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

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

24 Scopus Citations
View graph of relations

Author(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3413-3418
Publication statusPublished - 2008

Publication series

Name
ISSN (Print)1050-4729

Conference

Title2008 IEEE International Conference on Robotics and Automation, ICRA 2008
PlaceUnited States
CityPasadena, CA
Period19 - 23 May 2008

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. ©2008 IEEE.

Citation Format(s)

Integrated vision and force control in suspended cell injection system: Towards automatic batch biomanipulation. / Huang, Haibo; Sun, Dong; Mills, James K. et al.
Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 3413-3418 4543732.

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review