1. Introduction
Mechanotransduction is the process that converts mechanical stimuli to biochemical activities in cells [
1,
2]. Notably, mechanosensitivity is a fundamental feature shared by all living organisms, underscoring its ubiquity and significance [
2]. The indispensable role of mechanotransduction in cell development is manifested through mechanical interactions among neighboring cells and the extracellular matrix (ECM) [
3,
4]. For instance, endothelial cells endure constant mechanical stresses, exemplifying the impact of mechanotransduction on cellular behavior [
5]. Similarly, myocytes were reported to reorientate and elongate along the stretch axis [
6]. Furthermore, mechanotransduction has emerged as a crucial factor in the etiology of certain pathological conditions, including cardiovascular diseases and specific types of cancer, thereby emphasizing its clinical relevance [
7,
8].
Most
in vivo cells are subjected to a range of mechanical forces, such as tensile, compressive and shear forces, that act externally through their ECM [
9]. At the cellular level, these forces significantly affect the basic functions of cells, such as gene expression, morphology, proliferation, differentiation, and spreading. At tissue and organ levels, these mechanical forces play important roles in tissue function, organoid formation, immune response, wound healing, embryonic development, and cancer formation and metastasis [
10]. Therefore, fundamental understanding of how cells can sense these mechanical forces and convert them into biochemical responses, called mechanotransduction, is of paramount importance for both physiological and pathophysiological studies. Accordingly, ideal
in vitro cell culture platforms need to recapitulate both biological and mechanical environments of cells and tissues
in vivo [
11].
To design such an
in vitro cell culture platform for mechanical stimulations, three crucial factors need to be considered: direction, magnitude, and duration of applied forces. Furthermore, surface properties, including cell-surface receptor affinities, mechanical stiffness, biocompatibility, degradability, and viscoelasticity of a biomaterial used as a substrate to support cells in these mechanical stimulation devices, need to be carefully considered based on the
in vivo conditions [
10]. For instance, tendon cells anchored to collagen fibres can return to their original size and shape if a small magnitude of tensile stress is applied over an extended period [
12]. However, these cells may deform permanently or even rupture if they are stretched largely and rapidly. Other cells, such as those exist in blood vessels (e.g. endothelial cells), cardiovascular system (e.g., cardiomyocytes and vascular smooth muscle cells), cartilage (e.g. chondrocytes) and bones (e.g. osteocytes), are subject to different ranges of combined tensile, compressive and shear forces [
13]. These forces encompass a wide range of amplitudes and frequencies, acting upon living cells either in a static or cyclic manner [
14].
One of the most popular techniques to study mechanotransduction is characterizing cell development using a cell stretcher. Cell stretcher is a device that can induce static or cyclical strain on the cells adhered to a flexible substrate. Researchers can accurately control the amount of strain to study the desired responses. Sophisticated atomic force microscopy (AFM) combined with optical imaging can be used to precisely quantify the mechanical properties of the deformed cells at single cell level [
15]. Commercial cell stretching platforms such as Flexcell® Tension Systems and STREX Cell Stretching Systems are available in the market, albeit at a prohibitively high cost of over ten thousand dollars. Furthermore, it is important to note that existing devices for cell stretching are often characterized by low throughput and an inability to generate a perfectly linear stress-strain profile [
16]. Although several alternative designs for cell stretchers have been proposed [
17,
18,
19,
20,
21,
22,
23], they still entail trade-offs in terms of build simplicity, user-friendliness, scalability, cost, and performance.
A cell stretcher typically consists of two primary components. First and foremost is the flexible container responsible for holding the cell culture. This container is typically constructed using a biocompatible material, considering its direct physical interaction with the cells. Polydimethylsiloxane (PDMS) is widely employed as one of the most used materials due to its biocompatibility, ease of casting, transparency, wide availability, and adjustable hardness. The second component is the auxiliary platform that drives the container. This platform provides an accurate uniaxial or biaxial motion that stretches the container. Various actuation schemes have been employed, including electromagnetic [
24], piezoelectric [
25], mechanical [
19], pneumatic [
26,
27], and optical actuators [
14,
16]. Mechanical actuation schemes usually involve a motorized driver. Therefore, the following discussion broadly categorizes cell stretchers into motorized and non-motorized ones.
Non-motorized cell stretchers involve an additional layer of complexity due to indirect stretching. Specifically, the elongation of the container depends on a secondary parameter determined by the actuation scheme. An example of such a stretcher is an electromagnet-based system that generates an electromagnetic force. This force is affected by factors such as magnetic permeability, magnetic flux density, magnet geometry, and the distance between the magnets. These parameters play a significant role in determining the magnitude and characteristics of the stretching force applied by the electromagnet [
24]. A pneumatic stretcher is affected by variations in the membrane thickness, input pressure, ambient temperature and even humidity [
26,
27]. These examples highlight the rigorous, yet essential calibration processes required to achieve reproducibility in cell stretching experiments. While certain commercial pneumatic platforms may advertise a small system footprint, it is important to note that this footprint does not encompass the compressed air supply. In practical terms, the infrastructure requirements are high as the system can only operate in locations equipped with existing compressed air lines or require an air pump, often with a large physical footprint. Additionally, the requirement for compressed air or vacuum necessitates the use of connecting tubes, which result in cumbersome handling. Pneumatic platforms employing soft membranes may also be prone to leaks during extended cyclic operations, posing challenges to their reliability and performance.
