The recent growing interest in single cell biology demonstrates that micromanipulation and microsurgical advance strategies are required to carry out single cell surgical processes, such as the Preimplantation Genetic Diagnosis (PGD). To perform PGD, a sample from the inner material of the embryo is extracted using a microsurgical operation called embryo biopsy, in which the embryo is reoriented safely to a predefined desired orientation, required for the embryo outer membrane (Zona Pellucida ZP) perforation, to extract the material sample, and separate it from the embryo. Currently, embryologists manually perform the embryo biopsy steps. However, direct human involvement contributes to a significant negative impact on the process throughput and success rate. Growing demand for such advanced strategies mandates the development of automated systems to achieve high throughput with high success rates. This thesis presents novel methods for the automation of the blastocyst embryo biopsy steps, using the conventional tools currently available in the research labs and the in vitro fertilization clinics (IVF), computer vision, and image based control algorithms. This thesis includes four main chapters, each relating to the automation of the four main steps:​

The first step is automated embryo reorientation using a friction-based approach. A computer vision algorithm identifies the embryonic structures to estimate its orientation coordinates and uses this information in the vision feedback control system.

The second step ablates the embryo ZP. Using the embryo structures identified in the previous step, a vision feedback control system moves the embryo toward the desired ablation location and defines the optimal laser parameters.

The third step is the automation of the sample extraction using the aspiration method. A vacuum system and computer vision algorithm are used to control the sample aspiration and track it inside the micropipette.

The fourth step involves separating the sample from the embryo and retrieving it. A vision feedback control system is developed to move the embryo and the micropipette while a multi-pulses laser ablates the sample to separate it.

For all the above steps, the automation experiments were performed on mouse blastocyst embryos. The success of the presented approaches validates the feasibility of the embryo biopsy automation.