Title: Towards Probabilistic Formal Modeling of Robotic Cell Injection Systems,
Abstract: Cell injection is a technique in the domain of biological cell
micro-manipulation for the delivery of small volumes of samples into the
suspended or adherent cells. It has been widely applied in various areas, such
as gene injection, in-vitro fertilization (IVF), intracytoplasmic sperm
injection (ISCI) and drug development. However, the existing manual and
semi-automated cell injection systems require lengthy training and suffer from
high probability of contamination and low success rate. In the recently
introduced fully automated cell injection systems, the injection force plays a
vital role in the success of the process since even a tiny excessive force can
destroy the membrane or tissue of the biological cell. Traditionally, the force
control algorithms are analyzed using simulation, which is inherently
non-exhaustive and incomplete in terms of detecting system failures. Moreover,
the uncertainties in the system are generally ignored in the analysis. To
overcome these limitations, we present a formal analysis methodology based on
probabilistic model checking to analyze a robotic cell injection system
utilizing the impedance force control algorithm. The proposed methodology,
developed using the PRISM model checker, allowed to find a discrepancy in the
algorithm, which was not found by any of the previous analysis using the
traditional methods.