Autonomous Biological Cell Injection Based on Vision and Motion Control

摘要

In this paper, an autonomous cell injection system based on vision and motion control is proposed for automatic batch injection of suspended biological cells. A plate for accommodating cells is specifically designed to hold and fix the suspended cells. The plate is fixed in a two-axis compliant micropositioning stage to transport cells to pre-planed positions. The cells are located using image-based visual servoing control. The injector used for biological cell micro-injection is actuated by a piezoelectric actuator, which not only provides a large-range displacement but also offers a compact size. In order to guarantee the injection accuracy, a learning-based adaptive control scheme is implemented to fulfill the cell injection task. The eggs of salmon are adopted as injecting targets for demonstration in experimental investigation. Experimental results reveal the effectiveness of the proposed approach.