Disaccharide-assisted inkjet freezing for improved cell viability.

Non-permeable disaccharides are widely used as cryoprotectant agents due to their low cytotoxicity, but their protective effect is insufficient when the disaccharides are present only extracellularly. On the other hand, cryoprotectant agent (CPA)-free cryopreservation has been recently achieved by instantaneously inkjet-freezing cells as tiny droplets. However, CPA-free cryopreservation requires skilled handling operations due to instability of the vitreous water without the CPA. In this study, the effectiveness of separately adding two types of disaccharides in inkjet freezing of 3T3 cells was evaluated and the following results were obtained. First, trehalose showed the highest effect at 0.57 M, twice the plasma osmolarity, with a maximum cell viability of over 90 % when freezing 70 pL droplets. However, higher concentrations of trehalose decreased cell viability due to damage caused by dehydration. Similarly, sucrose gave cell viability close to 90 % at 0.57 M with 70 pL droplets, and higher concentrations decreased cell viability. Next, the relationship between minimum trehalose concentrations to prevent intracellular and extracellular ice crystal formation and droplet size was analyzed. The results indicated that trehalose of less than 0.57 M was able to inhibit intracellular ice crystal formation even in the largest droplet used in this study, 450 pL, while trehalose of nearly 0.57 M was required to inhibit extracellular ice crystal formation in the smallest droplet, 70 pL. In other words, the suppression of extracellular ice crystals by the addition of CPA was shown to be crucial in improving the viability of inkjet superflash freezing.

Cryoprotectant-free cryopreservation of mammalian cells by superflash freezing.

Cryopreservation is widely used to maintain backups of cells as it enables the semipermanent storage of cells. During the freezing process, ice crystals that are generated inside and outside the cells can lethally damage the cells. All conventional cryopreservation methods use at least one cryoprotective agent (CPA) to render water inside and outside the cells vitreous or nanocrystallized (near-vitrification) without forming damaging ice crystals. However, CPAs should ideally be avoided due to their cytotoxicity and potential side effects on the cellular state. Herein, we demonstrate the CPA-free cryopreservation of mammalian cells by ultrarapid cooling using inkjet cell printing, which we named superflash freezing (SFF). The SFF cooling rate, which was estimated by a heat-transfer stimulation, is sufficient to nearly vitrify the cells. The experimental results of Raman spectroscopy measurements, and observations with an ultrahigh-speed video camera support the near-vitrification of the droplets under these conditions. Initially, the practical utility of SFF was demonstrated on mouse fibroblast 3T3 cells, and the results were comparable to conventional CPA-assisted methods. Then, the general viability of this method was confirmed on mouse myoblast C2C12 cells and rat primary mesenchymal stem cells. In their entirety, the thus-obtained results unequivocally demonstrate that CPA-free cell cryopreservation is possible by SFF. Such a CPA-free cryopreservation method should be ideally suited for most cells and circumvent the problems typically associated with the addition of CPAs.

Improved and reproducible cell viability in the superflash freezing method using an automatic thawing apparatus.

Cell cryopreservation stops the biological activity of cells by placing them in the frozen state, and can be used to preserve cells without subculturing, which can cause contamination and genetic drift. However, the freezing process used in cryopreservation can injure or damage the cells due to the cytotoxicity of cryoprotecting agents (CPAs). We have previously reported a CPA-free cryopreservation method based on inkjet technology. In this method, the vitrified cells were exposed to the room temperature atmosphere during the transport of the cells using tweezers, which caused devitrification due to the increased temperature and often lowered the cell viability. In the present study, we developed an automatic thawing apparatus that transports the vitrified cells rapidly into a prewarmed medium using a spring hinge. Observations with a high-speed camera revealed that the spring hinge drops the cells into the prewarmed medium within 20 ms. All heat-transfer simulations for the apparatuses with different designs and rotation speeds showed that the cells remained below the glass-transition temperature during the transport. Finally, the apparatus was evaluated using mouse fibroblast 3T3 cells. The cell viability was improved and its reproducibility was enhanced using this apparatus. The results indicate that the combination of superflash freezing with the rapid thawing process represents a promising approach to circumvent the problems typically associated with the addition of CPAs.

