Transportation of Biological Cells with Robot-Tweezer Manipulation System
Increasing demand for both accuracy and productivity in cell positioning highlights the need for automation process that integrates robotics and micro/nano manipulation technologies. Optical tweezers, which use low power laser beams to trap and manipulate particles at micro/nano scale, can be treated as special robot “end-effectors to position biological objects in a noninvasive way. In this paper, we propose to use a robot-tweezer manipulation system for automatic transportation of biological cells. Computer vision is utilized to supply real-time positions of target cells. Dynamics equation of the trapped cell during the movement is analyzed. Closed-loop controllers are designed for transporting single cell as well as multiple cells. Experiments are performed on transporting live cells to verify the effectiveness of the proposed approach.
Songyu Hu Dong Sun
Department of Manufacturing Engineering and Engineering Management,City University of Hong Kong,Kowloon,Hong Kong
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5997-6002
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）