Biological Cell Injection Using an Autonomous MicroRobotic System

摘要: Recent advances in microbiology, such as cloning, demonstrate that increasingly complex micromanipulation strategies are required for manipulating individual biological cells. In this paper, we present a microrobotic system capable of conducting automatic embryo pronuclei DNA injection cell injection. Conventionally, has been conducted manually, however, long training, low success rates from poor reproducibility manual operations, and contamination all call the elimination direct human involvement. To automate injections, is developed performing autonomously through hybrid visual servoing control scheme. A Hough transform used to detect nuclei embryos. Sum-of-squared-differences optical flow track pipette motion, auto focusing implemented determine relative depth subcellular structures. scheme fulfill task. Upon completion injection, injected embryos transferred into pseudo-pregnant foster female mouse reproduce transgenic mice cancer studies. The experimental result shows rate 100%.