Automation of single cell surgery in real-time using a vision-based control system Online publication date: Mon, 25-Oct-2021
by Armin Eshaghi; James K. Mills
International Journal of Mechatronics and Automation (IJMA), Vol. 8, No. 3, 2021
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.
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