Study On The Visual Based Automatic Micromanipulation Method

With the development of life science study, micro-manipulation, as an effective way to introduce extraneous source into living cells, has brought more and more demand for automation while visual feedback is the essential element to realize automatic micro-manipulation. This paper focuses on study of vision-based micro-manipulation.Due to the particular imaging method of optical microscope, the microscopic image is very sensitive to illumination intensity, so does the image processing effect. After the demand of post microscopic image processing in micro-manipulation for optimum light condition, this article firstly investigated the evaluation criterion of illumination intensity, secondly give the optimum light condition and applied it to the localization of polar body in sheep oocytes as well as blastomere in zebrafish embryo, both obtaining satisfying result.After acquiring effective visual feedback,1typical vision-based automatic micro-manipulation processes is designed and realized: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.After building the automatic operating process, the research on automatic and precise microinjection is conducted. Based on visual-feedback, the quantitative injection volume modle is build and tested on embryo injection experiments, leading to successful result. Besides, in-situ characterization of embryo property is researched to observe the embryo after injected with extraneous material, also received success.