CN102184407A - Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection - Google Patents
Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection Download PDFInfo
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- CN102184407A CN102184407A CN 201110026121 CN201110026121A CN102184407A CN 102184407 A CN102184407 A CN 102184407A CN 201110026121 CN201110026121 CN 201110026121 CN 201110026121 A CN201110026121 A CN 201110026121A CN 102184407 A CN102184407 A CN 102184407A
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Abstract
The invention discloses a method for determining a position and a gesture of an ooecium in automatic intracytoplasmic sperm injection, which comprises the following steps of: converting a colored image into a grayscale image and performing median filtering processing; determining positions of a micro-adsorption needle and a micro injection needle, and determining the position and the gesture of the ooecium; performing binarization processing on the grayscale image by using an Otsu adaptive threshold method; averaging n pixels along each pixel of the outline of an ooecium region in sequence towards a central direction of the region to form a sequence S; solving a mean value Savg of the sequence S; judging whether the value of each point in S is within the range [Savg-Ts, Savg+Ts] or not; if so, detecting a circle with a radius of rp in the interior of the ooecium region by using a Hough circle detection method; mapping a coordinate from an image coordinate system to an ooecium local coordinate system to obtain the coordinate of (xp, yp); and calculating an ooecium pitch angle E1 and an ooecium azimuth angle Az through a spatial triangle relationship, and outputting a position coordinate (xc, yc) and a gesture coordinate (Az, E1) of the ooecium.
Description
Technical field
The present invention relates to intracytoplasmic sperm injection technology in the ooecium slurry, the ooecium pose in particularly a kind of ooecium slurry in the automatic injection of monosperm is determined method.
Background technology
Injection cell is microoperation indispensable in biotechnology, the genetic engineering.Because manual cell manipulation is subjected to factor affecting such as operating personnel's skill level, tired situation easily,, also become a bottleneck of bioengineering industrialization simultaneously so be difficult to the success ratio that keeps stable.In recent years, the injection cell system becomes the domestic and international research focus gradually automatically.Because the environment of the injection cell of microscopically is non-structured, so can only realize by micro-vision for the position of cell and the detection of attitude at present.Wenhui Wang is at paper " High-Throughput Automated Injection of IndividualBiological Cells " (IEEE Transactions on automation science and engineering, 2009:16 (2): the utilization image processing techniques is carried out structure analysis to the embryonic cell of zebra fish 209-219), after finding out cytoplasmic profile with the snake algorithm, by judging the outer convexity defective of closed contour, therefrom mark off the yolk part.Leonardo Mattos is at paper " Semi-Automated BlastocystMicroinjection " (Proceedings of the 2006 IEEE International Conference onRobotics and Automation.Orlando, Florida, USA:May, 2006.1780-1785) the middle proposition when carrying out the automatic microinjection of blastaea, come blastaea is detected with the Hough conversion, and cover blastaea with the circle of eight equal portions, by calculating the summation of pixel value in each equal portions, obtain being fit to the blastaea wall zone of entry needle puncture.Xinyu Liu is at paper " Visually Servoed Orientation Control ofBiological Cells in Microrobotic Cell Manipulation " (Proceedings of the 2008International Symposium on Experimental Robotics.Athens, Greece:2008.180-187) designed a device in, not only can fix a plurality of cells simultaneously, and can realize the rotation of cell by rotating this device.They analyze the position of polar body by the convex closure to the embryonic cell outer profile image, adopt the attitude of the closed loop control method realization cell of 3-DOF to regulate then, but the polar body of only having considered cell is positioned at the situation of cell membrane image border, does not consider that polar body is positioned at the situation of cell membrane image inside.The profile of cell is different with structure in the different injection cell process (procaryotic injection, blastaea injection etc.), needs the also difference of adopting to some extent of vision technique.The principle of intracytoplasmic sperm injection technology (ICSI) is by micromanipulation system single sperm injection to be gone into to make its fertilization in the ovum in the ooecium slurry.This technology only needs several sperms can reach fertilization, gestation, is the most effective methods of treatment of serious male factor infertile patients.The automation mechanized operation process need of intracytoplasmic sperm injection obtains the position accurately and the attitude information of target ooecium in the ooecium slurry, and does not also have the relevant report about the accurate localization method of ooecium pose in the present document.
Summary of the invention
For overcoming the shortcoming and defect of prior art existence, the ooecium pose that patent of the present invention aims to provide in the automatic injection of the interior monosperm of a kind of ooecium slurry is determined method, and this method can be determined the position and the attitude of egg mother cell exactly, for automatic injection process provides condition.
