Robotic optical-micromanipulation platform for teleoperated single-cell manipulation - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2019

Robotic optical-micromanipulation platform for teleoperated single-cell manipulation

Résumé

Single cell manipulation is considered a key technique for biological application. However, the lack of intuitive and effective systems make this techniques less widespread. We propose here a new tele-robotic solution for dexterous cell manipulation through optical tweezers. The slave robot consist in a combination of robot-assisted stages and a highspeed multi-trap technique and allows the manipulation of more than 15 optical traps in a workspace of (200×200×200) μm 3 for translations and (70 ×50 ×8) μm 3 for rotations, both with nanometric resolution. The master device with 6+1 Dof is employed to control the 3D position of optical traps in differents arrangements. Traps can be grouped and controlled in a variety of ways for specific purposes. Precision and efficiency studies are carried out with trajectory control tasks. Finally, the 6D teleoperated-control of an optical robot for cell-transport is presented. Results exemplify the kind of biological applications that can be accomplished with the presented system in an effective and intuitive way, even if the user does not come from an engineering background.
Fichier principal
Vignette du fichier
MARSS2019_Final.pdf (1.05 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03190968 , version 1 (29-08-2023)

Identifiants

Citer

Edison Gerena, Florent Legendre, Youen Vitry, Stephane Regnier, Sinan Haliyo. Robotic optical-micromanipulation platform for teleoperated single-cell manipulation. 2019 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2019), 2019, Helsinki, Finland. pp.60, ⟨10.1109/MARSS.2019.8860946⟩. ⟨hal-03190968⟩
148 Consultations
27 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More