Force analysis and path planning of the trapped cell in robotic manipulation with optical tweezers

Yanhua Wu; Youhua Tan; Dong Sun; Wenhao Huang

doi:10.1109/ROBOT.2010.5509968

Force analysis and path planning of the trapped cell in robotic manipulation with optical tweezers

Yanhua Wu, Youhua Tan, Dong Sun, Wenhao Huang

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

14 Citations (Scopus)

Abstract

Laser trapping in the near infrared regime is a noninvasive and convenient manipulation tool, which can be utilized as micromanipulator for a large number of biological applications. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and tweezers technologies. In this paper, we propose a robotic manipulation system with optical tweezers, and analyze the force applied on the trapped cell for design of an optimal trapping strategy. The dynamic motion of the cell with consideration of both the trapping and the viscous forces is analyzed, based on which the motion profile of the motorized stage is designed to ensure both safety and efficiency of the cell delivery. A modified A-star algorithm is used for path planning in transporting cells. Experiments are performed on manipulating the yeast cells to demonstrate the effectiveness of the proposed approach.

Original language	English
Title of host publication	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages	4119-4124
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2010.5509968
Publication status	Published - 26 Aug 2010
Externally published	Yes
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: 3 May 2010 → 7 May 2010

Conference

Conference	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/Territory	United States
City	Anchorage, AK
Period	3/05/10 → 7/05/10

ASJC Scopus subject areas

Control and Systems Engineering
Software
Artificial Intelligence
Electrical and Electronic Engineering

More information

10.1109/ROBOT.2010.5509968

Cite this

@inproceedings{0817fb675b88438c8d085d2cf2fb7089,

title = "Force analysis and path planning of the trapped cell in robotic manipulation with optical tweezers",

abstract = "Laser trapping in the near infrared regime is a noninvasive and convenient manipulation tool, which can be utilized as micromanipulator for a large number of biological applications. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and tweezers technologies. In this paper, we propose a robotic manipulation system with optical tweezers, and analyze the force applied on the trapped cell for design of an optimal trapping strategy. The dynamic motion of the cell with consideration of both the trapping and the viscous forces is analyzed, based on which the motion profile of the motorized stage is designed to ensure both safety and efficiency of the cell delivery. A modified A-star algorithm is used for path planning in transporting cells. Experiments are performed on manipulating the yeast cells to demonstrate the effectiveness of the proposed approach.",

author = "Yanhua Wu and Youhua Tan and Dong Sun and Wenhao Huang",

year = "2010",

month = aug,

day = "26",

doi = "10.1109/ROBOT.2010.5509968",

language = "English",

isbn = "9781424450381",

pages = "4119--4124",

booktitle = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010",

note = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010 ; Conference date: 03-05-2010 Through 07-05-2010",

}

Wu, Y, Tan, Y, Sun, D & Huang, W 2010, Force analysis and path planning of the trapped cell in robotic manipulation with optical tweezers. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509968, pp. 4119-4124, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 3/05/10. https://doi.org/10.1109/ROBOT.2010.5509968

Force analysis and path planning of the trapped cell in robotic manipulation with optical tweezers. / Wu, Yanhua; Tan, Youhua; Sun, Dong et al.
2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 4119-4124 5509968.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Force analysis and path planning of the trapped cell in robotic manipulation with optical tweezers

AU - Wu, Yanhua

AU - Tan, Youhua

AU - Sun, Dong

AU - Huang, Wenhao

PY - 2010/8/26

Y1 - 2010/8/26

N2 - Laser trapping in the near infrared regime is a noninvasive and convenient manipulation tool, which can be utilized as micromanipulator for a large number of biological applications. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and tweezers technologies. In this paper, we propose a robotic manipulation system with optical tweezers, and analyze the force applied on the trapped cell for design of an optimal trapping strategy. The dynamic motion of the cell with consideration of both the trapping and the viscous forces is analyzed, based on which the motion profile of the motorized stage is designed to ensure both safety and efficiency of the cell delivery. A modified A-star algorithm is used for path planning in transporting cells. Experiments are performed on manipulating the yeast cells to demonstrate the effectiveness of the proposed approach.

AB - Laser trapping in the near infrared regime is a noninvasive and convenient manipulation tool, which can be utilized as micromanipulator for a large number of biological applications. Increasing demands for both accuracy and efficiency in cell manipulation highlight the need for automation process that integrates robotics and tweezers technologies. In this paper, we propose a robotic manipulation system with optical tweezers, and analyze the force applied on the trapped cell for design of an optimal trapping strategy. The dynamic motion of the cell with consideration of both the trapping and the viscous forces is analyzed, based on which the motion profile of the motorized stage is designed to ensure both safety and efficiency of the cell delivery. A modified A-star algorithm is used for path planning in transporting cells. Experiments are performed on manipulating the yeast cells to demonstrate the effectiveness of the proposed approach.

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U2 - 10.1109/ROBOT.2010.5509968

DO - 10.1109/ROBOT.2010.5509968

M3 - Conference article published in proceeding or book

SN - 9781424450381

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EP - 4124

BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010

T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010

Y2 - 3 May 2010 through 7 May 2010

ER -

Force analysis and path planning of the trapped cell in robotic manipulation with optical tweezers

Abstract

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ASJC Scopus subject areas

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