a. Description: 

In this video, we report the development of a prototype micromanipulation
system for automatic batch microinjection of zebrafish embryos. Such
automatic batch processing is made possible by (i) the development of a
machine vision algorithm to identify the number of embryos in a batch and
to locate the centerline of each embryo, (ii) the integration of a
piezoresistive micro-force sensor with a micropipette to measure the
penetration force of the embryo in real time and (iii) the synthesis of a
position control with dynamic force feedback by exploiting the
characteristics of the force profile associated with the microinjection
process. The effectiveness of this prototype micromanipulation system has
been demonstrated in an experiment. The experimental results demonstrate
that the technique of position control with dynamic penetration-force
feedback is practicable for automatic batch microinjection applications.

b. Player Information: 

Windows Media Player
Version: 10.00.00.4036

c. Contact Information: 

>>Zhe Lu (Luzhe@nus.edu.sg)

Mailing address:
Lu Zhe
Control and Mechatronics Lab 2
Department of Mechanical Engineering
Faculty of Engineering
National University of Singapore
Block EA, 03-08,
Singapore 119260

>>Peter C. Y. Chen (mpechenp@nus.edu.sg)

Mailing address:
Peter C Y Chen (PhD)
Assistant Professor
Department of Mechanical Engineering
Faculty of Engineering
National University of Singapore
Block EA, 07-08, 9 Engineering Drive 1
Singapore 117576