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Haptic guidance for microrobotic intracellular injection

conference contribution
posted on 2010-01-01, 00:00 authored by A Ghanbari, Hamid AbdiHamid Abdi, Ben HoranBen Horan, Saeid Nahavandi, X Chen, W Wang
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.



Biomedical Robotics and Biomechatronics. International Conference (3rd : 2010 : Tokyo, Japan)


162 - 167


IEEE Xplore


Tokyo, Japan

Place of publication

Los Alamitos, Calif.

Start date


End date









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Publication classification

E1 Full written paper - refereed

Copyright notice

2010, IEEE

Title of proceedings

IEEE RAS & EMBS 2010 : Proceedings of the 3rd International Conference on Biomedical Robotics and Biomechatronics, 2010