Automated microfluidic system for orientation control of mouse embryos

Microinjection and biopsy of oocytes and embryos in Assisted Reproductive Technology (ART) require highly delicate handling of cells. In particular, efficient control of cell orientation is necessary to maintain their integrity during tool penetration, which currently remains challenging to accomplish by the existing method of repeated aspiration/release via micropipette. We present a microfluidic platform to automate the process of cell orientation control and trapping by means of hydrodyanmic force and vision-based position control. The device is accessible by conventional micropipettes via a cavity, allowing immobilized cells to be operated on. An orientation control algorithm based on the movement of the embryo within the microchannel is proposed. Visual tracking of the polar body is used to provide the information of cell orientation. Experimental results with mouse embryos indicate that cell orientation can be systematically controlled autonomously without human intervention and therefore provides a framework for further development of robotics approach to precise manipulation of microparticles within microfluidic devices.