A Novel Tele Manipulation Platform for Micro Cell Injection

Currently, cell manipulations for Intra Cytoplasmatic Cell Injection (ICSI) are performed manually. However, the success and survival rate of the cells is very low due to the great sensitivity of cells. Moreover, while manipulating, the operator cannot feel any interaction with the cells because of their negligible mass. Conventional cell manipulation does not have the ability to provide force feedback to an operator. Therefore, there exists a need to design a robotic arm for cell injection process and to incorporate haptic force feedback along with visual feedback into a cell injection system, with the capability of representing contact forces in the range of µN-mN. In order to know the contact forces experiencing by the cell membrane, a good understanding of the biological cell dynamics throughout the cell injection process is necessary. This thesis research investigates the design, simulation and development of a novel telerobotic system fro injecting manipulator, the visual feedback developed in C++ and haptic feedback estimated using canny edge detection algorithm. The goals of this proposed effort were to overcome problems related to manual operations for micro-cell injection applications. This thesis presents the development of teleoperated robotic platform for Micro Cell Injecting Manipulator developed in collaboration with Center for Intelligent Systems at Korea University of Technology and Education and Mechanical Engineering Department, University of Kansas. This thesis work can have immediate applications in the biological cell injections, drug delivery applications and various medical applications.

Grantor dc:publisher

University of Kansas

Year dc:date.issued

2009

Author dc:creator

• Bhogadi, Dileep Kumar

Advisors dc:contributor.advisor

• Wilson, Sara
• Hyun, Cho Chan

• Engineering, Robotics
• Engineering, Mechanical
• Computer Science
• Edge Detection
• Haptics Feedback
• Injecting Manipulator
• Micro Cell manipulation
• Telerobotic System

Statement dc:rights

• Copyright held by the author.

Language dc:language.iso

EN

Dc Identifier Other

http://dissertations.umi.com/ku:10437

OAI identifier oai:identifier

oai:kuscholarworks.ku.edu:1808/37077