Скачать или смотреть Robotic Vitrification of Embryos and Ooctyes

We have developed a robotic vitrification (RoboVitri) technology, aiming to transform clinical vitrification from manual operation to fully automated robotic operation. The RoboVitri system is built around an inverted microscope. A robotic manipulator and a motorized syringe are used to automatically pick-and-place embryos or oocytes. A custom-designed carrier plate is placed on the XY stage to hold an embryo culture dish, a multi-well plate, and multiple vitrification straws. Our robotic system is embedded with two contact detection methods, based on computer vision microscopy, to determine the relative z positions of the vitrification micropipette, embryo, and vitrification straw. A three dimensional (3D) tracking algorithm was developed for visually served embryo transfer and real-time monitoring of embryo volume changes during vitrification.