CN102184407B - 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
- Publication number
- CN102184407B CN102184407B CN 201110026121 CN201110026121A CN102184407B CN 102184407 B CN102184407 B CN 102184407B CN 201110026121 CN201110026121 CN 201110026121 CN 201110026121 A CN201110026121 A CN 201110026121A CN 102184407 B CN102184407 B CN 102184407B
- Authority
- CN
- China
- Prior art keywords
- ooecium
- coordinate
- image
- zone
- pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Image Analysis (AREA)
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 the ICSI technology, particularly the ooecium pose determination method in the monosperm automatic injection in a kind of ooecium slurry.
Background technology
Injection cell is microoperation indispensable in biotechnology, the genetic engineering.Because manual cell manipulation is subjected to the factor affecting such as operating personnel's skill level, tired situation easily, so be difficult to the success ratio that keeps stable, also become a bottleneck of genetic engineering industry simultaneously.In recent years, the injection cell system becomes study hotspot both domestic and external 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 a plurality of cells can be fixed simultaneously, and the rotation of cell can be realized by rotating this device.They analyze the position of polar body by the convex closure to the embryonic cell outer profile image, then adopt the attitude regulation of the closed loop control method realization cell of 3-DOF, 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 to some extent difference of vision technique of adopting.The principle of ICSI technology (ICSI) is by micromanipulation system single sperm injection to be entered to make its fertilization in the ovum.This technology only needs several sperms can reach fertilization, gestation, is the most effective methods for the treatment of of serious male factor infertility patient.The automation mechanized operation process need of ICSI obtains accurately position and the attitude information of target ooecium, and does not also have the relevant report about ooecium pose Exact Location Method in the present document.
Summary of the invention
The shortcoming and defect that exists for overcoming prior art, patent of the present invention aim to provide the ooecium pose determination method in the monosperm automatic injection in a kind of ooecium slurry, and the method can be determined position and the attitude of egg mother cell exactly, for the automatic injection process provides condition.
The present invention is achieved through the following technical solutions:
Ooecium pose determination method in a kind of ooecium slurry in the monosperm automatic injection 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 process, remove noise, identify again the position of little absorption pin and microinjection pin 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 position and the attitude of ooecium.
Above-mentioned steps (3) is determined position and the attitude of ooecium, and concrete steps are as follows:
(1-1), with Otsu adaptive threshold method gray level image is carried out binary conversion treatment;
(1-2), in bianry image according to little absorption pin of having identified and the position of microinjection pin, the zone of little absorption pin and microinjection pin regional processing as a setting;
(1-3), bianry image is carried out the closed operation of bianry image morphology, and remove small size zone in the image, in order to be communicated with broken edge, remove impurity in the stained and solution of slide to Imaging, fill 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, Accurate Segmentation goes out 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 point corresponding to maximal value 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 triangular relation again, and the position coordinates (x of output ooecium
c, y
c) and attitude coordinate (Az, El), wherein (x
c, y
c) be the image overall coordinate, (Az, El) is the ooecium local coordinate.
If be r at the ooecium intra-zone with Hough circle detection method detection radius then
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 triangular relation, calculate ooecium position angle Az by the space triangular relation, and the position coordinates (x of output ooecium
c, y
c) and attitude coordinate (Az, El), wherein (x
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 position and the attitude information of egg mother cell, solves the important technological problems in the monosperm automatic injection process in the ooecium slurry.
Description of drawings
Fig. 1 is the ooecium pose determination method main flow chart in the monosperm automatic injection in the ooecium slurry of the present invention.
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 ICSI process, 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 the effect example two that is applied among the present invention in the ICSI process, 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 to this.
Embodiment
As shown in Figure 1, the ooecium pose determination method in the ooecium slurry of the present invention in the monosperm automatic injection 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 process, remove noise, identify again the position of little absorption pin and microinjection pin 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 position and the attitude of ooecium.
As shown in Figure 2, above-mentioned steps (3) is determined position and the attitude of ooecium, specifically can adopt following steps:
(1-1), with Otsu adaptive threshold method gray level image is carried out binary conversion treatment;
(1-2), in bianry image according to little absorption pin of having identified and the position of microinjection pin, the zone of little absorption pin and microinjection pin regional processing as a setting;
(1-3), bianry image is carried out the closed operation of bianry image morphology, and remove small size zone in the image, in order to be communicated with broken edge, remove impurity in the stained and solution of slide to Imaging, fill 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, Accurate Segmentation goes out 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 point corresponding to maximal value 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 triangular relation again, and the position coordinates (x of output ooecium
c, y
c) and attitude coordinate (Az, El), wherein (x
c, y
c) be the image overall coordinate, (Az, El) is the ooecium local coordinate;
If be r at the ooecium intra-zone with Hough circle detection method detection radius then
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 triangular relation, calculate ooecium position angle Az by the space triangular relation, and the position coordinates (x of output ooecium
c, y
c) and attitude coordinate (Az, El), wherein (x
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 ICSI process, 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 the effect example two that is applied among the present invention in the ICSI process, 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 specific hunting zone 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 preferably the present invention as mentioned above.
