4 accepted papers
Precise orientation of oocyte is a prerequisite for many cell manipulations, especially Intracytoplasmic Sperm Injection (ICSI), to prevent damage to the meiotic spindle. However, automating this process presents significant challenges due to the visual ambiguity of the polar body and the complex fr
Cell penetration and intracellular injection are indispensable procedures in many cell surgery tasks. Because of the complex layered structure of oocytes, conventional piezo-assisted penetration often causes unavoidable cellular damage. Moreover, the small volume of single cells and the nonlinear dy
Timely fault detection and identification (FDI) of soft manipulators are critical in the design of surgical systems to improve reliability. However, due to the intrinsic compliance of soft manipulators, their end effectors vibrate during the dynamic control process, which introduces noise into the m…
This paper puts forward a novel sensor-less fault detection method with only task errors feedback and applies it to visual servoing tasks of soft robot manipulators. The method is developed by introducing a suitably designed endogenous accessory signal (EAS). On the one hand, EAS transforms the chan…