Abstract | ||
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Cell manipulation is a key technology in many biomedical and clinical applications, in which end-effector alignment is a critical procedure. Presently, end-effector alignment is performed manually and suffers from large misalignment error and inconsistency. Manual alignment often undesirably moves the end-effector (e.g., a glass micropipette) out of the limited field of view under microscopy and risks breaking the fragile end-effector. This paper presents automated end-effector alignment for robotic cell manipulation. A rotational degree of freedom was added to a micromanipulator with translational degrees of freedom. The kinematic model of end-effector's rotation was established, and the unknown model parameters were calibrated and updated via quadratic optimization. A controller was designed based on the kinematics modeling and parameter optimization to compensate for rotation-induced translation and achieve end-effector alignment. Experimental results demonstrate that the robotic alignment technique achieved an accuracy of 0.6 +/- 0.3 degrees and a time cost of 18.5 +/- 10.2 s, both significantly less than manual alignment. The developed controller cost significantly less time for micropipette alignment than the PID controller. A glass micropipette was used as the end-effector for human sperm immobilization, a critical procedure in clinical cell surgery. The success rate of sperm immobilization was 97% by robotic micropipette alignment, higher than the success rate of 90% by manual alignment due to the higher accuracy of robotic alignment. |
Year | DOI | Venue |
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2021 | 10.1109/ICRA48506.2021.9561791 | 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) |
DocType | Volume | Issue |
Conference | 2021 | 1 |
ISSN | Citations | PageRank |
1050-4729 | 0 | 0.34 |
References | Authors | |
0 | 5 |
Name | Order | Citations | PageRank |
---|---|---|---|
Changsheng Dai | 1 | 12 | 4.67 |
Songlin Zhuang | 2 | 0 | 0.68 |
Zhuoran Zhang | 3 | 15 | 4.47 |
Guanqiao Shan | 4 | 5 | 3.11 |
Yu Sun | 5 | 418 | 69.89 |