Conversely, motorized cell stretchers, especially those using high-precision stepper motors, can achieve large and consistent elongation with a relatively simple setup. In addition, motorized actuators are generally highly stable throughout time, making them suitable for both static and cyclic stretching. Characterization of the elongation is straightforward since the user input elongation is directly related to output elongation without involving any secondary parameter. This task occurs in the motor and controller, which enables highly precise and programmable motions. Generally, motorized stretchers tend to have the least requirements for infrastructure. Most motorized stretchers only require ubiquitous electrical input. Atcha
et al. reported a low-cost motorized cell stretcher device [
28]. By utilizing a programmable servomotor, gear, and gear rack system, the team devised a versatile cell stretching platform to uniaxially strain macrophages and cardiomyocytes in a cyclic manner. A recent motorized cell stretcher built with LEGO parts by Boulter
et al. is even more impressive as it runs on a small battery pack, effectively removing any external connections during operation [
18]. Such a portable setup is possible due to the availability of highly energy-efficient motor designs.
Two of the most recent actuators are of particular interest. The first one is a platform developed by Al-Maslamani
et al. [
17]. The team used a low-cost linear actuator mounted on a 3-D printed stage which can be controlled wirelessly. The relatively small footprint allows for fitting the platform inside an incubator and placing it on a microscope stage. The accuracy is acceptable at +/- 0.3 mm for large strains, and there is an ample amount of force available up to 22 N.
On the other hand, Boulter
et al. developed a novel cell stretching platform using strong and lightweight LEGO parts [
18]. However, the small LEGO motor can only produce a limited force. Furthermore, different gear ratios must be used to achieve suitable stretching frequencies. This substantially increases the operational complexities of changing the gear ratio, which also affects the output force. Although the concept does not require any 3D printer to build, the assembly process is complex as it involves a long list of parts and instructions. In addition, the combined LEGO parts are expensive compared to a monolithic 3D-printed platform.
The present paper reports a novel uniaxial cell stretcher that leverages a high-precision motorized linear stage controlled by an Arduino microcontroller. Our cell stretcher offers the flexibility to be positioned on a microscope stage, enabling direct observation of the cell stretching process. Furthermore, it can be seamlessly integrated into an incubator, allowing for the implementation of the stretching process during cell culture procedures. A key advantage of our developed cell stretcher is its modular design, facilitating integration with various applications and enabling straightforward assembly.
5. Conclusions
We successfully developed a cell stretching platform with a simple yet efficient method for exposing a cell culture to cyclic and static strains in a uniform manner. To evaluate the effectiveness of our platform, we conducted stretching assays with breast cancer cells. Our initial analysis revealed a strong correlation between the orientation of cells and external mechanical cues. Notably, when subjected to cyclic stretching for a duration of 30 minutes, we observed cell aggregation, suggesting that the cells underwent a cytoskeletal reorganization to withstand the applied strain and to maintain the integrity of their ECM arrangement.
While extensive investigations with this device are ongoing, our initial findings have demonstrated its remarkable capability to induce similar cellular changes within the order of minutes compared to the hours typically needed by electromagnetically actuated devices. This accelerated response time is achieved under reproducible and repeatable conditions. The design of our platform allows users to easily adjust parameters such as strain, stretching speed, frequency, and duration through an open-source software interface. This enhanced efficiency in generating cellular responses will be particularly valuable for primary cells isolated from clinical samples.
Moreover, compared to our first-generation pneumatic device and second-generation electromagnetic device, this third-generation device holds the potential for multiplexing, enabling the processing of multiple samples simultaneously. This capability is crucial for conducting clinical cohort studies, where large sample sizes are often necessary. It also enhances the efficiency and throughput of the cell stretching process, enabling researchers to handle and analyze multiple samples concurrently.
Additionally, it is worth highlighting that cells can be harvested after stretching using conventional clinical tools, enabling subsequent standard biological analyses. This feature is of particular importance for clinical diagnostics and subsequent therapeutic screening.
Author Contributions
Conceptualization, S.Y. and N-T.N.; methodology, S.Y., P.S, N-K.N.; formal analysis, S.Y,P.S, N-K.N.; data curation, S.Y., P.S, N-K.N.; writing—original draft preparation, S.Y, P.S, N-K.N., N.K.; writing—review and editing, S.Y., P.S., N-K.N., C-H.O., N.K., N-T.N.; supervision, N-T.N.; funding acquisition, N.K. and N-T.N. All authors have read and agreed to the published version of the manuscript.