The present invention is achieved through the following technical solutions:
Ooecium pose during monosperm is injected automatically in a kind of ooecium slurry is determined method, comprises the steps:
(1), grasps each frame real-time color image and be translated into gray level image;
(2), gray level image in the step (1) carried out medium filtering handle, remove noise, discern the position of little absorption pin and microinjection pin again with the method for template matches, wherein, identification range is limited by the estimation of little absorption pin and microinjection pin;
(3), determine the position of little absorption pin and microinjection pin after, determine the position and the attitude of ooecium.
Above-mentioned steps (3) is determined the position and the attitude of ooecium, and concrete steps are as follows:
(1-1), gray level image is carried out binary conversion treatment with Otsu adaptive threshold method;
(1-2), in bianry image according to the little absorption pin that identified and the position of microinjection pin, the zone processing as a setting of the zone of little absorption pin and microinjection pin;
(1-3), bianry image is carried out the closed operation of bianry image morphology, and remove the small size zone in the image, so that be communicated with broken edge, the impurity of removing in the stained and solution of slide influences imaging, fills the hole in each zone;
(1-4), ask for circularity and the area parameters that each connected region profile surrounds the zone;
(1-5), identify the ooecium zone according to circularity and area parameters;
(1-6), successively with each pixel on the profile in ooecium zone as the center, set up the small neighbourhood of a m * m;
(1-7), with the local threshold method to the gray level image binaryzation that tries again, accurately be partitioned into the ooecium zone;
(1-8), be partitioned into the ooecium zone after, find out this regional center position coordinates (x
c, y
c), and set up the ooecium local rectangular coordinate system as initial point, the mean radius in zone as the ooecium radius r
c
(1-9), successively along each pixel of the profile in ooecium zone, get n pixel toward this regional center position and average, formation sequence S asks the average S of sequence S
Avg
(1-10), judge that whether the value of each point among the S is all at interval [S
Avg-T
s, S
Avg+ T
s] in, if not, then ask for the coordinate of the point of the maximal value correspondence among the S, be the image coordinate of the position of polar body, this coordinate is mapped to the ooecium local coordinate system from image coordinate system, coordinate is (x
p, y
p), and give 0 value with angle of pitch El, calculate ooecium position angle Az by the space triangle relation again, and the position coordinates (x of output ooecium
c, y
c) and the attitude coordinate (Az, El), (x wherein
c, y
c) be the image overall coordinate, (Az El) is the ooecium local coordinate.
If be r with Hough circle detection method detection radius then at the ooecium intra-zone
pCircle, home position can be judged as the position of polar body, and this coordinate is mapped to the ooecium local coordinate system from image coordinate system, coordinate is (x
p, y
p), calculate ooecium angle of pitch El by the space triangle relation, calculate ooecium position angle Az by the space triangle relation, and the position coordinates (x of output ooecium
c, y
c) and the attitude coordinate (Az, El), (x wherein
c, y
c) be the image overall coordinate, (Az El) is the ooecium local coordinate.
The present invention has following advantage and beneficial effect with respect to prior art: patent of the present invention can realize only can obtaining exactly according to visual information the position and the attitude information of egg mother cell, solves the important technological problems in the automatic injection process of monosperm in the ooecium slurry.
Description of drawings
Fig. 1 is that the ooecium pose during monosperm is injected automatically in the ooecium slurry of the present invention is determined the method main flow chart.
Fig. 2 is that ooecium position and attitude among the present invention concrete determined method flow diagram.
Fig. 3 is that the present invention is applied in the effect example one in the intracytoplasmic sperm injection process in the ooecium slurry, the figure illustrates the situation of position when the edge of ooecium film of polar body; Wherein (a) is source images, (b) is the three-dimensional simulation figure of ooecium attitude.
Fig. 4 is applied in the effect example two in the intracytoplasmic sperm injection process in the ooecium slurry among the present invention, the figure illustrates the situation of position when the inside of ooecium film of polar body; Wherein (a) is source images, (b) is the three-dimensional simulation figure of ooecium attitude.
Embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, the ooecium pose during monosperm is injected automatically in the ooecium slurry of the present invention is determined method, comprises the steps:
(1), grasps each frame real-time color image and be translated into gray level image;
(2), gray level image in the step (1) carried out medium filtering handle, remove noise, discern the position of little absorption pin and microinjection pin again with the method for template matches, wherein, identification range is limited by the estimation of little absorption pin and microinjection pin;
(3), determine the position of little absorption pin and microinjection pin after, determine the position and the attitude of ooecium.
