Towards large-scale haptic virtual reality training for micro-robotic cell injection

Syafizwan Faroque, Ben Horan, Michael Mortimer, Mulyoto Pangestu

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearch

2 Citations (Scopus)


This paper presents a large-scale VR training system for the micro-robotic cell injection procedure. The system was developed utilizing state-of-the-art facilities including four large screens able to be configured to three different display configurations. To interact with the system, a large workspace cable-driven haptic device was utilized as the input controller. The input controller used to manipulate the virtual micropipette can be set to two different haptic guidance modes, haptic disabled or haptic enabled. In the haptic enabled mode the user will be provided with virtual fixtures and force feedback in order to guide them to perform a successful injection. This paper also considers the range of existing cell biomechanical parameters. A virtual cell architecture to be utilized in the system is presented. The virtual cell was modelled to have a spherical membrane which provides gradually increasing repulsive force feedback to user's hand when contacted by the virtual micropipette. Then the repulsive force feedback will suddenly drop once the micropipette tip reaches the threshold length to replicate the deformation and rupture of the cell membrane. Nine participants were recruited in an experiment conducted to investigate the practicality of the cell model. It was found that the gradually increasing repulsive force feedback and the sudden force drop were felt by the participants and had assisted them in estimating the appropriate force to apply during the cell membrane penetration.

Original languageEnglish
Title of host publication2016 5th International Conference on Wireless Networks and Embedded Systems, WECON 2016
Place of PublicationPiscataway, NJ
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages5
ISBN (Electronic)9781509008933
ISBN (Print)9781509008940
Publication statusPublished - 26 Jul 2017
EventInternational Conference on Wireless Networks and Embedded Systems 2016 - Chitkara University, Rajpura, India
Duration: 14 Oct 201616 Oct 2016
Conference number: 5th


ConferenceInternational Conference on Wireless Networks and Embedded Systems 2016
Abbreviated titleWECON 2016


  • Cell modelling
  • Haptic guidance
  • Large-scale interaction
  • Medical simulation
  • Virtual reality

Cite this