Design and Control of a Piezo Drill for Robotic Piezo-Driven Cell Penetration

Cell penetration is an indispensable step in many cell surgery tasks. Conventionally, cell penetration is achieved by passively indenting and eventually puncturing the cell membrane, during which undesired large cell deformation is induced. Piezo drills have been developed to penetrate cells with less deformation. However, existing piezo drills suffer from large lateral vibration or are incompatib...