The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

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.

Keywords

surgery, medical robotics, tremor, active noise control, cell micromanipulation

Notes

Sponsor: National Institutes of Health

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Text Reference

Jaime Cuevas Tabares, Robert MacLachlan, Charles A. Ettensohn, and Cameron Riviere, "Cell micromanipulation with an active handheld micromanipulator," Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, September, 2010, pp. 4363-4366.

BibTeX Reference

@inproceedings{Cuevas_Tabares_2010_6700,
   author = "Jaime {Cuevas Tabares} and Robert MacLachlan and Charles A. Ettensohn and Cameron Riviere",
   title = "Cell micromanipulation with an active handheld micromanipulator",
   booktitle = "Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "4363-4366",
   month = "September",
   year = "2010",
}

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