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Haptic microrobotic intracellular injection assistance using virtual fixtures

Ghanbari, Ali, Chen, Xiaoqi, Wang, Wenhui, Horan, Ben, Abdi, Hamid and Nahavandi, Saeid 2010, Haptic microrobotic intracellular injection assistance using virtual fixtures, in ICARCV 2010 : 11th International Conference on Control, Automation, Robotics and Vision, IEEE, Piscataway, N.J., pp. 781-786.

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Title Haptic microrobotic intracellular injection assistance using virtual fixtures
Author(s) Ghanbari, Ali
Chen, Xiaoqi
Wang, Wenhui
Horan, Ben
Abdi, Hamid
Nahavandi, Saeid
Conference name IEEE International Conference on Control, Automation, Robotics & Vision (11th : 2010 : Singapore)
Conference location Singapore
Conference dates 7-10 Dec. 2010
Title of proceedings ICARCV 2010 : 11th International Conference on Control, Automation, Robotics and Vision
Editor(s) [Unknown]
Publication date 2010
Conference series International Conference on Control, Automation, Robotics and Vision
Start page 781
End page 786
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Keyword(s) haptic cell injection
haptic
virtual fixture
microrobot
Summary In manual cell injection the operator relies completely on visual information for task feedback and is subject to extended training times as well as poor success rates and repeatability. From this perspective, enhancing human-in-the-loop intracellular injection through haptic interaction offers significant benefits. This paper outlines two haptic virtual fixtures aiming to assist the human operator while performing cell injection. The first haptic virtual fixture is a parabolic force field designed to assist the operator in guiding the micropipette's tip to a desired penetration point on the cell's surface. The second is a planar virtual fixture which attempts to assist the operator from moving the micropipette's tip beyond the deposition target location inside the cell. Preliminary results demonstrate the operation of the haptically assisted microrobotic cell injection 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 9781424478155
9781424478156
9781424478132
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970110 Expanding Knowledge in Technology
HERDC Research category E1 Full written paper - refereed
HERDC collection year 2010
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30034526

Document type: Conference Paper
Collections: School of Engineering
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