System and method for automated cell positioning

Abstract

The method for automated cell positioning can include: sampling a video of a scene having a gamete, tracking the gamete, and positioning the gamete within a target region. The method can optionally include: determining attribute values for the gamete, selecting the gamete, reorienting the gamete, and/or manipulating the gamete, and/or any suitable steps.

We claim: 
     
         1 . A system, comprising:
 an imaging system comprising a camera, wherein the imaging system is configured to sample a video of a gamete;   a processor configured to track the gamete across frames of the video;   a positioning system comprising a stage, wherein the positioning system is configured to position the gamete within a target region based on a gamete track; and   an aspirator configured to retrieve the gamete from the target region.   
     
     
         2 . The system of  claim 1 , wherein the positioning system is configured to automatically position the gamete in substantially real time. 
     
     
         3 . The system of  claim 1 , wherein the stage is actuatable in at least two dimensions. 
     
     
         4 . The system of  claim 3 , wherein the stage comprises an xy stage. 
     
     
         5 . The system of  claim 1 , wherein the target region comprises a center of a field of view of the imaging system. 
     
     
         6 . The system of  claim 1 , wherein the processor is further configured to determine a focus level based on the video using a focus model, wherein the imaging system comprises a focus actuation system, wherein the focus actuation system is automatically actuated based on the focus level. 
     
     
         7 . The system of  claim 1 , wherein the aspirator is configured to move to a target z-location and aspirate at the target z-location to retrieve the gamete. 
     
     
         8 . The system of  claim 1 , wherein the aspirator is configured to retrieve the gamete without immobilizing the gamete. 
     
     
         9 . The system of  claim 1 , wherein the imaging system is configured to sample the video at at least 15 frames per second. 
     
     
         10 . The system of  claim 1 , wherein the gamete is retrieved for use in an assistive reproductive technology. 
     
     
         11 . A method, comprising:
 sampling a video of a gamete;   determining a gamete track across frames of the video;   automatically positioning the gamete within a target region based on the gamete track; and   retrieving the gamete within the target region.   
     
     
         12 . The method of  claim 11 , wherein retrieving the gamete comprises: positioning an aspirator and aspirating the gamete using the aspirator. 
     
     
         13 . The method of  claim 12 , wherein positioning the aspirator comprises moving the aspirator in the z-direction. 
     
     
         14 . The method of  claim 12 , wherein the gamete is aspirated from a head of the gamete. 
     
     
         15 . The method of  claim 11 , wherein the gamete is one of a set of gametes, the method further comprising:
 determining an attribute value for the gamete based on the video, using a trained machine learning model; and   selecting the gamete from the set of gametes based on the attribute value.   
     
     
         16 . The method of  claim 15 , further comprising: evaluating whether a flat side of the gamete is depicted in a frame of the video, wherein the attribute value for the gamete is determined when the flat side of the gamete is depicted in the frame. 
     
     
         17 . The method of  claim 15 , wherein the attribute value comprises a timeseries of attribute values. 
     
     
         18 . The method of  claim 15 , wherein the attribute value comprises a morphology attribute value and a motility attribute value. 
     
     
         19 . The method of  claim 15 , wherein the gamete is selected using a trained selection model, wherein training the selection model is trained using specialist-labeled images. 
     
     
         20 . The method of  claim 11 , further comprising fertilizing an ovum using the gamete.