Manipulation the Pose of Single Cell by Cooperation of Multiple Optical Manipulators

Cell surgery is becoming an emerging technology in various biomedical applications. Adjusting the pose of the target cell properly for surgical observation and operations is critical to the success of cell surgery. Unfortunately, cell pose adjustments are usually operated manually, which suffers low operation accuracy and efficiency. In this paper, an automatic cell pose adjustment approach is proposed via the cooperation manipulation of multiple flexible optical manipulators, on the base of a holographic optical tweezers cell manipulation system. A novel geometric model is first established to confine the optical manipulator to keep grasping with the specific position of the target cell by using the concept of flexible manipulator in robotics. Then, a cooperation manipulation algorithm integrated with a unified potential field based controller are design to coordinate multiple flexible optical manipulators to adjust the pose of the target cell to the desired state. Simulation and experiment are performed to demonstrate the effectiveness of the proposed approach.