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 proceedingConference article published in proceeding or bookAcademic researchpeer-review

14 Citations (Scopus)


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 languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Number of pages6
Publication statusPublished - 26 Aug 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 3 May 20107 May 2010


Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/TerritoryUnited States
CityAnchorage, AK

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this