High-bandwidth 3D force feedback optical tweezers for interactive bio-manipulation

Abstract

Optical Tweezers are considered one of the most suitable techniques for biological tasks, however the lack of automation make this technology less accessible. We present here a new 3D force sensing method with high bandwidth (up to 10Khz) which can allow implementing complex robotic approaches. Proposed technique uses high speed image tracking with nano-metric resolution in 3 directions. Its capabilities are demonstrated in a teleoperated 3D manipulation scenario with a haptic user interface, where naive users performed direct in vitro haptic exploration of isolated Red Blood Cells inside a Petri dish.

High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots

“…We also plan to extend this 6-DoF control to several simultaneous optical robots for collaborative tasks. Also, the sensor used for the calibration can be exploited for indirect 3-axis force measurements, similarly to what was presented [41]. This will open the way to force control of the robots, as well as to haptic feedback teleoperation where pico-Newton scale forces can be rendered to the user.…”

“…The calibration in axial direction z is not an obvious task, as one can not rely upon the 2D optical feedback. An event based camera is used in this purpose, as previously described [41]. This sensor has a range of ±2 µm around the focus plane with 5% SD.…”

Capillary Dipoles: Towards Thermocapillary Micromanipulation of Multiple Particles Floating at the Free Surface

“…The orientation θ las-part of the laser-particle vector X las-part is then computed based on the correction angle θ corr θ las-part = θ part-targ − θ corr (4) where θ part-targ is the desired orientation, the orientation of the particle-target vector X part-targ . From the laser-particle distance r las-part and laser-particle orientation θ las-part , the laser-particle relative position X las-part is computed in the "Vector Comp" block (see Fig.…”

“…Non-contact micromanipulation uses remote force fields to control the position of the objects, such as for instance magnetophoresis [1], dielectrophoresis [2], acoustophoresis [3] or optical effects [4]. However, the manipulation in parallel of several particles independently is a challenge since all the objects are affected by the remotely induced force fields.…”

Thermocapillary Convective Flows Generated by Laser Points or Patterns: Comparison for the Noncontact Micromanipulation of Particles at the Interface

“…A lot of research has been done for this type of manipulation. To mention some results, in [5] a 3D force sensing method has been developed and used in an haptic interface to manipulate particles in 3D. In [6], a path planning method is proposed that can achieve scalable and collision-free manipulation of multiple particles in parallel.…”