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An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder.

Zhenyu Zhang¹, Nejat Olgac¹

¹Department of Mechanical Engineering, ALARM Lab, University of Connecticut, Storrs, CT 06269, USA.

Journal of Medical Engineering

|March 24, 2016

Summary

This study introduces a novel, low-cost control method for the Ros-Drill, a cellular microinjection tool. The method enables precise, high-frequency oscillations for minimally invasive cell membrane drilling during intracytoplasmic sperm injection (ICSI).

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Area of Science:

Biomedical Engineering
Robotics
Cell Biology

Background:

Cellular microinjection technologies like the Ros-Drill require precise control for minimally invasive procedures.
Existing motion control systems are often limited by the size, cost, and accessibility of high-resolution sensors.
These limitations adversely affect control accuracy and trajectory tracking in microinjection operations.

Purpose of the Study:

To present a novel adaptive feedback control method for the Ros-Drill cellular microinjection technology.
To achieve satisfactory trajectory tracking of harmonic rotational motion despite using a low-resolution encoder.
To analyze the characteristics of controlled harmonic motion generated by a low-resolution feedback control structure.

Main Methods:

Development of a novel adaptive feedback control algorithm tailored for low-resolution encoder systems.
Implementation of the control methodology on the Ros-Drill, a rotationally oscillating drill for cellular microinjection.
Experimental validation of the system's ability to generate high-frequency, small-amplitude rotational oscillations.

Main Results:

The developed adaptive feedback control method successfully achieved high-fidelity tracking of the desired harmonic rotational motion.
The Ros-Drill, utilizing the low-resolution encoder and novel control, generated oscillations exceeding 500 Hz with approximately 0.2-degree amplitude.
Experimental results demonstrated the efficacy of the low-resolution control strategy in precise microinjection applications.

Conclusions:

A cost-effective and accessible control solution for cellular microinjection has been demonstrated using a low-resolution encoder.
The novel adaptive feedback control method enables precise motion control for applications like intracytoplasmic sperm injection (ICSI).
The study provides valuable analytical insights into controlled harmonic motion within low-resolution feedback systems.