核移植中的卵母细胞自动拨动研究(英文)  

Research on Autonomous Movement of Oocyte in Nuclei Transplantation

作　　者：赵启立[1] 赵新[1] 王一了[1] 孙明竹[1] 崔茂盛[2] 冯建忠[2] 卢桂章[1] 

机构地区：[1]南开大学机器人与信息自动化研究所,天津300071 [2]天津市畜牧兽医研究所,天津300112

出　　处：《控制工程》2012年第3期389-393,共5页Control Engineering of China

基　　金：Supported by Chinese National Programs for High Tech-nology Research and Development(Grant No.2009AA043703);National Natural Science Foundation of China(Grant No.60875059/61105107);New Century Excellent Talents in University(Grant No.NCET-07-0464);Specialized Research Fund for the Doctoral Program of Higher Education of China(Grant No.20060055037)

摘　　要：通过拨动细胞实现遗传物质的移动,并在对卵母细胞的拨动机理进行深入分析的基础上,根据极体是否可见将卵母细胞的自动拨动过程分为翻动和转动两部分。进一步的,对翻动过程中的卵母细胞进行建模,并通过实验首次提出并实现了四种卵母细胞的自动拨动轨迹。随后,对影响卵母细胞翻动幅度的因素进行了研究,并通过实验证实翻动的幅度可以通过拨动微针的离焦高度进行控制。最后,绵羊的大批量核移植操作应用结果表明,使用设计的自动拨动轨迹的移动遗传物质的成功率可达95%以上。同时,拨动过程中极体出现的位置也和本文提出的翻动模型计算的结果一致,从而验证了本文工作的有效性。The mechanism of oocyte＇s movement is analyzed which can be used to move hereditary sub- stance. This process is divided into revolving course and rotation course according to the availability of the polar body＇s information. Then a model of the oocyte in revolving course is proposed and four kinds of moving trajectories of the injector are realized for the first time in this area. After that, the factors that influence the revolving range of oocyte are studied deeply. Furthermore, a problem of revolving range control is considered by defocusing distance. In the end, application results are reported and they demonstrate that the success rate of autonomous movement of oocyte can reach more than 95 %. As can be seen that the appearing positions of polar bodies in experiments agree well with modeling re- suits, which verifies the validity of the work.

关 键 词：批量核移植 微操作机器人 自动拨动 卵母细胞翻动 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]