Liu Yaowei, Cui Maosheng, Zhang Yidi, Zhao Xiangfei, Sun Mingzhu, Zhao Xin
Institute of Robotics and Automatic Information System, The Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300071, China.
Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China.
Micromachines (Basel). 2022 Feb 17;13(2):309. doi: 10.3390/mi13020309.
Oocyte penetration is an essential step for many biological technologies, such as animal cloning, embryo microinjection, and intracytoplasmic sperm injection (ICSI). Although the success rate of robotic cell penetration is very high now, the development potential of oocytes after penetration has not been significantly improved compared with manual operation. In this paper, we optimized the oocyte penetration speed based on the intracellular strain. We firstly analyzed the intracellular strain at different penetration speeds and performed the penetration experiments on porcine oocytes. Secondly, we studied the cell development potential after penetration at different penetration speeds. The statistical results showed that the percentage of large intracellular strain decreased by 80% and the maximum and average intracellular strain decreased by 25-38% at the penetration speed of 50 μm/s compared to at 10 μm/s. Experiment results showed that the cleavage rates of the oocytes after penetration increased from 65.56% to 86.36%, as the penetration speed increased from 10 to 50 μm/s. Finally, we verified the gene expression of oocytes after penetration at different speeds. The experimental results showed that the totipotency and antiapoptotic genes of oocytes were significantly higher after penetration at the speed of 50 μm/s, which verified the effectiveness of the optimization method at the gene level.
卵母细胞穿刺是许多生物技术的关键步骤，如动物克隆、胚胎显微注射和胞浆内单精子注射（ICSI）。尽管目前机器人细胞穿刺的成功率很高，但与手动操作相比，穿刺后卵母细胞的发育潜力并未显著提高。在本文中，我们基于细胞内应变优化了卵母细胞穿刺速度。我们首先分析了不同穿刺速度下的细胞内应变，并对猪卵母细胞进行了穿刺实验。其次，我们研究了不同穿刺速度下穿刺后细胞的发育潜力。统计结果表明，与10μm/s相比，50μm/s穿刺速度下大细胞内应变的百分比降低了80%，最大和平均细胞内应变降低了25-38%。实验结果表明，随着穿刺速度从10μm/s增加到50μm/s，穿刺后卵母细胞的裂解率从65.56%提高到86.36%。最后，我们验证了不同速度穿刺后卵母细胞的基因表达。实验结果表明，50μm/s速度穿刺后卵母细胞的全能性和抗凋亡基因显著更高，这在基因水平上验证了优化方法的有效性。
