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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 Nahavandi
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.



IEEE International Conference on Control, Automation, Robotics & Vision (11th : 2010 : Singapore)


781 - 786





Place of publication

Piscataway, N.J.

Start date


End date





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Publication classification

E1 Full written paper - refereed

Copyright notice

2010, IEEE

Title of proceedings

ICARCV 2010 : 11th International Conference on Control, Automation, Robotics and Vision