Huang K, Ajamieh IA, Cui Z, Lai J, Mills JK, Chu HK. Automated Embryo Manipulation and Rotation via Robotic nDEP-Tweezers.
IEEE Trans Biomed Eng 2021;
68:2152-2163. [PMID:
33052848 DOI:
10.1109/tbme.2020.3031043]
[Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/09/2023]
Abstract
Embryo manipulation is a fundamental task in assisted reproductive technology (ART). Nevertheless, conventional pick-place techniques often require proper alignment to avoid causing damage to the embryo and further, the tools have limited capability to orient the embryo being handled.
OBJECTIVE
This paper presents a novel and non-invasive technique that can easily manipulate mouse embryos on a polyvinyl chloride (PVC) Petri dish.
METHODS
An inverted microchip with quadrupole electrodes was attached to a micromanipulator to become a robotic dielectrophoresis (DEP) tweezers, and a motorized platform provided additional mobility to the embryos lying on a Petri dish. Vision-based algorithms were developed to evaluate relevant information of the embryos from the image, and to provide feedback signals for precise position and orientation control of the embryo.
RESULTS
A series of experiments was conducted to examine the system performance, and the embryo can be successfully manipulated to a specified location with the desired orientation for subsequent processing.
CONCLUSION
This system offers a non-contact, low cost, and flexible method for rapid cell handling.
SIGNIFICANCE
As the DEP tweezers can grasp the embryo without the need for precise alignment, the overall time required to process a large number of embryos can be shortened.
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