Development of haptic rendering algorithm based-on vision-based force estimation for cell injection system

Abstract

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.