Fully Automatic Batch Cell Microinjection Based on Exception Diagnosis

Cell microinjection is one of the most commonly used micromanipulations. The research of robotic cell microinjection is mainly focused on the automatic operation and the batch operation. However, the process of automatic cell microinjection is complicated, unstable, prone to exceptions. In this paper, a fully automatic batch cell microinjection system was designed based on exception diagnosis. Visual detection algorithms and intelligent control technologies were combined in this system to define, diagnosis and handle the exceptions. Furthermore, the framework of the cell microinjection process was constructed, and the experiments were performed with the oocyte as the operating target. The results show that the system increased the degree of automation and batch of cell microinjection, and also increased the efficiency and stability of automatic operation, which provided a good platform for batch cell manipulation.