Automating ICSI with rotationally oscillating drill (ROS-DRILL ©) using visual feedback

Jhon Diaz, Nejat Olgac, Mehdi Karzar Jeddi, Tai Hsi Fan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

ICSI (Intra-Cytoplasmic Sperm Injection) has attracted research interest from both biological and engineering groups. This technique is used to create genetically identical offsprings of many different species (mice, rats, cattle et al.). We focus on a relatively recent technology for ICSI, called Ros-Drill© (Rotationally Oscillating Drill). In this paper, we present a procedure to automate a critical part of the ICSI operation: initiation of the rotational oscillation phase. (The visual feedback is on the real-time visual monitoring of the tip of the injection pipette. First, the real-time feature extraction in visual feedback is explained). The proposed algorithm which does this is split up into two parts: off-line and on-line. In the off-line part a proper thresholding grey level is determined. In the on-line part a realtime algorithm tracks the tip of the injecting pipette. A predetermined, species-specific penetration depth is used to initiate the rotational oscillation action of the drill. This real-time visual feedback control is compared with an earlier curvature-based analysis. Algorithmic stages as well as the outcomes from the concept validation tests are presented.

Original languageEnglish (US)
Title of host publicationASME 2010 Dynamic Systems and Control Conference, DSCC2010
Pages281-288
Number of pages8
DOIs
StatePublished - 2010
EventASME 2010 Dynamic Systems and Control Conference, DSCC2010 - Cambridge, MA, United States
Duration: Sep 12 2010Sep 15 2010

Publication series

NameASME 2010 Dynamic Systems and Control Conference, DSCC2010
Volume1

Other

OtherASME 2010 Dynamic Systems and Control Conference, DSCC2010
Country/TerritoryUnited States
CityCambridge, MA
Period9/12/109/15/10

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