A Visual Impedance Force Control of A Robotic Cell Injection System

摘要

Biological cell injection is a laborious work which requires lengthy training and suffers from a low success rate. Even a tiny excessive manipulation force can destroy the membrane or tissue of the biological cell, and lead to failure of the biomanipulation task. This makes the control of the injection force an important factor in cell injection process. In this paper, a vision-based impedance force control algorithm is proposed based on the modeling of a laboratory test-bed injection system. Visual feedback is used to estimate the injection force, based on which an impedance force control algorithm is developed. Motion planning of the injection pipette is also proposed to complete the whole injection process. Finally, preliminary experimental results are given to show the effectiveness of the proposed approach.