Automated Dual-Micropipette Coordination Microinjection for Batch Zebrafish Larvae Based on Pose Estimation
Can Wang, Rongxin Liu, Huiying Gong, Zengshuo Wang, Lu Zhou, Yaowei Liu, Xin Zhao, Mingzhu Sun
Abstract
Zebrafish are widely used in the biomedical field, as an ideal model for microinjection. In automated zebrafish microinjection, posture adjustment is the first and key step, which takes a lot of skill, and injection success assessment is a challenging task. Constrained by these two aspects, it is difficult to further enhance the efficiency and success rate of injection. In this study, we propose an automated dual-micropipette coordination microinjection system. Zebrafish are randomly arranged in our system, reducing the operational difficulty, and the yolk is positioned using a pose estimation algorithm, followed by injection accomplished with dual-micropipette. Due to the reduction of posture adjustment time by half, the proposed system achieves the shortest injection time of 15.2s. Moreover, the simplicity of the system and the ease of operation contribute to the clinical feasibility of our system.
BibTeX
@inproceedings{iros2025_automateddualmic,
title = {Automated Dual-Micropipette Coordination Microinjection for Batch Zebrafish Larvae Based on Pose Estimation},
author = {Can Wang and Rongxin Liu and Huiying Gong and Zengshuo Wang and Lu Zhou and Yaowei Liu and Xin Zhao and Mingzhu Sun},
booktitle = {IROS 2025},
year = {2025}
}