visual servo

Automated Embryo Manipulation and Rotation via Robotic nDEP-tweezers

Author(s): Kaicheng Huang, Ihab Abu Ajamieh, Zhenxi Cui, Jiewen Lai, James K. Mills, Henry Chu
Automated Embryo Manipulation and Rotation via Robotic nDEP-tweezers 170 177 IEEE Transactions on Biomedical Engineering (TBME)
Embryo manipulation is a fundamental task in assisted reproductive technology (ART). This work presents a robotic negative Dielectrophoresis (nDEP)-tweezers that can enable embryo translation and orientation easily. An inverted microchip with quadrupole electrodes is attached to a micromanipulator to become a robotic DEP tweezers, and a motorized platform provides additional mobility to the embryos lying on a Petri dish. Vision-based algorithms are developed to evaluate relevant information of the embryos from the image, and to provide feedback signals for precise position and orientation control of the embryo. This system offers a non-contact, low-cost, flexible, and effective method for high-precision embryo manipulation. read more

Visual Servoed Robotic Mouse Oocyte Rotation

Author(s): Zenan Wang, Ying Hu, Jun Wei, Win Tun Latt
Visual Servoed Robotic Mouse Oocyte Rotation 170 177 IEEE Transactions on Biomedical Engineering (TBME)
Both injection and biopsy of a mammalian cell require positioning and orientation of a biological cell in a three-dimensional space under a microscope. Manual cell manipulation and orientation is the most commonly used method that is based on a trial-and-error and direct cell poking approach. We present a system that is able to automatically rotate a mouse oocyte to a desired orientation based on pressure control and computer vision. Our methods improve existing techniques and provide a starting point for fast autofocusing and oocyte orientation prior to automatic ICSI or cell biopsy. read more