Fig. 1

Implementation process of the visual recognition algorithm.

a Recognition process of the yolk center in one zebrafish larva. b Schematic diagram of the image dilation principle
Fig. 2

Verification of algorithm functions.

a Verification of the algorithm’s anti-interference ability. b Verification of the necessity of the excessive dilation algorithm. c Verification of the recognition process to the zebrafish embryo’s center
Fig. 3

Developed software system.

a Design of the user interface. b Schematic diagram of the producer-consumer model
Fig. 4

Development of the automatic microinjection system.

a Fabrication of the MAM for immobilizing batch zebrafish embryos and larvae. b Hardware device and information communication process in the automatic microinjection system
Fig. 5

Schematic diagram of the automatic microinjection path
Fig. 6

Flowchart of a complete automatic microinjection cycle
Fig. 7

Automatic microinjection process.

a Process of automatic microinjection for one zebrafish embryo. b Process of automatic microinjection for one zebrafish larva
Fig. 8

Experimental results.

a Results of Nsuc during automatic and manual injection processes. b Results of Ttotal during automatic and manual injection processes. c Results of Rsuc during automatic and manual injection processes in different groups. d Results of Tsuc during automatic and manual injection processes in different groups
Acknowledgments
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