Plant Cell Injection Based on Autofocusing Algorithm

Plant cell injection is difficult due to the complicated structure of cells. Possesses great challenges to carry out the injection task automatically because of the large area it covers and the multiple layers of cells. In this paper, an automatic injection system based on the microscopic focus measurement is developed to automate injection process and also to enable the flexible selection of the target cells. A new strategy is presented to overcome the problem of that the micromanipulator and cells cannot be in the same focal plane during the injection process. The depth information which is the key unknown variable needed to accomplish the injection process is estimated by the autofocusing algorithm. Complex biomanipulation task, like physical transfer of material into various locations within the plant cells, is possible and the successful rate is quantified.