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.
Biomedical Robotics and Biomechatronics International Conference
Place of publication
Los Alamitos, Calif.
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.
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Field of Research
090602 Control Systems, Robotics and Automation
Socio Economic Objective
970111 Expanding Knowledge in the Medical and Health Sciences
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