Adaptive Cell Orientation Control With Slip Compensation and Attentive Vision
Ziteng Liu, Haoyuan Gu, Yifan Huang, Wenyuan Chen, Hang Liu, Honglin Zhang, Songlin Zhuang, Changsheng Dai
Abstract
Precise orientation of oocyte is a prerequisite for many cell manipulations, especially Intracytoplasmic Sperm Injection (ICSI), to prevent damage to the meiotic spindle. However, automating this process presents significant challenges due to the visual ambiguity of the polar body and the complex friction dynamics between the micropipette and the cell. In this letter, we propose a robotic system for high-precision oocyte rotation. First, we introduce a YOLO11-based detector enhanced with a high-resolution branch P2 and CBAM (Convolutional Block Attention Module) attention, achieving robust polar body detection (mAP@50 = 96.7% on 1028 images). Second, we develop a discrete-contour mechanics model that estimates minimum rotational torque for cell geometries, replacing traditional circle/ellipse assumptions. Finally, we design a dual-loop control framework that combines slip-compensated rotation with adaptive indentation regulation, enabling real-time compensation for biological variability of cells. Experiments on mouse oocytes show 0.51° orientation error with a maximum deformation (2.58 μm), outperforming PID-based baselines.
BibTeX
@inproceedings{ral2026_adaptivecellorie,
title = {Adaptive Cell Orientation Control With Slip Compensation and Attentive Vision},
author = {Ziteng Liu and Haoyuan Gu and Yifan Huang and Wenyuan Chen and Hang Liu and Honglin Zhang and Songlin Zhuang and Changsheng Dai},
booktitle = {RA-L 2026},
year = {2026}
}