Simple biomanipulation tasks with "Steady Hand" cooperative manipulator

Ankur Kapoor; Rajesh Kumar; Russell H. Taylor

doi:10.1007/978-3-540-39899-8_18

Simple biomanipulation tasks with "Steady Hand" cooperative manipulator

Ankur Kapoor, Rajesh Kumar, Russell H. Taylor

Whiting School of Engineering

Research output: Contribution to journal › Article › peer-review

17 Scopus citations

Abstract

This paper reports preliminary experiments in the development of our Augmented Micromanipulation System using the JHU "Steady Hand" cooperative robot system to augment single cell manipulation tasks. The need for robotic augmentation of biomanipulatuon tasks is discussed. The JHU "Steady-Hand" robot configuration for cell manipulation is reported. Augmentation strategies for stable cooperative insertion of a micropipette in a mouse embryo are developed and preliminary experiments validating these strategies are presented. These preliminary experiments demonstrate promise of cooperative robotic augmentation in single cell manipulation tasks.

Original language	English (US)
Pages (from-to)	141-148
Number of pages	8
Journal	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	2878
DOIs	https://doi.org/10.1007/978-3-540-39899-8_18
State	Published - 2003

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

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10.1007/978-3-540-39899-8_18

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AB - This paper reports preliminary experiments in the development of our Augmented Micromanipulation System using the JHU "Steady Hand" cooperative robot system to augment single cell manipulation tasks. The need for robotic augmentation of biomanipulatuon tasks is discussed. The JHU "Steady-Hand" robot configuration for cell manipulation is reported. Augmentation strategies for stable cooperative insertion of a micropipette in a mouse embryo are developed and preliminary experiments validating these strategies are presented. These preliminary experiments demonstrate promise of cooperative robotic augmentation in single cell manipulation tasks.

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Simple biomanipulation tasks with "Steady Hand" cooperative manipulator

Abstract

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