We developed the Atomic Force Microscopy (AFM) based nanorobot in combination with other nanomechanical sensors for the investigation of cell signaling pathways. The AFM nanorobotics hinge on the superior spatial resolution of AFM in imaging and extends it into the measurement of biological processes and manipulation of biological matters. A multiple input single output control system was designed and implemented to solve the issues of nanomanipulation of biological materials, feedback, response frequency and nonlinearity. The AFM nanorobotic system therefore provide the human-directed position, velocity and force control with high frequency feedback, and more importantly it can feed the operator with the real-time imaging of manipulation result from the fast-imaging based local scanning. The use of the system has taken the study of cellular process at the molecular scale into a new level.The cellular response to the physiological conditions can be significantly manifested in cellular mechanics. Dynamic mechanical property has been regarded as biomarkers, sometimes even regulators of the signaling and physiological processes, thus the name mechanobiology. We sought to characterize the relationship between the structural dynamics and the molecular dynamics and the role of them in the regulation of cell behavior. We used the AFM nanorobotics to investigate the mechanical properties in real-time of cells that are stimulated by different chemical species. These reagents could result in similar ion channel responses but distinctive mechanical behaviors. We applied these measurement results to establish a model that describes the cellular stimulation and the mechanical property change, a ``two-hit" model that comprises the loss of cell adhesion and the initiation of cell apoptosis. The first hit was verified by functional experiments: depletion of Calcium and nanosurgery to disrupt the cellular adhesion. The second hit was tested by a labeling of apoptotic markers that were revealed by flow cytometry. The model would then be able to decipher qualitatively the molecular dynamics infolded in the regulation of cell behavior.To decipher the signaling pathway quantitatively, we employed a nanomechanical sensor at the bottom of the cell, quartz crystal microbalance with energy dissipation monitoring (QCM-D) to monitor the change at the basal area of the cell. This would provide the real time focal adhesion information and would be used in accordance with the AFM measurement data on the top of the cell to build a more complete mechanical profile during the antibody induced signaling process. We developed a model from a systematic control perspective that considers the signaling cascade at certain stimulation as the controller and the mechanical and structural interaction of the cell as the plant. We firstly derived the plant model based on QCM-D and AFM measurement processes. A signaling pathway model was built on a grey box approach where part of the pathway map was delineated in detail while others were condensed into a single reaction. The model parameters were obtained by extracting the mechanical response from the experiment. The model refinements were conducted by testing a series of inhibition mechanisms and comparing the simulation data with the experimental data. The model was then used to predict the existences of certain reactions that are qualitatively reported in the literature.
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