# Robotic Precisely Oocyte Blind Enucleation Method
## 3 Results
### Oocyte Translation and Enucleation Control Results  
Figure 9 shows the control results for translating the oocyte. The oocytes were scattered at the bottom of the petri dish. The target oocytes were initially located far from the HM. The PID controller was employed to control the selected oocyte to the HM. The control gains were \(K_{p}\) = 5.32, \(K_{i}\) = 0.38, and \(K_{d}\) = 1. We used five porcine oocytes to verify the control method. The experimental results show that the oocytes reached the target position steadily without overshoot, and the translation time was less than 1.5 s, which meets the requirements of the operation well.  
To evaluate the proposed controller performance, the enucleation experiments were carried out on different desired trajectories involving quadratic curves and ramps, respectively. The desired quadratic trajectory was determined according to the manual enucleation operation by an operation staff, where the actual trajectory of cytoplasm inside the micropipette was detected based on the background subtraction method (BSM). After data analysis, the trajectory could be well fitted with a quadratic polynomial. In addition, to better illustrate the performance of the proposed controller, we also used ramps as the desired trajectories in our experiment. The oocyte will reach the best enucleation results when the removed cytoplasm volume increases to 8% [32]. Thus, the enucleation target position inside the micropipette was determined by optimal cytoplasm volume. The quadratic trajectory was used as the desired trajectory in the enucleation experiments. Video (Movie.avi) given in the supplementary materials shows the control process of enu-cleation.  
The porcine oocyte was used in the enucleation experiment, whose radius and density were 75 \(\pm\) 5 \(\upmu\)m and 1049.5 \(\pm\) 9.2 kg/m\({}^{3}\), respectively [33]. The density of the culture medium was 1008.2 kg/m\({}^{3}\) at 20 \({}^{\circ}\)C [33]. The radius of the EM was 10 \(\upmu\)m. The capillary force \(\xi_{0}(t)\) is estimated by \(\xi_{0}(t)=\pi R^{2}P(t)\). \(P(t)\) is the measured gas pressure. The control gains were chosen as \(t\) = 3.74 and \(\eta\) = 2.1. The parameter of update law was set as \(\gamma_{1}\) = 0.5 and \(\gamma_{2}\) = 2.1. Figure 10 shows the control results for extracting the cytoplasm to its target position with two desired trajectories. To further demonstrate the superior performance of the designed control system, the experimental results were compared with those obtained by a PID controller. After sufficient tuning, the control parameters were set as: \(K_{p}\) = 13.2, \(K_{i}\) = 1.8, and \(K_{d}\) = 3. Comparing with the PID control result, both tracking error and settling time on the ASMC were less than the PID. The PID have a large overshoot, which may result in large damage for the oocyte to affect the rate of survival. Therefore, the experimental results indicate the superior performance of the ASMC compared with the PID controller, in the sense of overshoot suppression and tracking accuracy, which facilitates the further application of enucleation.  
Figure 9: Oocyte translation control result. (**a**) \(X\)-axis direction control results. (**b**) \(Y\)-axis direction control results.