2A2-L08 レーザ駆動Robot-on-a-chipに関する研究 : その1: 統合型ピンセットのバイラテラル制御システム

概要

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Multi-beam Optical Tweezers (MOT) such as Time-Shared Scanning method (TSS) and Generalized Phase Contrast method (GPC) is suitable for dexterous cell manipulation using microtools because it can trap multiple objects. We developed Integrated Optical Tweezers (IOT) which was integrated with TSS for high speed manipulation and GPC for a lot of trapping. For construction of GPC system, we fabricated Phase Contrast Filter (PCF). Then, we applied unilateral master slave control (UMSC) to TSS for dexterous manipulation. We confirmed the good performance of UMSC system. Then, for improvement of manipulability and measurement of the hardness of manipulation targets, we applied bilateral master slave control (BMSC) to TSS. To measure the force against slave, we developed force measurement method with analysis of images from microscope. We confirmed the effectiveness of constructed BMSC system from experimental results.
2009-05-25