A Modular and Generic Virtual Reality Training Framework for Micro-Robotic Cell Injection Systems

Transcription

1 A Modular and Generic Virtual Reality Training Framework for Micro-Robotic Cell Injection Systems N. Kamal, Z. A. Khan, A. Hameed, and O. Hasan National University of Sciences and Technology (NUST), Pakistan SysCon 2018 Vancouver, Canada

2 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 2 Outline q Introduction q Proposed Simulator Design q Simulator Scenarios q Conclusions

3 Cell Injection q A technique in the domain of biological cell micro-manipulation q Delivery of a small amount of material Protein, DNA, Bio-molecules q Specific location of cells (e.g. Nucleus) Injection / Suction Pipette Holding Pipette Biological Cell Cell Microinjection Procedure (Microscope View) O. Hasan VR Training for Micro-Robotic Cell Injection Systems 3

4 Applications q Delivering drugs to a single cell for the treatment of diseases, like Cancer, Alzheimer s, Sickle cell anemia and Cystic fibrosis etc. q Developing organs, like heart, lungs and kidney q In-vitro fertilization O. Hasan VR Training for Micro-Robotic Cell Injection Systems 4

5 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 5 Manual Micromanipulator Cell Injection System Drawbacks Low precision The operator has to sit in an uncomfortable position for hours

6 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 6 Semi-Automated Micromanipulator Cell Injection Systems Visual Feedback Camera Microscope View Holding Pipette Micromanipulator (X Y Z) Microscope RS-485 Interface Injection / Suction Pipette Micromanipulator (X Y Z) Operator Micromanipulator Controller (X Y Z) Microinjector Controller Improved accuracy: The jitter in human hands is filtered out Operator sits in more comfortable position as he performs the experiment while watching the computer screen

7 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 7 Problem Description Existing Cell injection systems are usually designed for a specific microscope or application Very expensive Cost: ~$100,000 Require Rigorous Training for the operators Access to and affordability of state-of-the-art research tools for cell biology and genetic engineering is hard to attain for the majority of schools and medical institutions of Pakistan Researchers are available but the equipment is lacking

8 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 8 Proposed Solution q A generic semi-automatic cell injection system that can be used with any microscope/ experiment and can be remotely operated using a high speed network

9 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 9 Training q Semi-automated systems still require training for hand-eye coordination, depth perception and remote handling Use of real human cells for training has ethical concerns and lacks evaluation q Virtual Reality (VR) training has been recently advocated in medicine and surgery q No work done on VR simulators for cell injection q Challenges Electro-Mechanical Interface Software application Exercises Real-time rendering of cell deformation

10 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 10 Proposed VR Training System MCI Simulator USB Interface Operator Micromanipulator Controller Microinjector Controller

11 Electro-Mechanical Interface X Y Z axes knobs (Rotary Encoders) Pressure Knob Rotary Encoder Noise Suppressor Filter Noise Suppressor Filter De-bouncing Circuit Dedicated Quadrature decoding chips LCD (16x4) Dedicated Quadrature decoding chips Multifunction Buttons Dedicated Microcontroller I2C Supervisory Microcontroller Micromanipulator Controller Interface Module Microcontroller Microinjector Controller Interface Module USB Bridge De-bouncing Circuit Multifunction Buttons USB Bridge LCD USB USB Simulator (GUI) Simulator (GUI) Rotary Encoders tracks the operator s hand movement. Buttons and LCD allows the operator to adjust the operating parameters. Noise Suppressor Filter eliminates any unwanted noise. Dedicated Quadrature Decoding Chips decodes the optical encoders signals. Dedicated and Supervisory Microcontrollers performs the centralized computation task. USB Bridge converts the UART into USB interface. De-bouncing Circuit discards any switching noise. O. Hasan VR Training for Micro-Robotic Cell Injection Systems 11

12 Proposed VR Training System O. Hasan VR Training for Micro-Robotic Cell Injection Systems 12

13 Software q Design based on Graduated Training Model q Basic Skills Training q Advanced Procedural Training q Simulation Open Framework Architecture (SOFA) q Open source scene graph based physics library q Four independent modules q Simulation Core (Physics library) q Graphical User Interface (GUI) q Database q Performance Evaluation O. Hasan VR Training for Micro-Robotic Cell Injection Systems 13

14 Pipette Modeling q Both injection and holding pipettes modeled as rigid objects q Separate modeling of three significant structures of oocyte using elastic object using mass spring systems q Zona pellucida q Cytoplasm q Nucleus O. Hasan VR Training for Micro-Robotic Cell Injection Systems 14

15 Basic Skills Training q Injector Handling Exercise q Trains effective handling of pipette q Target: Move the pipette to the highlighted object q Injector Positioning Exercise q Trains accurate positioning of pipette q Target: Position the pipette at center of one of highlighted objects q Micro-Object Handling Exercise q Trains moving of micro-objects using injection pipette q Target: Move the highlighted object using pipette to the basket Injector Handling Injector Positioning Micro-Object Handling O. Hasan VR Training for Micro-Robotic Cell Injection Systems 15

16 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 16 Demo Video 1

17 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 17 Demo Video 2

18 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 18 Demo Video 3

19 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 19 Demo Video 4

20 Performance Evaluation Metrics q Time q Evaluates expertness q Can be used with other metrics to get a complete outlook q Path length q Distance travelled by injection pipette during an exercise. A q Larger path length implies lesser familiarity q Positioning accuracy q Measure of penetration and injection at correct location q Handling precision q Measure of precision of movements of pipette q Penetration force q Measure of how large or small a force is applied than the optimum force required to penetrate O. Hasan VR Training for Micro-Robotic Cell Injection Systems 20

21 Conclusions q Complete virtual reality training system for semiautomated micro-robotic cell injection q System includes custom-built mechanical interface, controller circuits and simulator application q Simulations based on principle of graduated training starting from basic skills training followed by complete procedural training q Future Directions q Advanced training scenarios for complete procedures O. Hasan VR Training for Micro-Robotic Cell Injection Systems 21

22 O. Hasan VR Training for Micro-Robotic Cell Injection Systems 22 Thanks!