Hao Yang ; Xiangpeng Li ; Yunhui Liu ; Dong Sun
Most studies on automated cell transportation are single-task oriented. Results from these investigations hardly meet the increasing demand for emerging cell surgery operations that usually require a series of manipulation tasks with multiple processing steps. In this paper, automated cell transportation to accomplish a multistep process in cell surgery was investigated. A novel control system that can manipulate grouped cells to move into different task regions sequentially and continuously without interruption was developed based on a robot-aided optical tweezers manipulation system. A potential field-based controller was designed to achieve multistep processing control, where the new concepts of contractive coalition and switching region were incorporated into tweezers-cell coalition. The success of this controller lies in simultaneously controlling the positions of the optical tweezers, trapping multiple cells effectively, and avoiding collisions in a unified manner. Simulations and experiments of transferring a group of cells to a number of task regions were performed to demonstrate the effectiveness of the proposed approach.
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