade. Based on the remote control principle of the photoelectric forceps operation system shown in fig. 2, in order to realize the remote control of the photoelectric forceps system, a remote control module is continuously added on the basis of the photoelectric forceps operation system, and a remote control system based on a cloud network is designed and built, as shown in fig. 2, the remote control system comprises a cloud server 16 and a multi-terminal interaction platform.

For the purpose of convenient operation and control, the multi-terminal interaction platform can comprise the control unit and the remote terminal. In this embodiment, the remote terminal selects various types of portable terminals 13 that are currently popular. Wherein, the computer 12 and the portable terminal 13 can communicate with each other, and transmit data information and control commands to each other. In order to facilitate the interactive communication between the computer 12 and the portable terminal 13, a cross-platform Graphical User Interface (GUI) is designed and implemented, so that the operation steps can be simplified, the operation difficulty can be reduced, and the operator can efficiently interact with the operating system of the photoelectric forceps through the portable terminal 13. For example, the computer 12 may transmit the image of the optoelectronic microfluidic chip 6 collected by the image sensor 9 to the portable terminal 13 for real-time observation by an operator, and/or the operator may input further control commands to the computer 12 through the portable terminal 13.

In order to effectively exert the convenience of remote control, as shown in fig. 2, the cloud server 16 and the multi-terminal interaction platform of the remote control system may be deployed under a wireless local area network by means of a router 17, wherein the computer 12, the portable terminal 13 and the cloud server 16 may implement pairwise interactive communication through a wireless network to transmit data signals.

Further, in order to improve the overall security of the system, as shown in fig. 3, the overall architecture of the system is divided into three modules, which are an interaction module, a service module, and an execution module, respectively, each module is an independent application program, and each module can be operated on different computers, and connected via the internet to exchange and transmit data, as shown in fig. 3. The interaction module is a human-computer interaction interface, comprises a GUI interface, CCD image recognition display and acquisition of control commands of experimenters, and is to be operated on desktop or mobile terminal platforms such as Windows, MacOS, iOS and Android. The service module is a module for providing computing power for relevant parts in experiments and is also a module deployed on a cloud computing platform, a WebSockets server is arranged on the service module, an OpenCV image recognition program is compiled to serve as a cloud server, the service module is connected with the interaction module and is connected with the execution module at the lower part to play a role in starting and stopping, and by deploying the module on the cloud computing platform, independent operation of multiple users and multiple devices can be achieved, mutual noninterference is achieved, high reliability, high stability and high utilization rate are achieved, time efficiency is greatly improved, and therefore the basic purpose and the requirement of cloud computing are achieved. The execution module is a laboratory-built photoelectric forceps control system and is used as a terminal for controlling particles. The modules of the remote control system are in safe cloud communication based on a WebSocket protocol, a cloud data transmission principle is applied, a full-duplex communication channel can be realized under one TCP connection by using the WebSocket protocol, the use of an HTTP protocol is avoided, and the safety of data transmission is ensured.

It will be appreciated by those skilled in the art that the present invention optoelectronic forceps manipulation system may also be configured with other forms of communication protocols.

Further, fig. 4 shows a principle of data transmission based on the WebSocket protocol used by the optoelectronic tweezers operation system. As shown in fig. 4, for data transmission based on the Websocket protocol, first, the client needs to send a link request to the server, where the link request is mainly inherited from a handshake request of the HTTP protocol, so as to achieve good compatibility, and a bidirectional data transmission link is established after the handshake is successful. When the link needs to be closed, one party requesting to close the link initiates a link closing request, and then the two parties negotiate to disconnect the link, and the whole link process is finished. The service module continuously monitors the link information of the designated port in operation, when a link request of any interactive module or execution module is detected, a WebSocket transmission link is established with the interactive module or execution module according to the flow, then the service module and the interactive module or execution module can start data transmission, for example, the execution module transmits the state of the current platform or the interactive module transmits an instruction of a person, and the data can be returned to the corresponding module after being calculated by the cloud server. When the program of a certain party is closed, a request for closing the data link is unilaterally initiated, and then the whole link process is finished.

In order to facilitate the operator to control the system on site and/or remotely, the photoelectric forceps control system is also provided with a special standard GUI program for building a cross-platform graphical user interface, and can be arranged on a control unit and/or a remote terminal. Fig. 5 shows a typical interface of such a standard GUI program, which integrates multiple tasks such as real-time monitoring of an image sensor, design and control of a projection image, post-processing of an obtained microscope image, and display of an identification result, and can realize all functions required for transmitting a designed projection image, controlling change and movement of an image, receiving a processed chip image, and the like on only one interface, which greatly simplifies the operation difficulty of an operator.

Fig. 6 shows a real view of an operator controlling the photoelectric forceps control system of the present invention based on a remote control system. The iPad is used as a portable terminal 13 in the remote control system, and the projection graph is designed by using an iPad gui and is sent to the computer 12 through the cloud server 16, so that the remote control of the photoelectric forceps control system is realized.

The remote control based on iPad greatly improves the use flexibility of the photoelectric forceps control system, eliminates the problem related to special treatment of microparticles, can avoid the problem of biological experiment environment pollution caused by experimenters to the maximum extent, and undoubtedly provides great convenience for a plurality of experiments with higher requirements on laboratory cleanliness.

