Abstract
Micro-teleoperated interaction with biological cells is of special interest. The low fidelity of previous systems aimed at such small scale tasks prompted the design of a novel manual bilateral cell injection system. This systems employed the coupling of a null-displacement active force sensor with a haptic device having negligible effective inertia. This combination yielded a bilateral interaction system that was unconditionally stable even when the scaling gains were high. To demonstrate the capability of this system, two experiments were performed. A hard trout egg was delicately punctured and a small dye amount was injected in an embryo within a zebra fish egg without causing other forms of damage. The results demonstrate that the system let an operator dextrously interact with reduced reliance on visual feedback.
Highlights
I T IS well accepted that haptic feedback is highly valuable for the remote handling and manipulation of hostile, distant, small, virtual, or other inaccessible environments
Specific interest in microscopic manipulation has recently grown greatly owing to its many applications in biology and in biomedical engineering, such as membrane mechanical testing in tissue engineering [4], [5] or manual injection of material into biological cells because of its relevance for in vitro fertilisation, intracytoplasmic sperm injection (ICSI), or pro-nuclei deoxyribonucleic-acid (DNA) injection
A) The force measurement captures, in real time, the entire interaction forces between the micropipette and the sample, even when the interaction restitutes the stored energy; b) The user can exercise expertise, judgment, and intuition since the highly transparent haptic device and the active force sensor are directly coupled without any intervening filter; c) The proof-of-feasibility of a cell injection system with very high fidelity haptic feedback is presented
Summary
I T IS well accepted that haptic feedback is highly valuable for the remote handling and manipulation of hostile, distant, small, virtual, or other inaccessible environments. Highly transparent force feedback system capable of large force amplification gains without compromising stability This system is applied to the experimental validation to puncturing an egg cell under bilateral manual control to deliver material inside the membrane. A) The force measurement captures, in real time, the entire interaction forces between the micropipette and the sample, even when the interaction restitutes the stored energy; b) The user can exercise expertise, judgment, and intuition since the highly transparent haptic device and the active force sensor are directly coupled without any intervening filter; c) The proof-of-feasibility of a cell injection system with very high fidelity haptic feedback is presented. The design of our system could accommodate, without modification and without risks of instability, an exchanged work gain that could be a hundred-fold larger
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