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Cell manipulation has received considerable attentions in recent years. Most of cell manipulations are performed manually without guarantee of high precision and high throughput. This paper reports our latest research on integrating robotics technologies into optical tweezers system for manipulation and biomechanical characterization of human red blood cells (RBCs). We first demonstrate the effectiveness...
Increasing demands for both accuracy and productivity in cell manipulation highlight the need for automated process that integrates robotics and micro manipulation technologies. Optical tweezers, which use low power laser beams to trap and manipulate particles at micro/nano scale, have provided a revolutionary solution to manipulate biological objects in a noninvasive way. In this paper, we propose...
Optical trap provides a new and unique tool for manipulation in micro/nano scale and have wide applications in biological fields. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and optical tweezers technologies. A clear understanding of the forces exerted on cells, i.e., trapping and viscous drag forces, is...
Over the past decade, the rapid development of biotechnologies such as gene injection, in-vitro fertilization, intracytoplasmic sperm injection (ICSI) and drug development have led to great demand for highly automated high precision equipment for microinjection. Recently a new cell injection technology using piezo-driven pipettes with a very small mercury column was invented and successfully applied...
Laser trapping in the near infrared regime is a noninvasive and convenient manipulation tool, which can be utilized as micromanipulator for a large number of biological applications. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and tweezers technologies. In this paper, we propose a robotic manipulation system...
Mechanical properties of biological cells play an important role in regulating cellular functions. Some micromanipulation methods have been reported in the literature to measure cell mechanics, but they are either high-costly or difficultly-operated. This paper presents our approach to use microrobotic cell injection technology as the test bed to characterize the mechanical properties of biological...
Microinjection is an effective technique to introduce foreign materials into a biological cell. Although great developments have been achieved, a full understanding of the mechanical response of biological cells to injection operation remains deficient. In this paper, a mechanical model based on membrane theory is proposed. This model utilizes the Mooney-Rivlin material to model the deformation of...
In this paper, we propose a visual-servo-control approach and a two-stage grasping strategy and, then, develop control software to perform micrograsping tasks, i.e., to control a passive microgripper to automatically grasp a micropart, in a 2-D plane with high accuracy. In the proposed control scheme, we employ closed-loop control with the use of two position feedback signals: relative positions of...
In this paper, we propose a vision control strategy to perform automatic microassembly tasks in three- dimension (3-D), and develop relevant control software. Specifically, using a 6 degree-of-freedom (DOF) robotic workstation to control a passive microgripper to automatically grasp a designated micropart from the chip, pivot the micropart, and then move the micropart to vertically insert into a designated...
In this paper, we propose a visual servo control approach and develop the corresponding software to perform micrograsping tasks in a two-dimension plane (2-D). Specifically, using a 6 degree-of-freedom (DOF) robotic manipulator to manipulate a micro-gripper and automatically grasp a micro-part. In the proposed control scheme, two types of position feedback signals are utilized. One is the relative...
Biological cell injection is laborious work which requires lengthy training and suffers from a low success rate. Even a tiny excessive manipulation force can destroy the membrane or tissue of the biological cell. This makes the control of the injection force an important factor in the cell injection process. In this paper, a vision-based impedance force control algorithm is proposed based on dynamic...
Biological cell injection is a laborious work which requires lengthy training and suffers from a low success rate. Even a tiny excessive manipulation force can destroy the membrane or tissue of the biological cell, and lead to failure of the biomanipulation task. This makes the control of the injection force an important factor in cell injection process. In this paper, a vision-based impedance force...
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