A Novel Auto-Focusing Algorithm for Automated Cell Immobilization

Huipeng Zhang, Liying Su, Hongmiao Wei, Yueqing Yu, Xuping Zhang

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    Abstract

    Automated cell immobilization is a key technology in robotic single cell manipulation. In the existing automation methods of cell immobilization, the microinjection tools (microgripper or micropipette) and the cells need to be manually put into the culture media, and then the microgripper or micropipette is automated to gradually approach the plane in which the center of the cell is located in order to clamp or adsorb the cells to immobilize cell. This paper presents a novel technology that is capable of automatically moving down the gripper into the culture media from the outside air environment, and then precisely clamping a cell in the liquid environment for injection. In the proposed solution, an active window-based auto-focusing algorithm is developed to solve the challenging problem: the image information is lost due to the 'viscous effect' taking place when the gripper jaw touches the water surface and enters the culture media. The proposed algorithm are tested and validated by the immobilization experiments of zebrafish embryos using the in-house develop micro-robotic system. The proposed algorithm in this paper can help firmly immobilize cells, significantly improve the automation of micromanipulation, and reduce the working intensity of the labors.

    OriginalsprogEngelsk
    TitelProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
    Antal sider6
    ForlagIEEE
    Publikationsdato2019
    Sider656-661
    Artikelnummer8816338
    ISBN (Trykt)978-1-7281-1698-3
    ISBN (Elektronisk)978-1-7281-1699-0
    DOI
    StatusUdgivet - 2019
    Begivenhed2019 IEEE International Conference on Mechatronics and Automation (ICMA) - Tianjin, Kina
    Varighed: 4 aug. 20197 aug. 2019

    Konference

    Konference2019 IEEE International Conference on Mechatronics and Automation (ICMA)
    Land/OmrådeKina
    ByTianjin
    Periode04/08/201907/08/2019

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