Vision-Servo System for Automated Cell Injection
Yi Zhang
Kok Kiong Tan
Sunan Huang
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Jan. 2009
Volume: 56,
Issue: 1
On page(s): 231-238
ISSN: 0278-0046
INSPEC Accession Number: 10370813
Digital Object Identifier: 10.1109/TIE.2008.925771
First Published: 2008-05-20
Current Version Published: 2008-12-30
Abstract
Recent developments in nuclear reprogramming and intracytoplasmic sperm injection reflect an increasing need for more advanced and automatic micromanipulation technologies. In this paper, we present an automatic cell injection system, which is capable of visually monitoring the injecting process and controlling the microactuators. Traditionally, cell injection was manually operated, and it was laborious, time consuming, of low accuracy, and prone to contamination due to the handling requirements. An automatic and efficient strategy is required to eliminate these drawbacks. In this paper, a system is developed where the injection process is monitored and controlled automatically via integration of a vision system to an injector manipulation system. The cell is located, and the pipette is positioned and driven by the algorithm to achieve effective penetration. The precision achieved is physically proven to be within a good tolerance range.
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