File(s) under permanent embargo
Towards haptic microrobotic intracellular injection
conference contribution
posted on 2009-01-01, 00:00 authored by Ben HoranBen Horan, Saeid Nahavandi, A Ghanbari, X Chen, W WangThis paper proposes a system providing the operator with an intuitive method for controlling a micromanipulator during intracellular injection. A low-cost haptic device is utilised and 3D position-to-position kinematic mapping allows the operator to control the micropipette using a similar method to handheld needle insertion. The workspaces of the haptic device and micromanipulator are analysed and the importance of appropriate scaling to positioning resolution and tracking performance is investigated. The control issues integral to achieving adequate control of the micromanipulator using the Phantom Omni haptic device are addressed. Aside from offering an intuitive method for controlling the micropipette, this work lays the foundation for real-time haptic assistance in the cell injection task.
History
Event
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (2009 : San Diego, California)Pagination
1 - 8Publisher
ASMELocation
San Diego, CaliforniaPlace of publication
[San Diego, Calif]Start date
2009-08-30End date
2009-09-02ISBN-13
9780791838563Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2009, ASMETitle of proceedings
ASME & IDETC/CIE 2009 : Proceedings of the 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering ConferenceUsage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC