Apply RRT-based path planning to robotic manipulation of biological cells with optical tweezer
ABSTRACT Cell transportation represents one of essential operations in many cellular engineering applications such as cell sorting and cell fusion, and has great potential in biomedical engineering and drug industry. This paper presents a path planning approach to cell transportation, where the cell is trapped by optical tweezer and controlled robotically to move towards the target position. To determine the collision-free path for the cell transportation, we develop a fast path planner based on RRT algorithm (Rapidly-exploring random trees). Simulation and experiment that are performed in transporting yeast cells demonstrate the effectiveness of the proposed approach.
- [Show abstract] [Hide abstract]
ABSTRACT: Manipulation of biological cells has recently drawn tremendous attention for its wide applications in biomedical fields such as cell-cell interaction, drug discovery, and tissue engineering. This paper presents a rapidly-exploring random trees (RRT) based path planner for transportation of biological cells in robotic transportation with optical tweezers in three dimensions (3D). By integrating the RRT algorithm into the optical tweezers manipulation system, we can successfully transport biological cells with high precision while avoiding obstacles during cell movement. Simulations and experiment are performed in transporting yeast cells to demonstrate the effectiveness of the proposed approach.IEEE International Conference on Automation and Logistics, ICAL 2011, Chongqing, China, 15-16 August, 2011; 01/2011