Cell manipulation plays a vital role in the success rate and efficiency of the cell microsurgical operations, including biopsy of cell internal organelles such as the embryo biopsy, in which the embryo is manipulated and reoriented safely to a predefined desired position and orientation. In this paper, a simplified approach for the blastocyst embryo reorientation is proposed. It utilizes conventional tools and techniques currently in use in manual approaches in research labs and In Vitro Fertilization clinics, and controls the process using a vision feedback system. An experimental setup is developed to verify the dynamic behavior of the proposed approach, in which a stationary holding micropipette is used to hold the embryo, which is then rotated in two coordinate directions through friction contact with a moving substrate, in our case a glass microscope slide. The embryo rotates on the holding micropipette tip, due to the relatively low friction of this contact. A computer vision algorithm is used to estimate the embryo orientation coordinates, and use this information as a feedback signal to a simple proportional controller to control the embryo rotation angle. Experimental results demonstrate that the system is capable of cell rotation in two independent coordinates, suitable for embryo microsurgical task execution.
Keywords: Blastocyst embryo; Blastocyst segmentation; Cell surgery; Computer vision; Embryo biopsy; Embryo rotation automation; Image processing; Inner cell mass; Vision feedback; Visual servoing.