Nylon mesh cryodevice for bovine mature oocytes, easily removable excess vitrification solution.

The aim of this study was to determine pore size of nylon mesh (NM) device suitable for cryosurvival of bovine mature oocytes and to apply the device to vitrification of large quantities of the oocytes. Ten to twelve oocytes were loaded onto an NM device (a square opening 37-, 57- or 77-µm on a side length). After removal of the excess volume of vitrification solution by paper absorption, the oocytes were vitrified-warmed, fertilized and cultured in vitro. Oocyte recovery and morphological survival were comparable among the three groups. However, blastocyst yield in the 37-µm group (39%) was higher than that in the 77-µm group (28%), and the yield in the 57-µm group (31%) was the intermediate. The 37-µm NM device was applicable for increased oocyte number >40 (blastocyst yield, 33%). These results suggest that 37-µm-pore sized NM can serve as cryodevice to vitrify large quantities of in vitro-matured bovine oocytes.

Toward continuous LC-MS analysis: surface modification of magnetic microparticles with TiO2 for phosphate adsorption.

Continuous liquid chromatography-mass spectrometry (LC-MS) analysis was successfully demonstrated by using magnetic TiO2/Fe3O4 microparticles at the desalination interface. The particles could be prepared easily even on a practical scale at sufficient quality for efficient phosphate adsorption. Not only phosphate but several biomolecules were adsorbed onto the particles in a non-specific manner. Such samples could still be detected effectively in MS because the removal of phosphate derived from the LC eluent enhanced sample ionization and resulted in a significant reduction of phosphate cluster ions.

Cardiomyocyte-driven gel network for bio mechano-informatic wet robotics.

This paper reports on a cellular mechano-informatics network gel robot which was powered by culturing cardiomyocytes in the micro gel structure. Contraction activities propagated through the cardiomyocyte gel network will transmit a spatial mechanical wave as information about the chemical and mechanical responses to environmental changes. The cardiomyocyte gel network robot transmits electrically excited potential and mechanical stretch-induced contractions as information carried on the gel network. The cardiomyocyte gel network robot was fabricated from a mixture of primary cardiomyocytes and collagen gel and molded in a PDMS casting mold, which could produce serial, parallel lattice, or radial pattern networks. Fluorescent calcium imaging showed that the calcium activity of the cardiomyocytes in the gel network was segmented in small domains in the gel network; however, the local contraction that started on one branch of the gel network was propagated to a neighboring branch, and the propagation velocity was increased with increasing concentration of adrenaline. This increase was limited to ~20 mm/s. This proposed mechano-informatics kineticism will provide not only mechano-informatics for cardiomyocyte powered wet robotics but will also help show how cardiac disease occurs in activity propagation systems.

Rapidly-moving insect muscle-powered microrobot and its chemical acceleration.

Insect dorsal vessel (DV) tissue seems well suited for microactuators due to its environmental robustness and low maintenance. We describe an insect muscle-powered autonomous microrobot (iPAM) and its acceleration with a neuroactive chemical, crustacean cardioactive peptide (CCAP). The iPAM, consisting of a DV tissue and a frame, was designed on the basis of a finite element method simulation and fabricated. The iPAM moved autonomously by spontaneous contraction of the DV tissue at a significantly improved velocity compared to our previous model. The best-case iPAM moved faster than other reported microrobots powered by mammalian cardiomycytes. It moved forward with a small declination of 0.54 ° during one contraction since the DV tissue not only shortened but also twisted. The iPAM frame should be designed by taking into account the innate contractile characteristic of DV tissue. The acceleration effect of CCAP on contracting frequency was evaluated using a micropillar array and was a maximum at 10(-6)M. The effect peaked 1 min after addition and remained for 2 min. CCAP addition at 10(-6)M accelerated the iPAM temporally and the velocity increased 8.1-fold. We view the DV tissue as one of the most promising materials for chemically regulatable microactuators.

