CN106802300B - A biological micromanipulator based on visual feedback - Google Patents

Abstract

The invention discloses a kind of biology microscope operating devices of view-based access control model feedback, belong to biological operation Instrument technology field.The device includes micro image collection module, micro-displacement platform, micro-operation hand module, master controller and computer.It is different from traditional mode of operation, introduces master controller.During the entire process of operation, using the biology microscope operating device based on vision, all operations can be completed in computer terminal, reduce the degree of dependence to professional operator, so that operation is more simple, convenient, the degree of automation of micromanipulation is improved.In conjunction with image processing techniques, the object to be operated of different shapes and operator can be matched, can more effectively identify such as micro pipette, microinjection needle tool, improve the success rate of operation.

Description

A biological micromanipulator based on visual feedback

technical field

The invention relates to the technical field of biological operation instruments, and belongs to a micromanipulation device using visual feedback, which can operate and assemble objects such as cells and chromosomes.

Background technique

In the field of biomedical engineering and scientific research, there are a large number of micromanipulations involving cells and chromosomes, such as single sperm injection, genetic diagnosis of single cells extracted before embryo transfer, cell separation, microinjection, chromosome cutting, etc. , These biomedical experiments all involve the observation of cells and micromanipulation. For this kind of work, not only high precision and good accuracy are required, but also short operation time and high efficiency are required.

At present, micromanipulation is all done manually through micromanipulation instruments. This kind of micromanipulation equipment generally includes the following parts, shock isolation table, microscope, left micromanipulator arm, right micromanipulator arm, microgripper (cell adsorption device, micropipette, etc.), left joystick, right joystick Wait. Its operation method mainly relies on the operator to observe the microscope eyepiece, judge according to the observed position and orientation information of the micro-manipulator arm and the image of the cell position within the field of view, and control the left and right micro-manipulator arms to perform operations through the joystick. Use a mechanical device to scale the movement of the human hand in a certain proportion or use a micro-motor to move, and transmit it to the operating tool of the micro-manipulator arm (the micro-pipette is installed on the left manipulator arm, and the micro-injection needle is installed on the right manipulator arm), so that it can affect the cells to operate. Generally speaking, the left micro-manipulator arm completes the capture and fixation of the manipulated object, and the right micro-manipulator arm performs micromanipulation (such as gene injection, chromosome cutting, etc.) on the fixed manipulated object. Such micromanipulators usually do not have any controllers, and do not have any sensors (except for the microscope). The quality of work is easily affected by the operator's personal technique, mental state, psychology and emotion. Long operation time, low efficiency, high cost, poor precision consistency, and low cell survival rate.

With the development of new technologies, many image devices have also been introduced into the field of biological micromanipulation. For example, many new microscopes can be equipped with CCD or CMOS cameras, which can transmit the images in the field of view of the objective lens to the PC through the camera, so that operators can Sitting in front of the computer and observing the large screen for microscopic operation, the advantage of this is that the human eye is liberated, so that the operator does not have to keep the eye in a fixed posture in front of the eyepiece. However, this type of operation is still operated by using the manual control handle. For example, to move the cell holder to the syringe for a longer distance, the hand can only move in one direction continuously or continuously rotate the operation code wheel.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a biological micromanipulation device based on visual feedback, which can realize precise micromanipulation of cells. And it introduces a new control method, which is different from the traditional cell micromanipulation. All the work can be completed on the computer side, without manual control of the micromanipulator through the handle, which simplifies the operation, improves the accuracy and efficiency.

The technical scheme of the present invention is as follows: a biological micromanipulation device based on visual feedback, which includes a microscopic image acquisition module, a micro-displacement platform, a micro-manipulator module, a main controller and a computer. Different from the traditional operation mode, the main controller is introduced.

The microscopic image acquisition module is a CCD camera installed on the side of the microscope. The CCD camera is used as the feedback source of the entire operating device. deal with.

