Title: Automated real-time 3D visual servoing control of single cell surgery with application to microinjection processes

Authors: Bo Wen Yao; 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: Automating the cell surgery processes is a potential solution to eliminate human involvement and promote the development of cell surgery. Here, we propose a real-time 3D visual servocontrol system for single cell surgery with the experimental results of single cell injection of an embryo and analysis of experimental data. Real time 3D image processes are a necessary requirement since during cell surgery, when a micropipette contacts the embryo, the embryo is deformed, repositioning the internal components of the cell to be injected. An innovative 3D edge extraction algorithm is demonstrated for the real time 3D image processes. Visual servocontrol of the cell surgery process acquires the real-time target cell blastomere 3 dimensional position is used to maneuver the micropipette under real-time closed-loop feedback control. The automated embryo microinjection process is conducted using the proposed real-time 3D visual servocontrol system, which is proven to be a potential solution for microinjection automation.

Keywords: single cell surgery; 3D computer vision; object detection; image processing; visual servoing; position-based visual servoing; PBVS.

DOI: 10.1504/IJMA.2022.123914

International Journal of Mechatronics and Automation, 2022 Vol.9 No.3, pp.123 - 133

Received: 06 Oct 2021
Accepted: 25 Oct 2021
Published online: 04 Jul 2022 *

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