3-D Image Reconstruction of Biological Organelles With a Robot-Aided Microscopy System for Intracellular Surgery

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Original languageEnglish
Article number8573907
Pages (from-to)231-238
Journal / PublicationIEEE Robotics and Automation Letters
Issue number2
Online published12 Dec 2018
Publication statusPublished - Apr 2019


Intracellular surgery suffers from a low success rate due to the lack of three-dimensional (3-D) position feedback of selected organelles. In this study, we developed a novel robot-aided microscopy system and 3-D reconstruction algorithm to conduct intracellular surgery with 3-D information. A series of optical sections along the vertical direction was obtained by microscopy lens movement. A 3-D reconstruction model of the specimen was realized after several deconvolution, segmentation, and reconstruction processes. Simulations and experiments were performed to verify the accuracy of the proposed algorithm. Furthermore, 3-D reconstruction position feedback was applied to extract mitochondria via a robot-aided wide-field fluorescence system. The proposed approach facilitates intracellular surgeries, such as organelle biopsy and cell injection.

Research Area(s)

  • Robot-aided microscopy, 3-D reconstruction, intracellular surgery, organelles, wide-field fluorescence, DECONVOLUTION, REGULARIZATION, ALGORITHM

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