Automated Sperm Tracking and Immobilization With a Clinically-Compatible XYZ Stage
Notice bibliographique
Résumé
Automated positioning systems play a pivotal role in micro-scale cell manipulation. In clinical intracytoplasmic sperm injection (ICSI) for infertility treatment, a motile sperm needs to be immobilized by glass micropipette tapping for subsequent surgical steps. The process requires accurate tracking of the target sperm and precise alignment between the sperm tail and the micropipette. Manual sperm immobilization suffers from inconsistent success rates, and current robotic systems developed for the task fail to comply with the standard clinical setup. Instead of using a motorized micromanipulator as in existing robotic systems, this paper presents an automated and compact three-dimensional (3-D) positioning stage for sperm immobilization that can be seamlessly integrated into standard clinical platforms. To tackle the challenge of accurately tracking the target sperm with degraded detection quality due to the complex 3-D motion of the positioning stage, a multi-stage sperm tracking scheme is designed for detection-to-tracklet association. To prevent physical contact between the sperm head and the micropipette, an adaptive tail-tapping planning strategy based on the sperm head orientation analysis is established. A visual servo controller equipped with a dynamic sperm motion observer is further employed to achieve precise positioning of the target sperm during the immobilization process. Experimental results demonstrated that the proposed system achieved a sperm tracking accuracy of 88.12%, and a sperm positioning accuracy of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$2.3~\pm ~1.2~\mu $ </tex-math></inline-formula> m. Further experiments revealed the system achieved a success rate of 93.5% and a time cost of 5.5 s for automated sperm immobilization. Note to Practitioners—This work presents an automated positioning system for the robotic immobilization of live human sperm in the intracytoplasmic sperm injection (ICSI) process. Conventional robotic systems developed for sperm immobilization use motorized stages which only provide two degrees of freedom (DOF) and disturb standard clinical setups with bulky sizes and additional equipment. Leveraging the advantages of piezoelectric positioners, a compact 3-D positioning system is developed to perform robotic sperm immobilization in an all-in-one manner. A sperm immobilization tracker is developed to track the target sperm during the immobilization process. The proposed multi-stage data association metric can effectively resist the noisy detection results due to occlusion and out-of-focus blur introduced by the 3-D movement of the positioning stage. Based on the analysis of the sperm head orientation, an adaptive tail-tapping planning strategy is established to avoid the risk of contacting the sperm head where DNA is contained. The developed positioning system can be easily integrated into a standard microscopy operation platform for biological cell manipulation. The proposed tracking scheme is applicable in various microscopy cell analysis scenarios where the detection results are inevitably affected by the degraded image quality.
Récupéré en direct depuis OpenAlex et désinversé. Les résumés ne sont pas conservés dans cette base de données : les index inversés représentent 8,6 Go des 9,3 Go de texte de la base, et le serveur dispose de 13 Go libres.
Comment cette classification a été obtenuedéplier
Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,000 | 0,001 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».