Insect biofuel cells using trehalose included in insect hemolymph leading to an insect-mountable biofuel cell.

In this paper, an insect biofuel cell (BFC) using trehalose included in insect hemolymph was developed. The insect BFC is based on trehalase and glucose oxidase (GOD) reaction systems which oxidize ß-glucose obtained by hydrolyzing trehalose. First, we confirmed by LC-MS that a sufficient amount of trehalose was present in the cockroach hemolymph (CHL). The maximum power density obtained using the insect BFC was 6.07 µW/cm(2). The power output was kept more than 10 % for 2.5 h by protecting the electrodes with a dialysis membrane. Furthermore, the maximum power density was increased to 10.5 µW/cm(2) by using an air diffusion cathode. Finally, we succeeded in driving a melody integrated circuit (IC) and a piezo speaker by connecting five insect BFCs in series. The results indicate that the insect BFC is a promising insect-mountable battery to power environmental monitoring micro-tools.

An Electrical Stimulation Culture System for Daily Maintenance-Free Muscle Tissue Production.

Low-labor production of tissue-engineered muscles (TEMs) is one of the key technologies to realize the practical use of muscle-actuated devices. This study developed and then demonstrated the daily maintenance-free culture system equipped with both electrical stimulation and medium replacement functions. To avoid ethical issues, immortal myoblast cells C2C12 were used. The system consisting of gel culture molds, a medium replacement unit, and an electrical stimulation unit could produce 12 TEMs at one time. The contractile forces of the TEMs were measured with a newly developed microforce measurement system. Even the TEMs cultured without electrical stimulation generated forces of almost 2 mN and were shortened by 10% in tetanic contractions. Regarding the contractile forces, electrical stimulation by a single pulse at 1 Hz was most effective, and the contractile forces in tetanus were over 2.5 mN. On the other hand, continuous pulses decreased the contractile forces of TEMs. HE-stained cross-sections showed that myoblast cells proliferated and fused into myotubes mainly in the peripheral regions, and fewer cells existed in the internal region. This must be due to insufficient supplies of oxygen and nutrients inside the TEMs. By increasing the supplies, one TEM might be able to generate a force up to around 10 mN. The tetanic forces of the TEMs produced by the system were strong enough to actuate microstructures like previously reported crawling robots. This daily maintenance-free culture system which could stably produce TEMs strong enough to be utilized for microrobots should contribute to the advancement of biohybrid devices.

Long-term and room temperature operable bioactuator powered by insect dorsal vessel tissue.

We present a bioactuator powered by insect dorsal vessel tissue which can work for a long time at room temperature without maintenance. Previously reported bioactuators which exploit contracting ability of mammalian heart muscle cell have required precise environmental control to keep the cell alive and contracting. To overcome this problem, we propose a bioactuator using dorsal vessel tissue. The insect tissue which can grow at room temperature is generally robust over a range of culture conditions compared to mammalian tissues and cells. First, we confirm that a dorsal vessel tissue of lepidoptera larva Ctenoplusia agnata contracts spontaneously for at least 30 days without medium replacement at 25 degrees C. Using the dorsal vessel tissue cultured under the same conditions, we succeed in driving micropillars 100 microm in diameter and 1000 microm in height for more than 90 days. The strongest displacement of the micropillar top occurs on the 42(nd) day and is 23 microm. Based on these results, the contracting force is roughly estimated as 4.7 microN which is larger than that by a few mammalian cardiomyocytes (3.4 microN). Definite displacements of more than 10 microm are observed for 58 days from the 15(th) to the 72(nd) days. The number of life cycles can be roughly calculated as 7.5 x 10(5) times for the average frequency of about 0.15 Hz, which is no less than that of conventional mechanical actuators. These results suggest that the insect dorsal vessel tissue is a more promising material for bioactuators used at room temperature than other biological cell-based materials.