As shown in Figure 2, above-mentioned steps (3) is determined the position and the attitude of ooecium, specifically can adopt following steps:
(1-1), gray level image is carried out binary conversion treatment with Otsu adaptive threshold method;
(1-2), in bianry image according to the little absorption pin that identified and the position of microinjection pin, the zone processing as a setting of the zone of little absorption pin and microinjection pin;
(1-3), bianry image is carried out the closed operation of bianry image morphology, and remove the small size zone in the image, so that be communicated with broken edge, the impurity of removing in the stained and solution of slide influences imaging, fills the hole in each zone;
(1-4), ask for circularity and the area parameters that each connected region profile surrounds the zone;
(1-5), identify the ooecium zone according to circularity and area parameters;
(1-6), successively with each pixel on the profile in ooecium zone as the center, set up the small neighbourhood of a m * m;
(1-7), with the local threshold method to the gray level image binaryzation that tries again, accurately be partitioned into the ooecium zone;
(1-8), be partitioned into the ooecium zone after, find out this regional center position coordinates (x
c, y
c), and set up the ooecium local rectangular coordinate system as initial point, the mean radius in zone as the ooecium radius r
c
(1-9), successively along each pixel of the profile in ooecium zone, get n pixel toward this regional center position and average, formation sequence S asks the average S of sequence S
Avg
(1-10), judge that whether the value of each point among the S is all at interval [S
Avg-T
s, S
Avg+ T
s] in:
If not, then asking for the coordinate of the point of the maximal value correspondence among the S, is the image coordinate of the position of polar body, this coordinate is mapped to the ooecium local coordinate system from image coordinate system again, and coordinate is (x
p, y
p), give 0 value with angle of pitch El at last, calculate ooecium position angle Az by the space triangle relation again, and the position coordinates (x of output ooecium
c, y
c) and the attitude coordinate (Az, El), (x wherein
c, y
c) be the image overall coordinate, (Az El) is the ooecium local coordinate;
If be r with Hough circle detection method detection radius then at the ooecium intra-zone
pCircle, home position can be judged as the position of polar body, and this coordinate is mapped to the ooecium local coordinate system from image coordinate system, coordinate is (x
p, y
p), calculate ooecium angle of pitch El by the space triangle relation, calculate ooecium position angle Az by the space triangle relation, and the position coordinates (x of output ooecium
c, y
c) and the attitude coordinate (Az, El), (x wherein
c, y
c) be the image overall coordinate, (Az El) is the ooecium local coordinate.
Fig. 3 is that the present invention is applied in the effect example one in the intracytoplasmic sperm injection process in the ooecium slurry, the figure illustrates the situation of position when the edge of ooecium film of polar body; Wherein (a) is source images, (b) is the three-dimensional simulation figure of ooecium attitude.
Fig. 4 is applied in the effect example two in the intracytoplasmic sperm injection process in the ooecium slurry among the present invention, the figure illustrates the situation of position when the inside of ooecium film of polar body; Wherein (a) is source images, (b) is the three-dimensional simulation figure of ooecium attitude.
The basic thought of estimation is the macro block that each frame of image sequence is divided into many non-overlapping copies, and think that the displacement of interior all pixels of macro block is all identical, then each macro block is found out the piece the most similar to current block according to certain matching criterior in a certain given particular search scope of reference frame, be match block, the relative displacement of match block and current block is motion vector.Can predict hunting zone in the next frame according to the size and Orientation of motion vector.
Just can realize the present invention preferably as mentioned above.
The foregoing description is a preferred implementation of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (2)
1. the ooecium pose during the interior monosperm of ooecium slurry is injected is automatically determined method, it is characterized in that comprising the steps:
(1), grasps each frame real-time color image and be translated into gray level image;
(2), gray level image in the step (1) carried out medium filtering handle, remove noise, discern the position of little absorption pin and microinjection pin again with the method for template matches, wherein, identification range is limited by the estimation of little absorption pin and microinjection pin;
(3), determine the position of little absorption pin and microinjection pin after, determine the position and the attitude of ooecium.
