Title: Automation of single cell surgery in real-time using a vision-based control system

Authors: Armin Eshaghi; James K. Mills

Addresses: Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada ' Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada

Abstract: Micromanipulation of biological cells is a challenging task that requires levels of precision and repeatability which are difficult to achieve by most human operators. Automation of these processes presents an alternative approach which is capable of high precision task execution and much higher throughput, yet with its own limitations. In this paper, we propose automation methods for the image-based visual servo control feedback and tracking of both blastomeres' motion and the motion of micromanipulators, in real-time, for blastomere microinjection. An automation procedure is developed for the microinjection or blastomere biopsy of an early stage embryonic cell. These steps involve blastomere z-stack image acquisition, blastomere feature detection (x, y, z) location, and real-time image-based visual servo control of micropipettes to hold and immobilise the embryo while a micropipette injects or biopsies the blastomere. Experimental results demonstrate acceptable precision levels while performing automation procedure in real-time.

Keywords: automated micromanipulation; single cell surgery; real-time manipulation; image segmentation; blastomere injection; image-based visual servoing.

DOI: 10.1504/IJMA.2021.118413

International Journal of Mechatronics and Automation, 2021 Vol.8 No.3, pp.126 - 134

Received: 10 Oct 2020
Accepted: 09 Nov 2020
Published online: 25 Oct 2021 *

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