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Haptic guidance for microrobotic intracellular injection

Ghanbari, Ali, Abdi, Hamid, Horan, Ben, Nahavandi, Saeid, Chen, Xiaoqi and Wang, Wenhui 2010, Haptic guidance for microrobotic intracellular injection, in IEEE RAS & EMBS 2010 : Proceedings of the 3rd International Conference on Biomedical Robotics and Biomechatronics, 2010, IEEE Xplore, Los Alamitos, Calif., pp. 162-167, doi: 10.1109/BIOROB.2010.5627016.

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Title Haptic guidance for microrobotic intracellular injection
Author(s) Ghanbari, Ali
Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Nahavandi, Saeid
Chen, Xiaoqi
Wang, Wenhui
Conference name Biomedical Robotics and Biomechatronics. International Conference (3rd : 2010 : Tokyo, Japan)
Conference location Tokyo, Japan
Conference dates 26-29 Sep. 2010
Title of proceedings IEEE RAS & EMBS 2010 : Proceedings of the 3rd International Conference on Biomedical Robotics and Biomechatronics, 2010
Editor(s) [Unknown]
Publication date 2010
Conference series Biomedical Robotics and Biomechatronics International Conference
Start page 162
End page 167
Total pages 6
Publisher IEEE Xplore
Place of publication Los Alamitos, Calif.
Summary The ability for a bio-operator to utilise a haptic device to manipulate a microrobot for intracellular injection offers immense benefits. One significant benefit is for the bio-operator to receive haptic guidance while performing the injection process. In order to address this, this paper investigates the use of haptic virtual fixtures for cell injection and proposes a novel force field virtual fixture. The guidance force felt by the bio-operator is determined by force field analysis within the virtual fixture. The proposed force field virtual fixture assists the bio-operator when performing intracellular injection by limiting the micropipette tip's motion to a conical volume as well as recommending the desired path for optimal injection. A virtual fixture plane is also introduced to prevent the bio-operator from moving the micropipette tip beyond the deposition target inside the cell. Simulation results demonstrate the operation of the guidance system.
Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
ISBN 9781424477074
ISSN 2155-1774
Language eng
DOI 10.1109/BIOROB.2010.5627016
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970111 Expanding Knowledge in the Medical and Health Sciences
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031444

Document type: Conference Paper
Collections: School of Engineering
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.