Haptic Feedback for Injecting Biological Cells using Miniature Compliant Mechanisms

摘要

We present a real-time haptics-aided injection technique
\nfor biological cells using miniature compliant mechanisms.
\nOur system consists of a haptic robot operated by
\na human hand, an XYZ stage for micro-positioning, a
\ncamera for image capture, and a polydimethylsiloxane
\n(PDMS) miniature compliant device that serves the dual
\npurpose of an injecting tool and a force-sensor. In contrast
\nto existing haptics-based micromanipulation techniques
\nwhere an external force sensor is used, we use
\nvisually captured displacements of the compliant mechanism
\nto compute the applied and reaction forces. The
\nhuman hand can feel the magnified manipulation force
\nthrough the haptic device in real-time while the motion
\nof the human hand is replicated on the mechanism side.
\nThe images are captured using a camera at the rate of 30
\nframes per second for extracting the displacement data.
\nThis is used to compute the forces at the rate of 30
\nHz. The force computed in this manner is sent at the
\nrate of 1000 Hz to ensure stable haptic interaction. The
\nhaptic cell-manipulation system was tested by injecting
\ninto a zebrafish egg cell after validating the technique at
\na size larger than that of the cell.