Microrobotic cell injection

Author

Yu, Sun ; Nelson, Bradley J.

Author_Institution

Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA

Volume

1

fYear

2001

fDate

2001

Firstpage

620

Abstract

Advances in microbiology demonstrate the need for manipulating individual biological cells, such as for cell injection which includes pronuclei injection and intracytoplasmic injection. Conventionally, cell injection has been conducted manually. In this paper, we present a microrobotic system capable of performing automatic embryo pronuclei DNA injection autonomously and semi-autonomously through a hybrid visual servoing control scheme. After injection, the DNA injected embryos were transferred into a pseudopregnant foster female mouse to reproduce transgenic mice for cancer studies. Experimental results show that the injection success rate was 100%. The system setup, hybrid control scheme and other important issues in this application, such as automatic focusing, are discussed.

Keywords

biological techniques; cellular biophysics; computer vision; micromanipulators; servomechanisms; DNA injection; automatic focusing; biological cell injection; embryo injection; intracytoplasmic injection; micromanipulators; microrobotics; pronuclei injection; visual servoing; Biomedical optical imaging; Biomembranes; Cells (biology); Charge carrier processes; Control systems; DNA; Embryo; Laser beams; Mice; Optical materials;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932619

Filename

932619