3D bio-micromanipulation (bilateral control system using micro tri-axial force sensor)

Recently, it is demanded to manipulate a small biological object, such as an embryo, cell, and microbe. Biomicromanipulation is important for biology and bioengineering fields. However, it is very difficult, since the object is very small, kept in the liquid, and observed by the optical microscope. The image of the microscope is two dimensional, so it is hard to manipulate the target in the 3D space. The object is fragile, so it is hard to manipulate safely. To improve the manipulation works, here we propose the viewpoint selection method in the VR space, and a new bilateral control system to improve manipulation of the micro object under the microscope.