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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 WangThe 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.
History
Event
Biomedical Robotics and Biomechatronics. International Conference (3rd : 2010 : Tokyo, Japan)Pagination
162 - 167Publisher
IEEE XploreLocation
Tokyo, JapanPlace of publication
Los Alamitos, Calif.Publisher DOI
Start date
2010-09-26End date
2010-09-29ISSN
2155-1774ISBN-13
9781424477074Language
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
IEEE RAS & EMBS 2010 : Proceedings of the 3rd International Conference on Biomedical Robotics and Biomechatronics, 2010Usage metrics
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