Culture of insect cells contracting spontaneously; research moving toward an environmentally robust hybrid robotic system.

Here we propose an environmentally robust hybrid (biotic-abiotic) robotic system that uses insect heart cells. Our group has already presented a hybrid actuator using rat heart muscle cells, but it is difficult to keep rat heart muscle cells contracting spontaneously without maintaining the culture conditions carefully. Insect cells, by contrast, are robust over a range of culture conditions (temperature, osmotic pressure and pH) compared to mammalian cells. Therefore, a hybrid robotic system using not mammalian cells but insect cells can be driven without precise environmental control. As a first step toward the realization of this robotic system, the larvae of two lepidopteran species, Bombyx mori (BM) and Thysanoplusia intermixta (TI) were excised and the culture conditions of their dorsal vessel (insect heart) cells were examined. As a result, spontaneously contracting TI cells derived from the dorsal vessel were obtained. The contraction of TI cells started on the 7th day and continued for more than 18 days. Spontaneously contracting BM cells were not obtained in this study. These experimental results suggest the possibility of constructing an environmentally robust hybrid robotic system with living cells in the near future.

Development of an NMR interface microchip "MICCS" for direct detection of reaction products and intermediates of micro-syntheses using a "MICCS-NMR".

The development of an NMR interface microchip and its applications to the real-time monitoring of chemical reactions are described. The microchip device was named "MICCS" (MIcro Channeled Cell for Synthesis monitoring), and the method using it was named "MICCS-NMR". MICCS was inserted into a 5 mm Phi NMR sample tube. Thus standard solution NMR probes without any modifications can be used in MICCS-NMR measurements. A gap between MICCS and the sample tube was filled with a deuterated solvent for an NMR lock. The reaction temperature and reaction time in MICCS can be easily changed by adjusting the temperature of the NMR probe and changing the flow rates, respectively. The effectiveness of the MICCS-NMR was verified in the real-time monitoring of the Wittig reaction. Preliminary data on the direct detection of intermediates of the Grignard reaction is also reported. Besides real-time monitoring of chemical reactions, MICCS-NMR would be useful as a qualitative detection method for microchip-based synthesis.

Biofuel cell backpacked insect and its application to wireless sensing.

This study investigated an enzymatic biofuel cell (BFC) which can be backpacked by cockroaches. The BFC generates electric power from trehalose in insect hemolymph by the trehalase and glucose dehydrogenase (GDH) reaction systems which dehydrogenate ß-glucose obtained by hydrolyzing trehalose. First, an insect-mountable BFC (imBFC) was designed and fabricated with a 3D printer. The electrochemical reaction of anode-modified poly-L-lysine, vitamin K3, diaphorase, nicotinamide adenine dinucleotide, GDH and poly(sodium 4-styrenesulfonate) in the imBFC was evaluated and an oxidation current of 1.18 mAcm(-2) (at +0.6 V vs. Ag|AgCl) was observed. Then, the performance of the imBFC was evaluated and a maximum power output of 333 µW (285 µW cm(-)(2)) (at 0.5 V) was obtained. Furthermore, driving of both an LED device and a wireless temperature and humidity sensor device were powered by the imBFC. These results indicate that the imBFC has sufficient potential as a battery for novel ubiquitous robots such as insect cyborgs.

Voluntary movement controlled by the surface EMG signal for tissue-engineered skeletal muscle on a gripping tool.

We have developed a living prosthesis consisting of a living muscle-powered device, which is controlled by neuronal signals to recover some of the functions of a lost extremity. A tissue-engineered skeletal muscle was fabricated with two anchorage points from a primary rat myoblast cultured in a collagen Matrigel mixed gel. Differentiation to the skeletal muscle was confirmed in the tissue-engineered skeletal muscle, and the contraction force increased with increasing frequency of electric stimulation. Then, the tissue-engineered skeletal muscle was assembled into a gripper-type microhand. The tissue-engineered skeletal muscle of the microhand was stimulated electrically, which was then followed by the voluntary movement of the subject's hand. The signal of the surface electromyogram from a subject was processed to mimic the firing spikes of a neuromuscular junction to control the contraction of the tissue-engineered skeletal muscle. The tele-operation of the microhand was demonstrated by optical microscope observations.

