RBMS: A Robotic Batch Microinjection System for Zebrafish Larval Hearts

The zebrafish is a highly promising model organism in biomedical research. A critical procedure for its use is the microinjection of larvae, which is commonly performed manually. Manual injection, however, suffers from inherent limitations, including low efficiency, success rate, and consistency. To address these challenges, this paper presents a Robotic Batch Microinjection System (RBMS) designed for targeting the hearts of zebrafish larvae. The system’s uniqueness lies in a novel computer vision algorithm that efficiently locates the heart region based on key physiological features, significantly accelerating image processing. Furthermore, an Agarose Petri Dish (APD) is employed for batch immobilization of larvae. We established a dedicated hardware system for automated microinjection and developed an intuitive software interface. Experimental results demonstrate that the RBMS achieves high-throughput automated microinjection into the larval heart at a rate of 11 seconds per sample. The developed system offers a robust and efficient solution for large-scale cardiovascular drug screening using zebrafish larvae.