Methods, computer programs, and systems for automated microinjection

Abstract

Provided herein are methods, computer programs, and systems for automated microinjection, for example, automated Intracytoplasmic Sperm Injection (ICSI). Methods described herein include creating, by a processing unit, a first dataset of an oocyte and a holding device and a second dataset of an injection pipette; detecting the oocyte and the holding device in the first dataset and the injection pipette in the second dataset; selecting the image of the first dataset and of the second dataset where an equatorial plane of the oocyte/holding device and of the injection pipette has an improved focusing parameter; selecting images of the first and second datasets and labeling the pixels associated with the oocyte and to the injection pipette; detecting a tip of the injection pipette; detecting different morphological structures of the oocyte using artificial intelligence computer vision algorithms on the first dataset; creating an injection trajectory for the injection pipette to perform the ICSI using the detected morphological structures; detecting when the oocyte is rupturing and when the spermatozoa has been released from the injection pipette into the cytoplasm of oocyte.

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