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Related Experiment Video

Updated: Jun 26, 2026

Micromanipulation of Chromosomes in Insect Spermatocytes
05:45

Micromanipulation of Chromosomes in Insect Spermatocytes

Published on: October 22, 2018

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

M Zareinejad1, S M Rezaei, A Abdullah

  • 1Department of Mechanical Engineering, Amirkabir University, Tehran, Iran. mzare@aut.ac.ir

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|January 30, 2009
PubMed
Summary

This study introduces a novel teleoperation system using a piezoelectric nano-stage for improved intracytoplasmic sperm injection (ICSI). The system enhances control and accuracy in micromanipulation tasks like cell membrane penetration.

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Mechatronics

Background:

  • Intracytoplasmic sperm injection (ICSI) success rates are limited by poor injection force control and lengthy operator training.
  • Macro-micro-teleoperation systems can bridge operator movements and micro-level tasks, but piezoelectric actuator hysteresis hinders accuracy.
  • Accurate needle positioning for cell membrane penetration is crucial for micromanipulation tasks.

Purpose of the Study:

  • To develop a novel teleoperation system for micromanipulation tasks, specifically improving intracytoplasmic sperm injection (ICSI).
  • To address piezoelectric actuator hysteresis non-linearity for enhanced accuracy in slave manipulator control.
  • To achieve precise position and force tracking during cell membrane penetration.

Main Methods:

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Last Updated: Jun 26, 2026

Micromanipulation of Chromosomes in Insect Spermatocytes
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  • Utilized a piezoelectric nano-stage as the slave manipulator in a macro-micro-teleoperation system.
  • Applied the Prandtl-Ishlinskii (PI) model for feedforward hysteresis compensation of the piezoelectric actuator.
  • Implemented a sliding mode-based impedance control with perturbation estimation to handle model uncertainties and errors.

Main Results:

  • The system demonstrated stable operation, guaranteed by Llewellyn's absolute stability criterion.
  • Experimental validation focused on cell membrane penetration tasks.
  • Accurate position tracking was achieved during free motion, alongside simultaneous position and force tracking in low-stiffness contact.

Conclusions:

  • The developed teleoperation system effectively compensates for piezoelectric actuator hysteresis.
  • The controller enables accurate position and force control, crucial for delicate micromanipulation.
  • This approach holds potential for improving the success rates and reducing training time for procedures like ICSI.