Development of a piezo-actuated micro-teleoperation system for cell manipulation
Development of a piezo-actuated micro-teleoperation system for cell manipulation
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DOI：
10.1002/rcs.236
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发表时间：
2009-03-01
影响因子：
2.5
通讯作者：
Ghidary, S. Shiry
中科院分区：
文献类型：
--
作者：
Zareinejad, M.;Rezaei, S. M.;Ghidary, S. Shiry
背景卵胞浆内单精子注射（ICSI）需要长期的训练，成功率低，主要是由于对注射力的控制不佳。使操作员能够获得力反馈将提高注射任务的成功率。宏-微遥操作系统在操作者的微观层面执行的任务和宏观运动之间架起了差距的桥梁。遥操作从机械手应该精确地定位针以精确地穿透细胞膜。压电致动器被广泛应用于微操作应用，然而，滞后非线性限制了这些actuator.Method的准确性本文提出了一种新的方法，利用压电纳米级作为从机械手的遥操作系统。Prandtl-Ishlinskii（PI）模型用于在前馈方案中对致动器滞后进行建模以抵消这种非线性。为了克服系统参数不确定性、未建模动态和PI辨识误差的影响，在从模型中加入扰动项，并采用基于滑模的阻抗控制和扰动估计。通过对细胞膜穿透的实验研究了所提出的控制器的性能。结论实验结果验证了在自由运动中的精确位置跟踪和在低刚度环境中接触时的同时位置和力跟踪。版权所有（C）2009约翰威利父子有限公司
Background intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators.Method This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feed-forward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation.Results The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration.Conclusion The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment. Copyright (C) 2009 John Wiley & Sons, Ltd.