An exemplary specific use mode and a specific working principle of the photoelectric forceps operation system of the present invention are described in detail below:

here, an iPad-type mobile terminal is used as the portable terminal 13 in the remote control system, a CCD camera is used as the image sensor 9, a projector including a DMD chip is used as the projector 1, and a PC is used as the computer 12.

First, the design of the optical pattern is completed in the GUI interface by the operator using iPad, the designed optical pattern is sent to the PC, which is designed to connect and control the projector 1, the PC controls the projector 1 to send out the optical pattern and irradiate it onto the photoconductive layer of the optomicrofluidic chip 6 via the corresponding optical path, and the optomicrofluidic chip 6 has been previously introduced into the experimentally manipulatable object.

After the photoelectric microfluid chip 6 is connected to the function generator 14, when an alternating voltage is applied to the electrodes, a non-uniform electric field can be generated, dielectrophoresis force is applied to the controllable object in the photoelectric microfluid chip 6, and a dielectrophoresis force potential well is formed so as to achieve the purpose of controlling the controllable object for the experiment.

Subsequently, the CCD camera captures an image on the photoelectric microfluidic chip 6 and sends it back to the PC, the PC first sends the image data to the cloud server 16 for processing, and then the cloud server 16 transmits the processed image back to the user interface of the iPad, so that the operator can directly observe the real-time state of the controllable object for experiments on the iPad and perform corresponding experimental operations, for example: sorting the controllable objects, reserving the selected controllable objects, carrying out further experiment and analysis processing, releasing unnecessary controllable objects and the like; the controllable objects for the needed experiment can be transported to the needed position for further research, or physical quantity measurement is carried out on the controllable objects, etc.

Of course, it will be understood by those skilled in the art that the image on the optoelectronic microfluidic chip 6 may be directly displayed on the display device of the PC when being transmitted back to the PC, or the image processed by the cloud server 16 may be transmitted back to the user interface of the PC for use by the operator in the field.

Generally, the experimental controllable object aimed by the photoelectric forceps control system of the present invention will usually be a kind of microparticle, and an operator can remotely operate a single or multiple microparticles with different dielectric properties by means of the photoelectric forceps control system, and perform cell research or drug research, etc. based on the microparticle. In the experiment process, an operator can finish the experiment only on a user interface on a remote terminal without going to an experiment site in the whole process.

Operation example 1

As a specific application of the present invention, the optoelectronic tweezers operation system can be used to operate polystyrene particles suspended in deionized water in an optoelectronic microfluidic chip 6, as shown in fig. 7, and the operation parameters of an exemplary but non-limiting embodiment are as follows: straight barPolystyrene fine particles having a diameter of 15 μm; remotely controlling a GUI interface; the number of the particles is single or multiple; positive or negative charged particle manipulation; 10V_pp(ac voltage), 100kHz (voltage frequency). In the experiment, it was observed that the manipulation speed of the single polystyrene fine particle reached 1.6 μm/s, and the manipulation speed of the plurality of polystyrene fine particles reached 1.54 μm/s.

Example of operation two

As another specific application of the photoelectric forceps operation system, the posture angle adjustment of the green eyeworm suspended in deionized water in the photoelectric microfluidic chip 6 can be performed. In the application, an operator uses the photoelectric tweezers operation system to perform vertical posture angle adjustment on green eyeworm placed in the photoelectric microfluidic chip 6, the adjustment operation is realized by changing a voltage signal applied to the photoelectric microfluidic chip 6 by the function generator 14, and the applied voltage is about 10V_ppOn the premise, as shown in fig. 8, the operator can position the green eye worm attitude angle to 90 ° by adjusting the voltage signal frequency to 100kHz, 50 ° by adjusting the voltage signal frequency to 10MHz, and 0 ° by adjusting the voltage signal frequency to 60 MHz.

Operation example three

As another specific application of the photoelectric forceps control system, the photoelectric forceps control system can be used for carrying out polystyrene microparticle adhesion transportation by utilizing particles with opposite dielectric properties. In the application, an operator uses the photoelectric forceps control system to transport polystyrene particles adhered to the micro-spirulina, so that the special treatment process of the micro-nano robot and a transport object is avoided. As shown in fig. 9, the adhesion of the micro-spirulina to the polystyrene particles is realized at 2.75s to form a stack of bound and adhered polystyrene particles, then one end of the micro-spirulina is captured by the light spot, and then the micro-spirulina can move left and down, then move right and down, and finally move right and up to realize the adhesion, transportation and transportation.

In this application, the particle adhesion ratio in combination with the adherent particle mass is 1: 2, namely, 1 piece of the large-size micro-spirulina can be adhered with 2 small-size polystyrene particles.

The photoelectric forceps control system provided by the invention has the advantages that the whole structure is simple, the modularization installation is simple and convenient, the construction cost can be greatly reduced, the industrialization prospect is good, the limitation of experimenters and fields can be effectively broken through the photoelectric forceps control system with the attached remote control platform, the remote experiment becomes possible, the experiment environment is protected from being polluted, and more convenience is provided for various experimenters.

In addition, the photoelectric forceps manipulation system provided by the invention has a significant advantage that if the manipulated object is a living cell, the living cell is not affected after the manipulation is finished.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.