Haptic microrobotic cell injection system

Ghanbari, Ali, Horan, Ben, Nahavandi, Saeid, Chen, Xiao Qi and Wang, Wenhui 2014, Haptic microrobotic cell injection system, IEEE systems journal, vol. 8, no. 2, pp. 371-383, doi: 10.1109/JSYST.2012.2206440.

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Title Haptic microrobotic cell injection system
Author(s) Ghanbari, Ali
Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Chen, Xiao Qi
Wang, Wenhui
Journal name IEEE systems journal
Volume number 8
Issue number 2
Start page 371
End page 383
Total pages 13
Publisher IEEE
Place of publication Piscataway, N.J.
Publication date 2014-06
ISSN 1932-8184
Summary Microrobotic cell injection is the subject of increasing research interest. At present, an operator relies completely on visual information and can be subject to low success rates, poor repeatability, and extended training times. This paper focuses on increasing operator performance during cell injection in two ways. First, our completed haptic cell injection system aims to increase the operator's performance during real-time cell injection. Haptic bilateralism is investigated and a mapping framework provides an intuitive method for manoeuvring the micropipette in a manner similar to handheld needle insertion. Volumetric virtual fixtures are then introduced to haptically assist the operator to penetrate the cell at the desired location. The performance of the volumetric virtual fixtures is also discussed. Second, the haptically enabled cell injection system is replicated as a virtual environment facilitating virtual offline operator training. Virtual operator training utilizes the same mapping framework and haptic virtual fixtures as the physical system allowing the operator to train offline and then directly transfer their skills to real-time cell injection.
Language eng
DOI 10.1109/JSYST.2012.2206440
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2014, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30048810

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