Virtual reality training for micro-robotic cell injection

This research was carried out to fill the gap within existing knowledge on the approaches to supplement the training for micro-robotic cell injection procedure by utilising virtual reality and haptic technologies

Image-Guided Robot-Assisted Techniques with Applications in Minimally Invasive Therapy and Cell Biology

There are several situations where tasks can be performed better robotically rather than manually. Among these are situations (a) where high accuracy and robustness are required, (b) where difficult or hazardous working conditions exist, and (c) where very large or very small motions or forces are involved. Recent advances in technology have resulted in smaller size robots with higher accuracy and reliability. As a result, robotics is fi nding more and more applications in Biomedical Engineering. Medical Robotics and Cell Micro-Manipulation are two of these applications involving interaction with delicate living organs at very di fferent scales.Availability of a wide range of imaging modalities from ultrasound and X-ray fluoroscopy to high magni cation optical microscopes, makes it possible to use imaging as a powerful means to guide and control robot manipulators. This thesis includes three parts focusing on three applications of Image-Guided Robotics in biomedical engineering, including: Vascular Catheterization: a robotic system was developed to insert a catheter through the vasculature and guide it to a desired point via visual servoing. The system provides shared control with the operator to perform a task semi-automatically or through master-slave control. The system provides control of a catheter tip with high accuracy while reducing X-ray exposure to the clinicians and providing a more ergonomic situation for the cardiologists. Cardiac Catheterization: a master-slave robotic system was developed to perform accurate control of a steerable catheter to touch and ablate faulty regions on the inner walls of a beating heart in order to treat arrhythmia. The system facilitates touching and making contact with a target point in a beating heart chamber through master-slave control with coordinated visual feedback. Live Neuron Micro-Manipulation: a microscope image-guided robotic system was developed to provide shared control over multiple micro-manipulators to touch cell membranes in order to perform patch clamp electrophysiology. Image-guided robot-assisted techniques with master-slave control were implemented for each case to provide shared control between a human operator and a robot. The results show increased accuracy and reduced operation time in all three cases

Biological Relatives

Thirty-five years after its initial success as a form of technologically assisted human reproduction, and five million miracle babies later, in vitro fertilization (IVF) has become a routine procedure worldwide. In Biological Relatives, Sarah Franklin explores how the normalization of IVF has changed how both technology and biology are understood. Drawing on anthropology, feminist theory, and science studies, Franklin charts the evolution of IVF from an experimental research technique into a global technological platform used for a wide variety of applications, including genetic diagnosis, livestock breeding, cloning, and stem cell research. She contends that despite its ubiquity, IVF remains a highly paradoxical technology that confirms the relative and contingent nature of biology while creating new biological relatives. Using IVF as a lens, Franklin presents a bold and lucid thesis linking technologies of gender and sex to reproductive biomedicine, contemporary bioinnovation, and the future of kinship. This title was made Open Access by libraries from around the world through Knowledge Unlatched

Fifth Annual Workshop on Space Operations Applications and Research (SOAR 1991), volume 2

Papers given at the Space Operations and Applications Symposium, host by the NASA Johnson Space Center on July 9-11, 1991 are given. The technical areas covered included intelligent systems, automation and robotics, human factors and life sciences, and environmental interactions

Life Sciences Program Tasks and Bibliography for FY 1997

This document includes information on all peer reviewed projects funded by the Office of Life and Microgravity Sciences and Applications, Life Sciences Division during fiscal year 1997. This document will be published annually and made available to scientists in the space life sciences field both as a hard copy and as an interactive internet web page

Life Sciences Program Tasks and Bibliography for FY 1996

This document includes information on all peer reviewed projects funded by the Office of Life and Microgravity Sciences and Applications, Life Sciences Division during fiscal year 1996. This document will be published annually and made available to scientists in the space life sciences field both as a hard copy and as an interactive Internet web page

Advances in Ophthalmology

This book focuses on the different aspects of ophthalmology - the medical science of diagnosis and treatment of eye disorders. Ophthalmology is divided into various clinical subspecialties, such as cornea, cataract, glaucoma, uveitis, retina, neuro-ophthalmology, pediatric ophthalmology, oncology, pathology, and oculoplastics. This book incorporates new developments as well as future perspectives in ophthalmology and is a balanced product between covering a wide range of diseases and expedited publication. It is intended to be the appetizer for other books to follow. Ophthalmologists, researchers, specialists, trainees, and general practitioners with an interest in ophthalmology will find this book interesting and useful

Evaluation of Telerobotic Shared Control for Efficient Manipulation of Single Cells in Microinjection

International audienceMicroinjection is the highly efficient delivery method of exogenousmaterials into cells, and it has been widely used in biomedical researchareas such as transgenics and genomics. However, this direct injectiontask is time consuming and laborious, resulting in low throughputand poor reproducibility. This paper describes a telerobotic sharedcontrol (TSC) framework for the microinjection with high manipulationefficiencies, in which a micromanipulator is controlled by the sharedmotion commands of both the human operator (direct manipulation)and the autonomous controller. To determine the optimal gains betweenthe operator and the controller, we proposed a quantitative evaluationmethod using Fitts' and steering laws. The results showed that a40%−60% weighting on the human operator produced better performancefor both speed and accuracy of task completion, and suggested thatsome level of automation or human involvement is important for microinjectiontasks