Microscope Manipulator Force Feedback for Cell Handling
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Solution Overview
Problem
Current manipulation systems for cells using manipulators lack the ability to effectively control and perceive the force applied, making it difficult for beginners to acquire the necessary skills due to reliance on visual information alone.
Innovation Solution
A manipulation system that includes a manipulator, a drive mechanism, an imaging apparatus, and a force sensation presentation apparatus to provide users with real-time force feedback, allowing them to feel the force applied through amplification and tactile sensation, enhancing operability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If visual information from microscope is used for cell manipulation, then manipulation can be performed, but force perception is insufficient and skill acquisition takes long time
Solution Approach 1:
The patent implements force feedback by measuring the actual force applied to the cell through the manipulator and presenting this information back to the user through the force sensation presentation apparatus. This closed-loop feedback system allows users to perceive the force applied to cells in real-time, eliminating the need for long-term skill acquisition to develop force perception through visual information alone.
2Ease of operation
If joystick is used to control manipulator, then position control is achieved, but force control and perception are not provided
Solution Approach 1:
The force sensation presentation apparatus receives force information from the control apparatus and converts it into tactile feedback that the user can perceive. This feedback mechanism provides both force control capability and force perception, transforming the open-loop joystick control into a system with closed-loop force feedback.
Solution Approach 2:
The patent replaces the purely mechanical joystick control system with a hybrid system that incorporates electronic sensing and feedback mechanisms. The force sensation presentation apparatus translates electronic force information into tactile sensations, substituting direct mechanical force feedback with an electronic-sensing-based feedback system.
3Adaptability or versatility
If expert imagination of force is used, then manipulation can be performed without force feedback, but beginners cannot grasp force effectively
Solution Approach 1:
The force feedback system provides direct tactile information to users regardless of their skill level. While experts may rely on imagination and experience, beginners now have access to real-time force information through the force sensation presentation apparatus, making the system adaptable to users with varying skill levels without requiring extensive training.
Data Source
AI summary
A manipulation system includes: a manipulator for manipulating a sample; a manipulator drive mechanism for moving the manipulator; an imaging apparatus for imaging the sample through an objective lens; a control apparatus that generates force information indicating a magnitude of a force sensation presented to a user, based on an image captured by the imaging apparatus; and a force sensation presentation apparatus configured to receive an input operation from the user for designating a position of the manipulator and to present a force sensation according to the force information generated by the control apparatus to the user.