NDLI: Integrated vision and force control in suspended cell injection system: Towards automatic batch biomanipulation

Content Provider	IEEE Xplore Digital Library
Author	Haibo Huang Dong Sun Mills, J.K. Shuk Han Cheng
Copyright Year	2008
Description	Author affiliation: Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Hong Kong (Haibo Huang; Dong Sun)
Abstract	Automatic cell injection has been the focus of many researches and commercial development for several years. In this paper, a robotic cell injection system for automatic batch injection of suspended cells is developed. To facilitate the process, these suspended cells are held and fixed to a cell array by a specially designed cell holding device, and injected one by one through an "out-of-plane" cell injection process. A micropipette equipped with a PVDF micro force sensor is integrated in the proposed system. The force sensor is utilized to measure real time injection force applied to the cells during injection process. Through calibration of the relationship between the cell injection force and the desired injector pipette trajectory, a position (vision) and force control algorithm is proposed and applied to the motion control of the injection pipette in three-coordinate directions during an injection process. The out-of-plane cell injection task is decoupled into a position control in X-Y horizontal plane and an impedance force control in Z-axis. The depth motion of the injector pipette, a common problem of three-dimensional micromanipulation, is indirectly controlled by the force control. Finally, experimental results are given to demonstrate the effectiveness of the proposed approach.
Starting Page	3413
Ending Page	3418
File Size	495285
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543732
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Force sensors Force measurement Motion control Robotics and automation Microscopy Cells (biology) Sun Feedback Mechanical sensors
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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