Automated Cell Manipulation: Robotic ICSI
This paper is the first report of robotic ICSI (intracytoplasmic sperm injection). ICSI is a clinical procedure performed worldwide in fertility clinics, requiring pick-up of a single sperm and insert it into oocyte (i.e., an egg cell). Since its invention 20 years ago, ICSI has been conducted manually by a handful of highly skilled embryologists; however, success rates vary significantly among clinics due to poor reproducibility and inconsistency across operators. We leverage our work in robotic cell injection to realize robotic ICSI and aim ultimately, to standardize how clinical ICSI is performed. This paper presents some of the technical aspects of our robotic ICSI system, including a cell holding device and motion control and computer vision algorithms. The system performs visual tracking of single sperm, robotic immobilization of sperm, aspiration of sperm with pico-liter volume, and insertion of sperm into an oocyte with a high degree of reproducibility. The system requires minimal human involvement (requiring only a few computer mouse clicking), and is human operator skill independent. Using the hamster oocyte-human sperm model in preliminary trials, the robotic system demonstrated a high success rate of 90.0％ and survival rate of 90.7％ (n=120).
Zhe Lu Xuping Zhang Clement Leung Navid Esfandiari Robert F. Casper Yu Sun
Advanced Micro and Nanosystems Laboratory,University of Toronto,5 Kings College Road,Toronto,ON,Can Dept. of Obstetrics and Gynaecology,University of Toronto,Canada
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2540-2545
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）