Vision-based robot-assisted biological cell micromanipulation

Fatemed Karimirad, Sunita Chauhan, Bijan Shirinzadeh, Tom Drummond, Saeid Nahavandi

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

7 Citations (Scopus)


This paper presents a modular design for a robot-assisted biological cell microinjection system. The proposed design is composed of injection, vision, force measurement and control units that provides sufficient flexibility to observe and control cell microinjection by monitoring and regulating position and force simultaneously. Methodologies have been presented for automation of the laborious tasks associated with microinjection to improve the repeatability and reliability of the process. The system is capable of automatic positioning and focusing of the microcapillary tip as well as automatic realization of the cell piercing during the microinjection process with vision-based approaches. The proposed methods were tested for 100 zebrafish embryos micromanipulation experiments at Blastula stage. 97% success rate was achieved which shows high capability of the proposed design and methods.

Original languageEnglish
Title of host publicationProceedings of the 23rd IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2014)
Subtitle of host publicationAugust 25-29, 2014, Edinburgh, Scotland, UK
EditorsFarshid Amirabdollahian
Place of PublicationNew York, NY
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages347 - 352
Number of pages6
ISBN (Electronic)9781479967636
ISBN (Print)9781479967636
Publication statusPublished - 15 Oct 2014
EventIEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014 - Edinburgh, United Kingdom
Duration: 25 Aug 201429 Aug 2014
Conference number: 23rd


ConferenceIEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014
Abbreviated titleRO-MAN 2014
CountryUnited Kingdom

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