Development of haptic rendering algorithm based-on vision-based force estimation for cell injection system = 세포주입시스템을 위한 영상정보기반의 힘 추정을 이용한 햅틱 렌더링 알고리즘의 개발

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 288
  • Download : 0
Microinjections such as intracytoplasmic sperm injection (ICSI) have been widely performed in transgenics and in biomedical and pharmaceutical researches. Most users manipulate biological cells manually through an optical microscope. As a result, a low success rate and low reproducibility have been reported. In order to alleviate these problems, a few injection systems with haptic feedback have been recently studied and developed. This thesis focuses mainly on developing of a haptic rendering algorithm for cellular manipulation using image processing techniques and physically based models. The interaction forces between a micropipette and cellular tissues are predicted based on biomechanical models of cells, which consist of boundary element model and prior knowledge of the cell’s mechanical properties. These models are used to allow users to feel amplified reaction forces during cell injection tasks through a haptic device in real time. The experimental system, equipped with a micro-injection system and a commercial haptic display, was developed and tested using zebrafish embryos. The proposed haptic rendering algorithm could be used to improve success rates for cellular manipulation tasks.
Advisors
Kim, Jungresearcher김정researcher
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2008
Identifier
296078/325007  / 020063114
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2008.2, [ vi, 68 p. ]

Keywords

Cellular manipulation; Haptic rendering; Image processing; Physically based modeling; 세포조작; 햅틱렌더링; 영상처리; 물리기반모델; Cellular manipulation; Haptic rendering; Image processing; Physically based modeling; 세포조작; 햅틱렌더링; 영상처리; 물리기반모델

URI
http://hdl.handle.net/10203/45598
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=296078&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0