2. ooecium pose according to claim 1 is determined method, it is characterized in that, described step (3) is determined the position and the attitude of ooecium, and concrete steps are as follows:
(1-1), gray level image is carried out binary conversion treatment with Otsu adaptive threshold method;
(1-2), in bianry image according to the little absorption pin that identified and the position of microinjection pin, the zone processing as a setting of the zone of little absorption pin and microinjection pin;
(1-3), bianry image is carried out the closed operation of bianry image morphology, and remove the small size zone in the image, so that be communicated with broken edge, the impurity of removing in the stained and solution of slide influences imaging, fills the hole in each zone;
(1-4), ask for circularity and the area parameters that each connected region profile surrounds the zone;
(1-5), identify the ooecium zone according to circularity and area parameters;
(1-6), successively with each pixel on the profile in ooecium zone as the center, set up the small neighbourhood of a m * m;
(1-7), with the local threshold method to the gray level image binaryzation that tries again, accurately be partitioned into the ooecium zone;
(1-8), be partitioned into the ooecium zone after, find out this regional center position coordinates (x
c, y
c), and set up the ooecium local rectangular coordinate system as initial point, the mean radius in zone as the ooecium radius r
c
(1-9), successively along each pixel of the profile in ooecium zone, get n pixel toward this regional center position and average, formation sequence S asks the average S of sequence S
Avg
(1-10), judge that whether the value of each point among the S is all at interval [S
Avg-T
s, S
Avg+ T
s] in:
If not, then asking for the coordinate of the point of the maximal value correspondence among the S, is the image coordinate of the position of polar body, this coordinate is mapped to the ooecium local coordinate system from image coordinate system again, and coordinate is (x
p, y
p), give 0 value with angle of pitch El at last, calculate ooecium position angle Az by the space triangle relation again, and the position coordinates (x of output ooecium
c, y
c) and the attitude coordinate (Az, El), (x wherein
c, y
c) be the image overall coordinate, (Az El) is the ooecium local coordinate;
If be r with Hough circle detection method detection radius then at the ooecium intra-zone
pCircle, home position can be judged as the position of polar body, and this coordinate is mapped to the ooecium local coordinate system from image coordinate system, coordinate is (x
p, y
p), calculate ooecium angle of pitch El by the space triangle relation, calculate ooecium position angle Az by the space triangle relation, and the position coordinates (x of output ooecium
c, y
c) and the attitude coordinate (Az, El), (x wherein
c, y
c) be the image overall coordinate, (Az El) is the ooecium local coordinate.
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|---|---|---|---|
| CN 201110026121 CN102184407B (en) | 2011-01-21 | 2011-01-21 | Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3187233A1 (en) * | 2015-12-30 | 2017-07-05 | TDS Polska Sp. z o. o. | The video-based verification system for the ball-line events for the referees of the netball matches |
| CN108426537A (en) * | 2018-01-30 | 2018-08-21 | 华侨大学 | A kind of quick omnibearing detection method of grinding wheel in place and system based on line-scan digital camera |
| CN113973652A (en) * | 2021-10-26 | 2022-01-28 | 力源新资源开发(广东)有限公司 | Automatic inoculation equipment for efficiently obtaining cordyceps sinensis |
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| US20080280777A1 (en) * | 2007-05-11 | 2008-11-13 | Translational Genomics Research Institute | Method for determining the effects of external stimuli on biological pathways in living cells |
| CN101332088A (en) * | 2008-07-21 | 2008-12-31 | 深圳先进技术研究院 | Method, system for obtaining brain characteristic parameter and thrombolysis decision-making system and method |
| CN101393644A (en) * | 2008-08-15 | 2009-03-25 | 华中科技大学 | Hepatic portal vein tree modeling method and system thereof |
| CN101425186A (en) * | 2008-11-17 | 2009-05-06 | 华中科技大学 | Liver subsection method based on CT image and system thereof |
-
2011
- 2011-01-21 CN CN 201110026121 patent/CN102184407B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080280777A1 (en) * | 2007-05-11 | 2008-11-13 | Translational Genomics Research Institute | Method for determining the effects of external stimuli on biological pathways in living cells |
| CN101332088A (en) * | 2008-07-21 | 2008-12-31 | 深圳先进技术研究院 | Method, system for obtaining brain characteristic parameter and thrombolysis decision-making system and method |
| CN101393644A (en) * | 2008-08-15 | 2009-03-25 | 华中科技大学 | Hepatic portal vein tree modeling method and system thereof |
| CN101425186A (en) * | 2008-11-17 | 2009-05-06 | 华中科技大学 | Liver subsection method based on CT image and system thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3187233A1 (en) * | 2015-12-30 | 2017-07-05 | TDS Polska Sp. z o. o. | The video-based verification system for the ball-line events for the referees of the netball matches |
| CN108426537A (en) * | 2018-01-30 | 2018-08-21 | 华侨大学 | A kind of quick omnibearing detection method of grinding wheel in place and system based on line-scan digital camera |
| CN108426537B (en) * | 2018-01-30 | 2020-10-09 | 华侨大学 | In-place grinding wheel rapid full-field detection method and system based on linear array camera |
| CN113973652A (en) * | 2021-10-26 | 2022-01-28 | 力源新资源开发(广东)有限公司 | Automatic inoculation equipment for efficiently obtaining cordyceps sinensis |
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