ICRA 2011 Paper Abstract


Paper WeA102.5

Zhang, Xuping (University of Toronto), Lu, Zhe (University of Toronto), Gelinas, Danielle (University of Toronto), Brian, Ciruna (University of Toronto), Sun, Yu (University of Toronto)

Automated Batch Transfer of Zebrafish Embryos Using a Multi-Degrees-Of-Freedom System

Scheduled for presentation during the Regular Sessions "Agent-Based Systems II" (WeA102), Wednesday, May 11, 2011, 09:20−09:35, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Automation in Life Sciences: Biotechnology, Pharmaceutical and Health Care, Computer Vision for Robotics and Automation, Calibration and Identification


Biological experiments and drug screen require the transfer of individual zebrafish embryos into standard multi-well microplates. Manually pipetting embryos into wells is tedious and time consuming. This paper reports a prototype cooperative robotic system capable of transferring zebrafish embryos in parallel and depositing a single embryo per well in a 96-well microplate. A cell holding device was developed to trap multiple embryos in a regular pattern. The cell holding device and a microplate are positioned and aligned along multiple axes by the system. Embryo release strategies were systematically studied and compared. Experiments demonstrated that out of the 1,056 zebrafish embryos used in experiments (i.e., 44 times parallel transfer into 11 96-well plates), 996 wells were successfully filled with one and only one zebrafish embryo, representing a success rate of 94.3%. Further experiments confirmed that the transferred embryos were able to develop into zebrafish with 100% survival rate.



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