Positioning Control of a Micro Manipulation Robot Based on Voice Command Recognition for the Microscopic Cell Operation

摘要

In the gene manipulation field, to make a genetically-modified mouse, the multi micro manipulation pipettes operation is needed. Especially, to realize more complex cell operations, it is needed that three micro manipulation pipettes are operated simultaneously. Therefore, to realize the simultaneous operation, a micro manipulation robot has been developed. This robot consists of a voice command recognition system and a rectangular-coordinate type structure, and controls the positioning of the third pipette by voice command without manual operations. Then, to eliminate the vibration generated by the feedback loop, a driving actuator uses an oil hydraulic pump which is driven by piezo-electric device to realize the intermediate stop and positioning. Furthermore, it is confirmed that the prototype robot can be driven by voice command recognition.