An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder
Joint Authors
Source
Journal of Medical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-03-06
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
A novel control methodology which uses a low-resolution encoder is presented for a cellular microinjection technology called the Ros-Drill (rotationally oscillating drill).
It is developed primarily for ICSI (intracytoplasmic sperm injection) operations, with the objective of generating a desired oscillatory motion at the tip of a micro glass pipette.
It is an inexpensive setup, which creates high-frequency (higher than 500 Hz) and small-amplitude (around 0.2 deg) rotational oscillations at the tip of an injection pipette.
These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage.
Such a motion control procedure presents no particular difficulty when it uses sufficiently precise motion sensors.
However, size, costs, and accessibility of technology to the hardware components severely constrain the sensory capabilities.
Consequently, the control mission and the trajectory tracking are adversely affected.
This paper presents two contributions: (a) a dedicated novel adaptive feedback control method to achieve a satisfactory trajectory tracking capability.
We demonstrate via experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity; (b) some important analytical features and related observations associated with the controlled harmonic motion which is created by the low-resolution feedback control structure.
American Psychological Association (APA)
Zhang, Zhenyu& Olgac, Nejat. 2013. An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder. Journal of Medical Engineering،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-470605
Modern Language Association (MLA)
Zhang, Zhenyu& Olgac, Nejat. An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder. Journal of Medical Engineering No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-470605
American Medical Association (AMA)
Zhang, Zhenyu& Olgac, Nejat. An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder. Journal of Medical Engineering. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-470605
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-470605