Robotic platform for high throughput injections into intact tissue

A method performed by a system for injecting a substance into cells of a tissue sample, the method comprising:

• receiving image data from a microscope camera, wherein the image data comprises an image of the tissue sample;
• outputting a user interface for display, wherein the user interface contains the image of the tissue sample;
• receiving, via the user interface, an indication of user input of a trajectory line drawn by a user on the image of the tissue sample;
• controlling a robotic manipulator apparatus to move a tip of a micropipette along a path defined by the trajectory line;
• and
• controlling a pressure controller to inject a gas into the micropipette to eject the substance out of the micropipette at one or more points along the path defined by the trajectory line.

A non-transitory computer-readable storage medium having instructions stored thereon that, when executed, cause a computing device of an autoinjector system to:

• receive image data from a microscope camera, wherein the image data comprises an image of a tissue sample;
• output a user interface for display, wherein the user interface contains the image of the tissue sample;
• receive, via the user interface, an indication of user input of a trajectory line drawn by a user on the image of the tissue sample;
• control a robotic manipulator apparatus to move a tip of a micropipette along a path defined by the trajectory line;
• and
• control a pressure controller to inject a gas into the micropipette to eject a substance out of the micropipette at one or more points along the path defined by the trajectory line.