NDLI: A force-controlled robotic micromanipulation system for mechanotransduction studies of drosophila larvae

Content Provider	IEEE Xplore Digital Library
Author	Weize Zhang Sobolevski, A. Bing Li Yong Rao Xinyu Liu
Copyright Year	2014
Description	Author affiliation: Biomed. Microsyst. Lab., McGill Univ., Montreal, QC, Canada (Weize Zhang; Sobolevski, A.; Bing Li; Xinyu Liu) \|\| Dept. of Neurology & Neurosurg., McGill Univ., Montreal, QC, Canada (Yong Rao)
Abstract	This paper presents an automated robotic micromanipulation system capable of force-controlled mechanical stimulation and fluorescence imaging of Drosophila larvae, for mechanotransduction studies of Drosophila neural circuitry. An elastomeric microdevice is developed for efficient immobilization of an array of larvae for subsequent force-controlled touching. A microelectromechanical systems (MEMS) based force sensor is integrated into the system for closed-loop force control of larva touching at a resolution of 50 μN. Two microrobots are coordinately servoed using orchestrated position and force control laws for automatic operations. The system performs simultaneous force-controlled larva touching and fluorescence imaging at a speed of 4 larvae per minute, with a success rate of 92.5%. This robotic system will greatly facilitate the dissection of mechanotransduction mechanisms of Drosophila larvae at both the molecular and cellular levels.
Sponsorship	IEEE Eng. Med. Biol. Soc.
Starting Page	6526
Ending Page	6529
File Size	2589530
Page Count	4
File Format	PDF
ISBN	9781424479290
ISSN	1557170X
DOI	10.1109/EMBC.2014.6945123
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Imaging Robot kinematics Robot sensing systems Force control Neurons
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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