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Technical Briefs

Visual Feedback Automation for ICSI With Rotationally Oscillating Drill (Ros-Drill© )

[+] Author and Article Information
Jhon F. Diaz, Nejat Olgac, Mehdi Karzar-Jeddi, Tai-Hsi Fan

Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269-3139

J. Med. Devices 4(2), 024502 (Aug 04, 2010) (4 pages) doi:10.1115/1.4001865 History: Received March 21, 2010; Revised April 30, 2010; Published August 04, 2010; Online August 04, 2010

Intracytoplasmic sperm injection has attracted research interest from both biological and engineering groups. The technology is constantly evolving to perform this procedure with precision and speed. One such development is the contribution of this paper. We focus on a relatively recent procedure called Ros-Drill© (rotationally oscillating drill), of which the early versions have already been effectively utilized for the mice. Here, we present a procedure to automate a critical part of the operation: initiation of the rotational oscillation. Visual feedback is used to track the pipette tip. Predetermined species-specific penetration depth is successfully utilized to initiate the rotational oscillation command. Penetration-depth-based decisions concur with our earlier curvature-based approach.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

Experimental outlook of ICSI

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Figure 2

Ros-Drill© assembly and control system

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Figure 3

Tracking the injecting pipette and initiation of rotations: (a) 0.60d0 and (b) 0.55d0 indentation

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Figure 4

Amount of cell membrane deformation

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Figure 5

(a) Window w and (b) binarized negative image

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Figure 6

Binary image after the deformation starts

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Figure 7

Partial view of window v. (a) With false clusters, (b) pixel counts of the large clusters, and (c) filtered view with tip location.

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Figure 8

Feature points on the curvature analysis

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