Robotic cell manipulation using optical tweezers with limited FOV
Robotic cell manipulation using optical tweezers with limited FOV
复制标题
使用有限视场的光镊进行机器人细胞操作
DOI：
10.1109/icra.2014.6907529
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Dong Sun
中科院分区：
文献类型：
--
作者：
Xiang Li;C. Cheah;Xiao Yan;Dong Sun
显微光学和照相机通常用于显微操作或生物操作工作站，因为它们提供了大量的视觉细节和信息。视觉反馈信息还提高了微操作对不确定性的鲁棒性和精度。在各种微操作系统中，光镊是最有用的工具之一，它利用聚焦光束来操纵生物细胞或纳米颗粒，而无需物理接触。然而，如果激光束不在显微镜的视场范围内，目前的光学操作技术就会失败。为了解决这一问题，我们提出了一种机器人控制技术，用于显微镜视场受限的光学操作。所提出的控制策略包括基于视觉的控制，操纵被捕获的细胞在视场内移动到所需的位置，以及笛卡尔空间反馈控制，当激光束在视场外时驱动激光束返回。因此，该方法允许激光束在操作过程中离开视场，并且从一个反馈到另一个反馈的过渡是平滑的。考虑单元与激光源操纵臂之间的动态相互作用，采用类李雅普诺夫方法分析了闭环系统的稳定性。实验结果验证了该方法的有效性。
Microscopic optics and cameras are commonly used in micromanipulation or biomanipulation workstations since they provide a large spectrum of visual details and information. The visual feedback information also improves robustness to uncertainty and accuracy of micromanipulation. Among various micromanipulation systems, optical tweezers are one of the most useful instruments that utilize a focused beam of light to manipulate biological cell or nanoparticles without physical contact. However, current optical manipulation techniques fail if the laser beam is not within the field of view (FOV) of the microscope. To solve this problem, we present a robotic control technique for optical manipulation with limited FOV of microscope. The proposed control strategy consists of a vision based control that manipulates the trapped cell to move to a desired position inside the FOV and a Cartesian-space feedback control that drives the laser beam back when it is outside the FOV. Thus, the proposed method allows the laser beam to leave the FOV during the course of manipulation and the transition from one feedback to another is smooth. The stability of the closed-loop system is analysed by using Lyapunov-like methods, with consideration of the dynamic interaction between the cell and the manipulator of the laser source. Experimental results are presented to illustrate the performance of the proposed method.
DOI：
10.1002/cyto.990120607
发表时间：
1991-01-01
期刊：
CYTOMETRY
影响因子：
--
作者：
STEUBING, RW;CHENG, S;BERNS, MW
通讯作者：
BERNS, MW