Above-described embodiment is the better embodiment 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 Essence 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 (1)
1. the ooecium pose determination method in an ooecium is starched in the monosperm automatic injection 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 process, remove noise, identify again the position of little absorption pin and microinjection pin 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 position and the attitude of ooecium, concrete steps are as follows:
(1-1), with Otsu adaptive threshold method gray level image is carried out binary conversion treatment;
(1-2), in bianry image according to little absorption pin of having identified and the position of microinjection pin, the zone of little absorption pin and microinjection pin regional processing as a setting;
(1-3), bianry image is carried out the closed operation of bianry image morphology, and remove small size zone in the image, in order to be communicated with broken edge, remove impurity in the stained and solution of slide to Imaging, fill 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, Accurate Segmentation goes out 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), to a certain pixel of the profile in ooecium zone, get n pixel and ask their mean value toward this regional center position, do identical calculations along each pixel on the profile in ooecium zone successively after, formation sequence of average S asks the mean value S of 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 point corresponding to maximal value among the S, is the image coordinate of position of the polar body part of ooecium, 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 triangular relation again, and the position coordinates (x of output ooecium
c, y
c) and attitude coordinate (Az, El), wherein (x
c, y
c) be the image overall coordinate, (Az, El) is the ooecium local coordinate;
If be r at the ooecium intra-zone with Hough circle detection method detection radius then
pCircle, home position can be judged as the position of the polar body part of ooecium, 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 triangular relation, calculate ooecium position angle Az by the space triangular relation, and the position coordinates (x of output ooecium
c, y
c) and attitude coordinate (Az, El), wherein (x
c, y
c) be the image overall coordinate, (Az, El) is the ooecium local coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110026121 CN102184407B (en) | 2011-01-21 | 2011-01-21 | Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110026121 CN102184407B (en) | 2011-01-21 | 2011-01-21 | Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102184407A CN102184407A (en) | 2011-09-14 |
| CN102184407B true CN102184407B (en) | 2013-02-13 |
Family
ID=44570580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110026121 Expired - Fee Related CN102184407B (en) | 2011-01-21 | 2011-01-21 | Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102184407B (en) |
Families Citing this family (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 |
| 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 |
| CN111047574B (en) * | 2019-12-12 | 2024-06-18 | 苏州韦士肯检测科技有限公司 | Visual inspection defect identification method for cylindrical workpiece |
| 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| 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 |
-
2011
- 2011-01-21 CN CN 201110026121 patent/CN102184407B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102184407A (en) | 2011-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102184407B (en) | Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection | |
| Wang et al. | Autofocusing and polar body detection in automated cell manipulation | |
| CN108297115B (en) | Autonomous repositioning method for robot | |
| CN112906797B (en) | Plane grabbing detection method based on computer vision and deep learning | |
| CN106290388A (en) | A kind of insulator breakdown automatic testing method | |
| Yang et al. | Faster R-CNN based microscopic cell detection | |
| CN103727930A (en) | Edge-matching-based relative pose calibration method of laser range finder and camera | |
| CN112184816B (en) | Lithium battery flexible positioning method based on battery lugs | |
| CN115816460B (en) | Mechanical arm grabbing method based on deep learning target detection and image segmentation | |
| EP3667903B1 (en) | Photovoltaic panel recognition method, ground station, control apparatus, and unmanned aerial vehicle | |
| JP2008212017A (en) | Apparatus for determining cell state, and method for determining cell state | |
| CN110570480A (en) | Sketch drawing method of drawing robot, electronic equipment and storage medium | |
| CN101493942A (en) | Level set image segmentation method based on spacing moment | |
| CN111008994A (en) | Moving target real-time detection and tracking system and method based on MPSoC | |
| CN112164048A (en) | Magnetic shoe surface defect automatic detection method and device based on deep learning | |
| CN107388991A (en) | A kind of more fillet axial workpiece radius of corner measuring methods in end face | |
| CN106097323B (en) | Engine cylinder block casting positioning method based on machine vision | |
| Tian et al. | Corrosion identification of fittings based on computer vision | |
| CN103177244A (en) | Method for quickly detecting target organisms in underwater microscopic images | |
| CN116985141B (en) | Industrial robot intelligent control method and system based on deep learning | |
| CN106530272A (en) | Overlapped protein point separation method and device based on concave point matching | |
| Shi et al. | An underwater pipeline tracking system for amphibious spherical robots | |
| Jia et al. | Forest fire detection and recognition using YOLOv8 algorithms from UAVs images | |
| Paranawithana et al. | Tracking extraction of blastomere for embryo biopsy | |
| Özer et al. | An approach based on deep learning methods to detect the condition of solar panels in solar power plants |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130213 Termination date: 20160121 |
|
| EXPY | Termination of patent right or utility model |