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Haptic microrobotic intracellular injection assistance using virtual fixtures
conference contribution
posted on 2010-01-01, 00:00 authored by A Ghanbari, X Chen, W Wang, Ben HoranBen Horan, Hamid AbdiHamid Abdi, Saeid NahavandiIn 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.
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Event
IEEE International Conference on Control, Automation, Robotics & Vision (11th : 2010 : Singapore)Pagination
781 - 786Publisher
IEEELocation
SingaporePlace of publication
Piscataway, N.J.Start date
2010-12-07End date
2010-12-10Language
engNotes
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.Publication classification
E1 Full written paper - refereedCopyright notice
2010, IEEETitle of proceedings
ICARCV 2010 : 11th International Conference on Control, Automation, Robotics and VisionUsage metrics
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