The micro-displacement platform includes an XY horizontal platform, a microscope focusing motor and a handle controller, wherein the XY horizontal platform supports the object to be operated and moves on a plane perpendicular to the objective lens, and the microscope focusing motor is used to adjust the objective lens of the microscope and the object to be operated. Operate the distance between objects so that the image captured by the CCD camera is clear enough. The handle controller is used to manually adjust the position between the operated object and the objective lens when the operating device works in manual mode.

The micro-manipulator module includes a left operating arm, a left gripper, a right operating arm, a right operator, a left operating arm driver, a left operating arm manual controller, a right operating arm driver and a right operating arm manual controller, the left The gripper is installed on the left operating arm for clamping and fixing the cells. The right operating device is fixed on the right operating arm for puncturing and injecting the cells. The left operating arm and the right operating arm are respectively operated by the left The driver of the arm and the driver of the right operating arm are driven, the driver of the left operating arm and the driver of the right operating arm are connected to the main controller, the manual controller of the left operating arm and the manual controller of the right operating arm are connected to the main controller, and are controlled by the main controller The controller is responsible for switching between manual mode and computer mode.

The main controller is the control center of several other modules, which is equivalent to the connecting bridge between the micromanipulator and the computer. The main controller is responsible for transferring data such as sensor information of the device and pulse information of the manual controller to the At the same time, the computer converts the data transmitted by the computer into control instructions, and then operates the relevant module movements to complete the operation function.

The described operation mode adopts a new control mode for this scheme, and the working mode is selected as manual mode or computer mode at the main controller or computer side. The manual mode is a traditional manual operation method, while the computer mode means that all operations are completed on the computer side. In the computer mode, according to the distance from the visual feedback, the long-distance movement of the micromanipulator is directly controlled by the computer, which further liberates the operation of the human hand and makes the operation more accurate and effective. Moreover, the image processing on the computer side can judge and identify the target to be operated, which improves the automation degree and efficiency of the operation.

Compared with the prior art, the present invention has the following beneficial effects:

1. This device is improved according to the deficiencies of the existing scheme, and the main controller is introduced. During the whole process of operation, using this vision-based biological micromanipulation device, all operations can be completed on the computer side, reducing the need for professional The degree of dependence on the operator makes the operation simpler and more convenient, and improves the automation of micromanipulation.

2. Using microscopic vision as feedback, it can directly determine the position of the manipulator and the operated object, and then use the main controller to control the precise movement of the robotic arms according to the distance between them, which is different from the traditional "observation-operation-re- The backward operation mode of "observation-reoperation" improves the operation efficiency.

3. Combining with image processing technology, it can match different shapes of operated objects and manipulators, and can more effectively identify tools such as micropipettes and microinjection needles, improving the success rate of operations.

Description of drawings

FIG. 1 is a schematic diagram of the structure and composition of a biological micromanipulation device based on visual feedback according to the present invention.

In the picture:

1. Light source 7. Left operating arm driver 13. Left hand wheel controller

2. Left operating arm 8. Microscopic camera 14. Micro-displacement platform handle

3. Left gripper 9. Microscope 15. Right hand wheel controller

4. Micro displacement platform 10. Focusing motor 16. Computer

5. Right manipulator 11. Right manipulator arm driver 17. Manipulator controller

6. Right operating arm 12. Micro-displacement platform controller

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Please refer to Fig. 1, the present invention is a biological micromanipulator based on visual feedback, including a light source (1), a microscope (9), a CCD camera (8), a left micromanipulator arm (2), a right micromanipulator Arm (6), computer (16), XY micro-displacement platform (4), left gripper (3), right operating device (5), main controller (17), etc. Microscopic operations such as cell cutting, fusion, and injection are completed on the computer side. The left holder (3) is a suction pipe, and the right operating device (5) is an injection needle.

The CCD camera (8) is installed on the side of the microscope (9) mirror body, which is equivalent to the sensor and feedback device of the whole system, captures the image under the field of view of the microscope objective lens, and transmits it to the computer for processing through the USB cable.

