We report dispersive coupling of an optically trapped silica nanoparticle ($143~$nm diameter) to the field of a driven Fabry-Perot cavity in high vacuum ($4.3times 10^{-6}~$mbar). We demonstrate nanometer-level control in positioning the particle with respect to the intensity distribution of the cavity field, which allows access to linear, quadratic and tertiary optomechanical interactions in the resolved sideband regime. We determine all relevant coupling rates of the system, i.e. mechanical and optical losses as well as optomechanical interaction, and obtain a quantum cooperativity of $C_Q = 0.01$. Based on the presented performance the regime of strong cooperativity ($C_Q > 1$) is clearly within reach by further decreasing the mode volume of the cavity.
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