Three-dimensional Positioning of the Micropipette for Intracytoplasmic Sperm Injection

Hu, Weikang; Liang, Haoyue; Li, Jianjie; Zhan, Zhen; Zhang, Yi; Hu, Chengzhi

doi:10.1109/icra48506.2021.9561549

Cited by 4 publications

(2 citation statements)

References 24 publications

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“…The range of the NOCC-based method is still less than the ideal value because of noise. However, the noise level of the NOCC-based focus algorithm (0.006) is less than the allowable noise level in the dynamic curve fitting search strategy (0.648) with a corresponding variance of 1 [ 26 ], which demonstrates that the global maximum of the NOCC-based focus algorithm can be searched accurately.…”

Section: Resultsmentioning

confidence: 99%

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Robotic Intracellular Electrochemical Sensing for Adherent Cells

Zhan

et al. 2022

Cyborg Bionic Syst

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Nanopipette-based observation of intracellular biochemical processes is an important approach to revealing the intrinsic characteristics and heterogeneity of cells for better investigation of disease progression or early disease diagnosis. However, the manual operation needs a skilled operator and faces problems such as low throughput and poor reproducibility. This paper proposes an automated nanopipette-based microoperation system for cell detection, three-dimensional nonovershoot positioning of the nanopipette tip in proximity to the cell of interest, cell approaching and proximity detection between nanopipette tip and cell surface, and cell penetration and detection of the intracellular reactive oxygen species (ROS). A robust focus algorithm based on the number of cell contours was proposed for adherent cells, which have sharp peaks while retaining unimodality. The automated detection of adherent cells was evaluated on human umbilical cord vein endothelial cells (HUVEC) and NIH/3T3 cells, which provided an average of 95.65% true-positive rate (TPR) and 7.59% false-positive rate (FPR) for in-plane cell detection. The three-dimensional nonovershoot tip positioning of the nanopipette was achieved by template matching and evaluated under the interference of cells. Ion current feedback was employed for the proximity detection between the nanopipette tip and cell surface. Finally, cell penetration and electrochemical detection of ROS were demonstrated on human breast cancer cells and zebrafish embryo cells. This work provides a systematic approach for automated intracellular sensing for adherent cells, laying a solid foundation for high-throughput detection, diagnosis, and classification of different forms of biochemical reactions within single cells.

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Section: Resultsmentioning

confidence: 99%

“…Robotic cell manipulation technologies focusing on suspended cells have been developed over the recent years [21][22][23][24][25][26]. Compared to the suspended cells, cell detection and other automated microoperations are difficult for adherent cells since they are smaller and irregularly shaped [27,28].…”

Section: Introductionmentioning

confidence: 99%