NDLI: An automated robotic system for high-speed microinjection of Caenorhabditis elegans

Content Provider	IEEE Xplore Digital Library
Author	Xianke Dong Pengfei Song Xinyu Liu
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., McGill Univ., Montreal, QC, Canada (Xianke Dong; Pengfei Song; Xinyu Liu)
Abstract	The tiny nematode worm Caenorhabditis elegans has long been a popular model organism for genetic, developmental, and biochemical studies in which worm microinjection plays a critical role. This paper presents an automated robotic system for high-speed injection of C. elegans with an efficiency more than 10 times faster than that of a proficient injection technician. To facilitate the injection process, a multilayer, hydraulically-controlled polydimethylsiloxane (PDMS) microfluidic device is developed to rapidly load, immobilize, flush, sort and collect individual worms. In addition, a newly proposed contact detection algorithm is adopted to find the optimal injection position along the z axis within the microscope view field. The direction and location of the needle tip are identified online based on an effective image processing algorithm. According to continuous injection of 40 worms, our system is able to perform worm injection at a speed of 6.6 worms per minute with a pre-sorting success rate of 77.5% (post sorting: 100%). The superior performance provided by the system will significantly facilitate large-scale transgenic studies and biomolecule screening on C. elegans.
Starting Page	996
Ending Page	1001
File Size	3847732
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139298
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Needles Valves Loading Robots Sorting Image processing
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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