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Cell micromanipulation with an active handheld micromanipulator

Cell micromanipulation with an active handheld micromanipulator,10.1109/IEMBS.2010.5627111,J. C. Tabarés,R. A. MacLachlan,C. A. Ettensohn,C. N. Rivie

Cell micromanipulation with an active handheld micromanipulator   (Citations: 4)
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The paper describes the use of an active handheld micromanipulator, known as Micron, for micromanipulation of cells. The device enables users to manipulate objects on the order of tens of microns in size, with the natural ease of use of a fully handheld tool. Micron senses its own position using a purpose-built microscale optical tracker, estimates the erroneous or undesired component of hand motion, and actively corrects it by deflecting its own tool tip using piezoelectric actuators. Benchtop experiments in tip positioning show that active compensation can reduce positioning error by up to 51% compared to unaided performance. Preliminary experiments in bisection of sea urchin embryos exhibit an increased success rate when performed with the help of Micron.
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    • ...Recent developments in tremor compensation describe a low-pass shelving filter [1], which acts as a hybrid tremor suppression filter that affords relative motion scaling and reports an additional 30-50% reduction in tremor compared to a low-pass filter...
    • ...A fully handheld micromanipulator called Micron [1] has been developed with actuators not on a robot arm, but between the handle grip and the tool tip...
    • ...The handheld system developed in our lab is Micron, a previously reported 3 DOF micromanipulator [1]...
    • ...We use a experimental setup and series of tests similar to [1]...
    • ...• Aided with Shelving Filter: Micron was turned on with the state-of-the-art tremor suppression and relative motion scaling algorithm from [1]...
    • ...Using Micron as a test platform, virtual fixtures have been validated with medically relevant artificial tests and have been shown to outperform state-ofthe-art tremor compensation [1] in reducing the positioning error of the micromanipulator...
    • ...Fig. 6. Hold still results (a) unaided (b) aided with shelving filter [1] (c) aided with soft fixtures (d) aided with hard fixtures...

    Brian C. Beckeret al. Handheld micromanipulation with vision-based virtual fixtures

    • ...By offsetting the tip relative to the handle, Micron is able to compensate for a surgeon’s tremor [7]...
    • ...not on how to best select the set point, it can be generated by a tremor-compensation filter [7], virtual fixtures [8], or other behaviors [9, 10]...
    • ...Micron (Figure 1) is a 3 degree of freedom (DOF), fully handheld micromanipulator [6, 7] with three piezoelectric actuators mechanically coupling the tip and handle of the instrument...

    Brian C. Beckeret al. State estimation and feedforward tremor suppression for a handheld mic...

    • ...We propose a vessel cannulation system based on a handheld robot, “Micron” [9], using vision-based control...
    • ...Micron, depicted in Fig. 1, is a 3-DOF actuation micromanipulator with 6-DOF sensing for locating the instrument’s tip and orientation [9]...

    Brian C. Beckeret al. Retinal vessel cannulation with an image-guided handheld robot

    • ...The desire to free robotic surgery devices from the floor-standing robotic arm has led to hand-held systems such as the Micron microsurgical instrument from Riviere’s group, which uses piezoelectric actuators to move the tip relative to the handle, based on optical tracking of both the tip and handle [8]...

    George Stettenet al. Hand-Held Force Magnifier for Surgical Instruments

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