Atmospheric-operable bioactuator powered by insect muscle packaged with medium.

Despite attempts in a number of studies to utilize muscle tissue and cells as microactuators, all of the biohybrid microdevices have been operable only in the culture medium and none have worked in air due to the dry environment. This paper demonstrates an atmospheric-operable bioactuator (AOB) fabricated by packaging an insect dorsal vessel (DV) tissue with a small amount of culture medium inside a capsule. The AOB, consisting of microtweezers and the capsule, was designed based on a structural simulation that took into account the capillary effect. The base part of the microtweezers was deformed by spontaneous contractions of the DV tissue in the medium inside the capsule, by which the front edges of the microtweezer arms projecting above the medium surface were also deformed. First, we confirmed in the medium that the DV tissue was able to reduce the gap between the arm tips of the microtweezers. After taking the AOB out of the medium, as we expected, the AOB continued to work in air at room temperature. The gap reduction in air became larger than the one in the medium due to a surface tension effect, which was consistent with the simulation findings on the surface tension by the phase-field method. Second, we demonstrated that the AOB deformed a thin-wall ring placed between its tips in air. Third, we measured the lifetime of the AOB. The AOB kept working for around 40 minutes in air, but eventually stopped due to medium evaporation. As the evaporation progressed, the microtweezers were pressed onto the capsule wall by the surface tension and opening and closing stopped. Finally, we attempted to prevent the medium from evaporating by pouring liquid paraffin (l-paraffin) over the medium after lipophilic coating of the capsule. As a result, we succeeded in prolonging the AOB lifetime to more than five days. In this study, we demonstrated the significant potential of insect muscle tissue and cells as a bioactuator in air and at room temperature. By integrating insect tissue and cells not only into a microspace but also onto a substrate, we expect to realize a biohybrid MEMS device with various functions in the near future.

Cell patterning through inkjet printing of one cell per droplet.

The inkjet ejection technology used in printers has been adopted and research has been conducted on manufacturing artificial tissue by patterning cells through micronozzle ejection of small droplets containing multiple cells. However, stable injection of cells has proven difficult, owing to the frequent occurrence of nozzle clogging. In this paper, a piezoelectric inkjet head constructed with a glass capillary that enabled viewing of the nozzle section was developed, the movement of cells ejected from the nozzle tip was analyzed, and a method for stably ejecting cells was verified. A pull-push ejection method was compared with a push-pull ejection method regarding the voltage waveform applied to the piezoelectric element of the head. The push-pull method was found to be more suitable for stable ejection. Further, ejection of one cell per droplet was realized by detecting the position of the cell in the nozzle section and utilizing these position data. Thus, a method for more precise patterning of viable cells at desired position and number was established. This method is very useful and promising not only for biofabrication, 3D tissue construction, cell printing, but also for a number of biomedical application, such as bioMEMS, lab on a chip research field.

Room temperature operable autonomously moving bio-microrobot powered by insect dorsal vessel tissue.

Living muscle tissues and cells have been attracting attention as potential actuator candidates. In particular, insect dorsal vessel tissue (DVT) seems to be well suited for a bio-actuator since it is capable of contracting autonomously and the tissue itself and its cells are more environmentally robust under culturing conditions compared with mammalian tissues and cells. Here we demonstrate an autonomously moving polypod microrobot (PMR) powered by DVT excised from an inchworm. We fabricated a prototype of the PMR by assembling a whole DVT onto an inverted two-row micropillar array. The prototype moved autonomously at a velocity of 3.5 × 10(-2) µm/s, and the contracting force of the whole DVT was calculated as 20 µN. Based on the results obtained by the prototype, we then designed and fabricated an actual PMR. We were able to increase the velocity significantly for the actual PMR which could move autonomously at a velocity of 3.5 µm/s. These results indicate that insect DVT has sufficient potential as the driving force for a bio-microrobot that can be utilized in microspaces.

