A Cell Rotation Method Based on the Kinematics Model

A cell rotation method based on the kinematics model is developed to adjust cell-posture automatically in biological applications. Firstly, a kinematics model for cell rotation process is developed. Using this model, the relationship between the rotation angle (RA) and the efficiency of the rotation process is analyzed. Subsequently, a cycloidal moving trajectory of the injector is proposed to improve the control accuracy of the RA. With the integration of imaging processing methods and the injector motion control algorithms, a robotic cell rotation process for batch cells is achieved. Finally, the proposed method is applied to the robotic rotation of pig oocytes. The experimental results demonstrate that this system is able to perform the cell rotation with 90% success rate at average speed of 26.7s per cell. Moreover, the average control error of the RA in each rotation step is within 2.6°, which is significantly less than that of the manual method (8.1°). This method can be used in a precise and automatic posture-adjustment for the domestic oocytes in biological applications.