Versatile Robotic Biomanipulation with Haptic Interface

摘要

This paper presents a multi-scale extension of versatile robotic biomanipulation powered by single-master multislave (SMMS) bilateral teleoperation. We tested the potential possibility of SMMS multiscale extension to variety of biomanipulation applications. Our target goal is to design a multi-scale biotweezing tool. The SMMS configuration was previously proven useful for single manipulation control. First, cell handling experiments such as pick-and-place, injection, and cell indentation with probing from meso- to nanoscale are shown using salmon roe, modeled styren block and a dried yeast cell representing biological applications. A simulation environment was constructed to emulate potential experiments on the subnanoscale. Based on our lab-on-a-tip approach, we expect our proposal to become a multifunctional platform for biomanipulation. We describe an SMMS biomanipulation experiment on the extracellular scale and simulation for potential subcellular applications. Virtual reality (VR) simulation is used in rapid prototype manipulation or assembly models prior to actual biomanipulation experiments and is used as an experimental platform.