The left gripper (3) and the right operating device (5) are installed on the left micro-manipulation arm (2) and the right micro-manipulation arm (6) respectively, and the left micro-manipulation arm (2) and the right micro-manipulation arm (6) are The three-degree-of-freedom rectangular coordinate motion platform driven by a precision stepping motor, the left micro-manipulator arm (2) and the right micro-manipulator arm (6) are controlled by the left and right drivers respectively, and the two drivers are mainly for the control signals sent by the controller Amplify, and transmit the limit signals of the left micro-manipulator arm (2) and the right micro-manipulator arm (6) to the main controller.

The main controller is the core component, which is connected to the left gripper (3), right operating device (5), and connected to the left hand wheel controller (13), right hand wheel controller (15), and connected to the computer via USB superior. There is a switch on the main controller, which is used to switch the working mode of the device to manual operation mode or computer operation mode. In the manual operation mode, the left and right operating arms are controlled by the left and right hand wheel controllers. In the computer operation mode, the left and right operating arms are controlled by the computer.

The micro-displacement platform module is composed of four parts: XY micro-displacement platform (4), focusing motor (10), micro-displacement platform controller (12), and micro-displacement platform handle (14), wherein the micro-displacement platform (4) is a plane XY The platform can carry the operated object to move in the horizontal plane, and it is used to adjust the position between the observed object and the microscope objective lens. The focus motor (10) adjusts the focal length of the microscope after the positions of the observed object and the objective lens are determined, so that the image observed from the eyepiece or the camera is sufficiently clear. The micro-displacement platform handle (14) is used to control the movement of the XY micro-displacement platform and the focusing motor in manual mode.

Claims (3)

1. A biological micromanipulator based on visual feedback, characterized in that: the device includes a microscopic image acquisition module, a micro-displacement platform, a micro-manipulator module, a main controller and a computer; The microscopic image acquisition module is a CCD camera installed on the side of the microscope, and the CCD camera is used as the feedback source of the entire operating device, and its function is to capture images in the field of view of the microscope objective lens, and transmit them to the computer terminal through a USB cable for acquisition and processing ; The micro-displacement platform includes an XY horizontal platform, a microscope focusing motor and a handle controller, wherein the XY horizontal platform supports the object to be operated and moves on a plane perpendicular to the objective lens, and the microscope focusing motor is used to adjust the objective lens of the microscope and the object to be operated. The distance between the operating objects makes the image collected by the CCD camera clear; the handle controller is used to manually adjust the position between the operated object and the objective lens when the operating device works in manual mode; The micro-manipulator module includes a left operating arm, a left gripper, a right operating arm, a right operator, a left operating arm driver, a left operating arm manual controller, a right operating arm driver and a right operating arm manual controller, the left The gripper is installed on the left operating arm for clamping and fixing the cells. The right operating device is fixed on the right operating arm for puncturing and injecting the cells. The left operating arm and the right operating arm are controlled by the left operating arm respectively. The driver and the driver of the right operating arm are driven, the driver of the left operating arm and the driver of the right operating arm are connected to the main controller, and the manual controller of the left operating arm and the manual controller of the right operating arm are connected to the main controller. Responsible for switching between manual mode or computer mode. 2. A kind of biological micromanipulation device based on visual feedback according to claim 1, characterized in that: the main controller is a control center, which is equivalent to the connecting bridge between the micromanipulation device and the computer, and the main controller Responsible for transmitting the sensor information of the device and the pulse information data of the manual controller to the computer, and at the same time converting the data transmitted by the computer into control instructions, and then operating the module movement to complete the operation function. 3. a kind of biological micromanipulator based on visual feedback according to claim 1, is characterized in that: under computer mode, according to the distance that visual feedback arrives, directly controls the long-distance movement of micromanipulator hand by computer, further It liberates the operation of human hands, and makes the operation more accurate and effective; and the image processing on the computer side can judge and identify the target to be operated, which improves the automation and efficiency of the operation.