Speed optimization in automated microinjection of zebrafish embryos

In this paper we formulate an optimization problem in the design of a speed trajectory for the motion of the micropipette during automated microinjection of zebrafish embryos. The objective of this optimization problem is to minimize the deformation sustained by the zebrafish embryo. We subsequently propose a solution to this optimization problem by first constructing a viscoelastic model of the zebrafish embryo, and then synthesizing an optimal speed trajectory based on a class of polynomials. Furthermore, we present results of numerical simulation and experiments that demonstrate the effectiveness of the proposed solution. The statistically meaningful experimental data (generated using a large sample of zebrafish embryos) provide direct evidence on the advantage of such speed optimization in microinjection.