Towards haptic microrobotic intracellular injection

Horan, Ben, Nahavandi, Saeid, Ghanbari, Ali, Chen, XiaoQi and Wang, Wenhui 2009, Towards haptic microrobotic intracellular injection, in ASME & IDETC/CIE 2009 : Proceedings of the 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, [San Diego, Calif], pp. 1-8.

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Title Towards haptic microrobotic intracellular injection
Author(s) Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Ghanbari, Ali
Chen, XiaoQi
Wang, Wenhui
Conference name International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (2009 : San Diego, California)
Conference location San Diego, California
Conference dates 30 Aug.- 2 Sept. 2009
Title of proceedings ASME & IDETC/CIE 2009 : Proceedings of the 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
Editor(s) [Unknown]
Publication date 2009
Conference series International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Start page 1
End page 8
Total pages 8
Publisher ASME
Place of publication [San Diego, Calif]
Summary This paper proposes a system providing the operator with an intuitive method for controlling a micromanipulator during intracellular injection. A low-cost haptic device is utilised and 3D position-to-position kinematic mapping allows the operator to control the micropipette using a similar method to handheld needle insertion. The workspaces of the haptic device and micromanipulator are analysed and the importance of appropriate scaling to positioning resolution and tracking performance is investigated. The control issues integral to achieving adequate control of the micromanipulator using the Phantom Omni haptic device are addressed. Aside from offering an intuitive method for controlling the micropipette, this work lays the foundation for real-time haptic assistance in the cell injection task.
ISBN 9780791838563
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 929999 Health not elsewhere classified
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2009, ASME
Persistent URL http://hdl.handle.net/10536/DRO/DU:30029261

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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