Haptic rendering of cell injection task with fluid

摘要

In the cell injection task conducted in the microgravity science glovebox of the space station, the ground operator remotely controls the space station's robotic arm to perform gene injection or nuclear extraction tasks. Reliable force feedback plays a crucial role in adjusting the needle's position and speed during the manipulator's operation to prevent puncture failure. This paper proposes a SPH(smooth particle hydrodynamics) method based on a unified particle model to simulate the interaction between the rigid injection needle and the fluid cytoplasm. A fast neighborhood particle search algorithm is utilized to obtain collision information between rigid bodies and fluids, and a cell injection interaction force model is designed to simulate the adhesion phenomenon between the injection needle and cytoplasm, which includes viscous, pressure, friction, and buoyancy forces. In conclusion, two sets of simulation experiments were designed to demonstrate the real-time stability of the method, as well as its effectiveness for force interaction simulations of highly viscous fluids.