Multi-beam bilateral teleoperation of holographic optical tweezers

A multi-beam bilateral teleoperation system of holographic optical tweezers accelerated by a graphics processing unit is proposed and evaluated. This double-arm teleoperation system is composed of two haptic devices and two laser-trapped micro-beads. Each micro-bead is trapped and moved following the trajectory of each haptic device, and the forces to which the micro-beads are subjected, which are generated by Stokes drag, are measured and fed back to an operator via the haptic devices. This real-time telexistence was quantitatively evaluated based on the time response of the trapped beads and the fed-back forces. And the demonstration of touching red blood cells shows the effectiveness of this system for biomedical application.