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In this paper, we present a robotic device for mouse tail vein injection. Wepropose a mouse holding mechanism to realize vein injection withoutanesthetizing the mouse, which consists of a tourniquet, vacuum port, andadaptive tail-end fixture. The position of the target vein in 3D space isreconstructed from a high-resolution stereo vision. The vein is detected by asimple but robust vein line detector. Thanks to the proposed two-stagedcalibration process, the total time for the injection process is limited to 1.5minutes, despite that the position of needle and tail vein varies for eachtrial. We performed an injection experiment targeting 40 mice and succeeded toinject saline to 37 of them, resulting 92.5% success ratio.

Development of a Stereo-Vision Based High-Throughput Robotic System for Mouse Tail Vein Injection