PUBLICATION
Visual Servoed Three-Dimensional Rotation Control in Zebrafish Larva Heart Microinjection System
- Authors
- Zhuang, S., Lin, W., Zhong, J., Zhang, G., Li, L., Qiu, J., Gao, H.
- ID
- ZDB-PUB-170420-4
- Date
- 2017
- Source
- IEEE transactions on bio-medical engineering 65(1): 64-73 (Journal)
- Registered Authors
- Li, Li
- Keywords
- none
- MeSH Terms
-
- Animals
- Equipment Design
- Heart/diagnostic imaging*
- Heart/physiology*
- Larva/physiology*
- Microinjections/instrumentation*
- Microinjections/methods*
- Rotation
- Zebrafish
- PubMed
- 28422649 Full text @ IEEE Trans. Biomed. Eng.
Citation
Zhuang, S., Lin, W., Zhong, J., Zhang, G., Li, L., Qiu, J., Gao, H. (2017) Visual Servoed Three-Dimensional Rotation Control in Zebrafish Larva Heart Microinjection System. IEEE transactions on bio-medical engineering. 65(1):64-73.
Abstract
Objective Zebrafish larva heart microinjection is a widely used technique in cardiac disease study. Compared with intensively researched rotation control of spherical or nearly spherical targets with clear structures, such as cells and embryos, 3-D rotation control of zebrafish larva demands new techniques due to its non-transparent structures and irregular outlines.
Methods In this paper, we present a vision-servo system to automate the rotation process of zebrafish larva body. A switched control strategy is adopted to rotate zebrafish larva about the optical axis by using two micropipettes. Precisely rolling about larva body is performed which involves a custom-designed rotational micromanipulator. A vision detection and online tracking algorithm is also developed to meet the requirement of visual servoing. With designed rotation control strategy, zebrafish larva heart can be adjusted to a desired orientation, which is often towards the injection pipette tip.
Results Experimental results show that the designed system is capable of achieving high success rate of 94% about z-axis rotation and 100% about x-axis with 50 trails. The system also performs an average speed of 44s/larva with a satisfied rotation accuracy of 0.5 in horizontal plane and 2.5 about its roll axis.
Conclusion The proposed strategy is effective in flexibly manipulating larvae in 3-D.
Significance The developed 3-D rotation control scheme is able to be applied to injection of various organs in zebrafish larva body for different experimental requirements.
Genes / Markers
Expression
Phenotype
Mutations / Transgenics
Human Disease / Model
Sequence Targeting Reagents
Fish
Orthology
Engineered Foreign Genes
Mapping