| Paper Details: | Downloads: 443 |
| Serial Number: | P1130533103
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| Title: | Microrobot station for automatic cell handling (ARAS-05 Best Paper Award)
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| Authors: | T. Sievers and S. Garnica and S. Tautz and T. Trüper and S. Fatikow
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| Abstract: | This paper describes an automatic microrobot system for handling biological cells. The system enables automatic sorting of stained cells and the transportation from a source suspension into a target suspension. Subtasks to be solved are automatic recognition and distinction of cells, automatic positioning of the end-effector close to the target cell, automatic soak up, transporting of the cell and finally releasing it into a well of an object slide.
The cell handling station consists of a mobile microrobot with piezo locomotion, an inverted light microscope and a motorized micropump. Automation is achieved by using CCD cameras and image processing algorithms for continuous pose estimation of the microrobot. The calculated pose data is directly used as visual feedback for the closed-loop control. Cell recognition and distinction is achieved by image processing as well. Low-level Image processing is carried out by Matrox™ Imaging Library (MIL). The developed cell handling station is tested by sorting stained HepG2 (hepatoma) and PC3 (prostate carcinoma) cells.
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| Keywords: | Microrobotics, Microhandling, Microrobot control, Visual feedback, Biological cells.
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| Journal/Conference: | ICGST Conference on Automation, Robotics and Autonomous Systems, ARAS-05
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| Submission Date: | 8/1/2005 12:00:00 AM
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| Review Date: | 10/1/2005 12:00:00 AM
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| Publishing Date: | 12/19/2005 12:00:00 AM
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| Article Downloads: | 443
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