Automatic somatic cell operating process for nuclear transplantation

Somatic cell operating, a key procedure of nuclear transplantation, is a process of picking up an appropriate donor cell. Improving its degree of automation and reducing operating time is very crucial for enhancing success rate of cloning. This paper presents an automatic somatic cell operating process for nuclear transplantation. Firstly, somatic cells are localized employing texture image segmentation and then the most active cell is selected for operation by cell morpha. Secondly, injection pipette is positioned utilizing template matching. Afterwards path planning for injection pipette to pick the selected cell is conducted considering obstacle avoidance, preventing other cells from sticking the pipette. Finally the pipette moves to the target cell along the path automatically under the guidance of visual servo control. Validity and efficiency of this operating process are proved by a dozen time of experiment.