Path optimizing and cell's deformation in manipulation with AFM nano-robot using genetic algorithm

recently, manipulation of biological particles in different mediums with utilizing atomic force microscope (AFM), has become more common. The migration of biological and non-biological micro/Nano particles have been extensively considered for various purposes, such as medicine, Nano robotics, and assembly of parts. In the field of medicine, due to the high sensitivity of live cells and their vulnerability, in manipulation of single cells for diagnosing and treatment of cancer as well as tissue engineering, it is necessary to determine the path with the least amount of damage and the highest level of safety and precision for biological particles. In this paper for the first time, the optimal path of the particle's motion is determined by considering the mechanical and morphological properties of the cell. The shortest path with the least amount of cell's deformation, considering the mechanical properties of breast cancer cells and applying particle's roughness, is determined by using the equations of 3D manipulation of viscoelastic spherical particles and genetic algorithm. Thereby, there will be no concern for the deformation and vulnerability of biological particles such as cells in manipulation process by AFM micro-robot.