Electrical stimulation of cultured lepidopteran dorsal vessel tissue: an experiment for development of bioactuators.

An insect dorsal vessel (DV) is well suited for a bioactuator since it is capable of contracting autonomously, and its tissue and cells are more environmentally robust under culturing conditions compared with mammalian tissue. In this study, electrical pulse stimulation was examined so as to regulate a bioactuator using the DV tissue. The DV tissue of a larva of Ctenoplusia agnate was assembled on a micropillar array, which was stimulated after culturing for about 3 wk. The contraction of the DV tissue was evaluated by image analysis to measure lateral displacements at the micropillar top. As a result, suitable stimulation conditions in a 35-mm petri dish were determined as: applied voltage of 10 V with 20-ms duration. Next, the time lag between the onset of electrical stimulus and the onset of mechanical contraction (electromechanical delay (EMD)) was estimated. A light-emitting diode (LED) was connected serially with the petri dish, and the LED flashed when electrical pulses were given. Movie images were analyzed in which electrical pulses made the DV tissue contract and the LED flashed virtually simultaneously; from these, the EMD was estimated as approximately 50 ms. These results suggest that the electrical pulse stimulation is capable of regulating the DV tissue, and the micropillar array is a useful biological tool to investigate physiological properties of muscle tissue.

Fabrication and evaluation of reconstructed cardiac tissue and its application to bio-actuated microdevices.

In this paper, we proposed to utilize a reconstructed cardiac tissue as microactuator with easy assembly. In a glucose solution, cardiomyocytes can contract autonomously using only chemical energy. However, a single cardiomyocyte is not enough to actuate a microrobot or a mechanical system. Though the output power will increase by using multiple cardiomyocyte, it is difficult to assemble those cardiomyocyte to predefined positions one-by-one using a micromanipulator. Reconstructed cardiac tissue not only will enable researchers to assemble the cells easily and but also has a potential to improve the contractile ability. To realize a bio-actuator in this paper, we reconstructed a microcardiac tissue using an extracellular matrix, and their displacements, displacement frequency, contractile force, and lifetime of the reconstructed cardiac tissue were evaluated. Electrical and pharmacological responses of the reconstructed cardiac tissue were also evaluated. Finally, a bioactuator, a primitive micropillar actuator, was fabricated and applicability of the reconstructed cardiac tissue for bioactuators was evaluated.

Rapid bonding of Pyrex glass microchips.

A newly developed vacuum hot press system has been specially designed for the thermal bonding of glass substrates in the fabrication process of Pyrex glass microchemical chips. This system includes a vacuum chamber equipped with a high-pressure piston cylinder and carbon plate heaters. A temperature of up to 900 degrees C and a force of as much as 9800 N could be applied to the substrates in a vacuum atmosphere. The Pyrex substrates bonded with this system under different temperatures, pressures, and heating times were evaluated by tensile strength tests, by measurements of thickness, and by observations of the cross-sectional shapes of the microchannels. The optimal bonding conditions of the Pyrex glass substrates were 570 degrees C for 10 min under 4.7 N/mm(2) of applied pressure. Whereas more than 16 h is required for thermal bonding with a conventional furnace, the new system could complete the whole bonding processes within just 79 min, including heating and cooling periods. Such improvements should considerably enhance the production rate of Pyrex glass microchemical chips. Whereas flat and dust-free surfaces are required for conventional thermal bonding, especially without long and repeated heating periods, our hot press system could press a fine dust into glass substrates so that even the areas around the dust were bonded. Using this capability, we were able to successfully integrate Pt/Ti thin film electrodes into a Pyrex glass microchip.