TY - GEN
T1 - Dexterous micromanipulation supporting cell and tissue engineering
AU - Inoue, Kenji
AU - Arai, Tatsuo
AU - Tanikawa, Tamio
AU - Ohba, Kohtaro
PY - 2005
Y1 - 2005
N2 - A dexterous micromanipulation system consisting of a two-fingered micro hand, an auto-focusing optical microscope, an image processing system and user interfaces has been developed. The micro hand has 6 DOF: 3 DOF for each of two fingers. These fingers work just like thumb and forefinger. Thus this hand can grasp, move, rotate and release micro objects. A human operator can operate this hand using a joystick or a keyboard, while seeing the microscope image displayed on a TV monitor. The developed system enables automated recognition and handling of micro objects. The microscope focuses on a micro object automatically and detects its position in depth. The image processing system recognizes the object and measures its position on the focal plane. Then, while tracking the micro object in 3D space, the micro hand follows and captures the object automatically. Using an atomic force microscope (AFM) and this micro hand, the mechanical properties of living cells have been measured. A real-time micro VR camera system which generates 3D virtual model of micro environment has been also developed.
AB - A dexterous micromanipulation system consisting of a two-fingered micro hand, an auto-focusing optical microscope, an image processing system and user interfaces has been developed. The micro hand has 6 DOF: 3 DOF for each of two fingers. These fingers work just like thumb and forefinger. Thus this hand can grasp, move, rotate and release micro objects. A human operator can operate this hand using a joystick or a keyboard, while seeing the microscope image displayed on a TV monitor. The developed system enables automated recognition and handling of micro objects. The microscope focuses on a micro object automatically and detects its position in depth. The image processing system recognizes the object and measures its position on the focal plane. Then, while tracking the micro object in 3D space, the micro hand follows and captures the object automatically. Using an atomic force microscope (AFM) and this micro hand, the mechanical properties of living cells have been measured. A real-time micro VR camera system which generates 3D virtual model of micro environment has been also developed.
UR - http://www.scopus.com/inward/record.url?scp=33847066726&partnerID=8YFLogxK
U2 - 10.1109/MHS.2005.1589989
DO - 10.1109/MHS.2005.1589989
M3 - Conference contribution
AN - SCOPUS:33847066726
SN - 0780394828
SN - 9780780394827
T3 - Proceedings of the 2005 International Symposium on Micro-NanoMechatronics and Human Science, Eighth Symposium on Micro- and Nano-Mechatronics for Information-Based Society - The 21st Century COE Progr
SP - 197
EP - 202
BT - Proceedings of the 2005 International Symposium on Micro-NanoMechatronics and Human Science, Eighth Symposium on Micro- and Nano-Mechatronics for Information-Based Society - The 21st Century COE Progr
T2 - 2005 International Symposium on Micro-NanoMechatronics and Human Science, Eighth Symposium on Micro- and Nano-Mechatronics for Information-Based Society - The 21st Century COE Program
Y2 - 7 November 2005 through 9 November 2005
ER -