Automatic microinjection system using stereoscopic microscope

We describe a visual feedback system using a stereoscopic microscope that controls a micromanipulator so that a needle may pierce a target to as great a depth as desired. First, in order to achieve manipulation at a realistic rate, we propose a strategy for moving the needle head. Second, we develop an algorithm for prediction of the tip position of the needle head within the target. Before the needle pierces the target, the shape of the needle head is preserved as a reference pattern. After the needle pierces the target, the shape of the needle head within the target is predicted using the reference pattern and the tip position of the needle head can be detected. Experimental results indicate that the proposed system may be useful in micromanipulations such as microinjection into seeds.