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Cleavage and Blastulation

Cleavage and Blastulation

After a large-single-celled zygote is produced via fertilization, the process of cleavage occurs while zygotes travel through the uterine tube. Cleavage is a mitotic cell division that does not result in growth. With each round of successive cell division, daughter cells get increasingly smaller.

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Updated: Jan 19, 2026

Morphometric Protocol for the Objective Assessment of Blastocyst Behavior During Vitrification and Warming Steps

Morphometric Protocol for the Objective Assessment of Blastocyst Behavior During Vitrification and Warming Steps

Published on: February 28, 2019

Automatic System for the Blastocyst Embryo Manipulation and Rotation.

Ihab Abu Ajamieh¹, Bensiyon Benhabib², James K Mills²

¹Laboratory of Nonlinear Systems Control, Mechanical and Industrial Engineering Department, University of Toronto, Toronto, ON, Canada. ihab@mie.utoronto.ca.

Annals of Biomedical Engineering

|September 26, 2019

Summary

This summary is machine-generated.

This study introduces a simplified method for reorienting blastocyst embryos using conventional tools and a vision feedback system. The technique enables precise cell rotation for improved microsurgical operations.

Keywords:

Blastocyst embryo Blastocyst segmentation Cell surgery Computer vision Embryo biopsy Embryo rotation automation Image processing Inner cell mass Vision feedback Visual servoing

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Last Updated: Jan 19, 2026

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Published on: March 2, 2017

Area of Science:

Biomedical Engineering
Reproductive Biology
Microsurgery

Background:

Cell manipulation is critical for microsurgical success, particularly in embryo biopsy.
Precise embryo reorientation is essential for safe and efficient In Vitro Fertilization (IVF) procedures.

Purpose of the Study:

To propose a simplified approach for blastocyst embryo reorientation.
To develop a vision-guided system for controlled cell manipulation.

Main Methods:

Utilized conventional tools and techniques common in research and IVF clinics.
Developed an experimental setup with a stationary micropipette and a moving substrate for embryo rotation.
Implemented a computer vision algorithm for orientation estimation and a proportional controller for rotation control.

Main Results:

Demonstrated successful embryo rotation in two independent coordinate directions.
Verified the dynamic behavior of the proposed cell manipulation approach.
Confirmed the system's suitability for embryo microsurgical task execution.

Conclusions:

The proposed simplified approach effectively reorients blastocyst embryos.
Vision feedback control enhances the precision and efficiency of cell manipulation.
This method offers a practical solution for microsurgical applications in reproductive biology.