Vision-based robot-assisted biological cell micromanipulation

This paper presents a modular design for a robot-assisted biological cell microinjection system. The proposed design is composed of injection, vision, force measurement and control units that provides sufficient flexibility to observe and control cell microinjection by monitoring and regulating position and force simultaneously. Methodologies have been presented for automation of the laborious tasks associated with microinjection to improve the repeatability and reliability of the process. The system is capable of automatic positioning and focusing of the microcapillary tip as well as automatic realization of the cell piercing during the microinjection process with vision-based approaches. The proposed methods were tested for 100 zebrafish embryos micromanipulation experiments at Blastula stage. 97% success rate was achieved which shows high capability of the proposed design and methods.