Visual Feedback Automation for ICSI With Rotationally Oscillating Drill (Ros-Drill©)

Intracytoplasmic sperm injection has attracted research interest from both biological and engineering groups The technology is constantly evolving to perform this procedure with precision and speed One such development is the contribution of this paper We focus on a relatively recent procedure called Ros Drill (c) (rotation ally oscillating drill) of which the early versions have already been effectively utilized for the mice Here we present a procedure to automate a critical part of the operation initiation of the rotational oscillation Visual feedback is used to track the pipette tip Predetermined species specific penetration depth is success fully utilized to initiate the rotational oscillation command Penetration depth based decisions concur with our earlier curvature based approach [DOI 10 1115/1 4001865]