CN104933727A - Mobile micro target extraction method and apparatus - Google Patents
Mobile micro target extraction method and apparatus Download PDFInfo
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- CN104933727A CN104933727A CN201510395197.8A CN201510395197A CN104933727A CN 104933727 A CN104933727 A CN 104933727A CN 201510395197 A CN201510395197 A CN 201510395197A CN 104933727 A CN104933727 A CN 104933727A
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- target
- extraction device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10056—Microscopic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
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- General Physics & Mathematics (AREA)
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Abstract
The invention provides a mobile micro target extraction method and an apparatus. The method comprises the following steps: through an image extraction apparatus, extracting an image of a mobile micro target, and determining a current position (X1, Y1 and Z1) of the mobile micro target according to the extracted image; acquiring a current position (X0,Y0 and Z0) of a target extraction apparatus used for extracting the mobile micro target; determining a moving distance Xm, Ym and Zm of an extraction mechanism along at least one axis of an X axis, a Y axis and a Z axis according to the current position of the target extraction apparatus; driving the target extraction apparatus to move to a preset position (X0+Xm, Y0+Ym and Z0+Zm); through the image extraction apparatus, acquiring the image of the current mobile micro target, and determining the position (X2, Y2 and Z2) of the mobile micro target according to the extracted image; determining whether a space between the preset position and the position of the mobile micro target is less than a preset threshold; ending the steps if the space between the preset position and the position of the mobile micro target is less than the preset threshold; if the space between the preset position and the position of the mobile micro target is not less than the preset threshold, returning to a step 2.
Description
Technical field
The present invention relates to field of mechanical technique, refer to a kind of mobile micro target extraction method and device especially.
Background technology
At present in biomedical experiment, experimenter often needs to carry out accurate operation that is careful in a large number and that repeat under the microscope, to extract various target from nutrient culture media, wherein nematode is a kind of typical target, be described for nematode in the application, but those skilled in that art are appreciated that this is not the restriction of the technical scheme to the application, and the technical scheme of the application can be applied to any target.
For nematode, since one of the founder of beginning molecular genetics in 1963, Sydney Brenner proposes research nematode (C. Elegans Automatic Screening) being carried out life science as model organism.C. Elegans Automatic Screening is a kind of multicellular organism the most simply with neurocyte, is about 1mm, take Escherichia coli as food, and is convenient to increase population quantity and carry out genetic analysis.Under physical environment, nematode is divided into hermaphroditic and male two kinds, and hermaphroditic accounts for the overwhelming majority.Although male nematode only accounts for about per mille, the way of heat shock can be used in the lab to produce male nematode for mating, and two kinds of sex characters make nematode in genetic research, have very large advantage.The experiment utilizing now C. Elegans Automatic Screening to carry out has important breakthrough in a lot of fields of life science, and as apoptosis, RNA disturbs, and delay senility experiment and drug screening etc., and C. Elegans Automatic Screening is first biology completing genome sequencing especially.Nowadays nematode experiment remains in Life Science Laboratory carries out one of maximum experiment, and behinds of these experiments contain a large amount of duplication of labour of experimenter.In prior art, the experimenter in laboratory adopts manual type to extract nematode from nutrient culture media, causes like this needing a large amount of work repeated in laboratory, causes the increase of personnel cost.Although there is the equipment of much wanting automatically to be caught nematode by equipment in prior art, but because nematode is the object of living, its position constantly changes, and captures nematode more very difficult after therefore wanting automatic location by external unit (such as vacuum WAND).
Summary of the invention
For the problem lacking simple and effective equipment in prior art and can automatically extract target, the technical problem to be solved in the present invention is to provide a kind of mobile micro target extraction method and device, can the various target of fast and convenient extraction, simultaneously with low cost.
In order to achieve the above object, the embodiment of the present invention proposes a kind of mobile micro target extraction method, comprising:
Step 1, extracted the image of mobile micro target by image acquiring apparatus, and according to the current location (X of the image determination mobile micro target extracted
1, Y
1, Z
1);
Step 2, obtain the current location (X of the Objective extraction device for extracting described mobile micro target
0, Y
0, Z
0); And the displacement X along at least one axle in X-axis, Y-axis, Z axis of this extraction mechanism is determined with this
m, Y
m, Z
m;
X
m=(X
1-X
0) α, wherein 1 > α > 0;
Y
m=(Y
1-Y
0) β, wherein 1 > β > 0;
Z
m=(Z
1-Z
0) λ, wherein 1 > λ > 0;
Step 3, described Objective extraction device is driven to move to precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m);
Step 4, obtained the image of current mobile micro target by image acquiring apparatus, and according to the position (X of the image determination mobile micro target extracted
2, Y
2, Z
2), judge precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m) with the position (X of mobile micro target
2, Y
2, Z
2) between spacing whether be less than predetermined threshold value, if it is step terminates; If otherwise return step 2.
Wherein, described image acquiring apparatus is microscope camera lens.
Wherein, described Objective extraction device is vacuum WAND.
Wherein, described Objective extraction device is fixed on the mechanical arm of 3D printer, and the control mainboard of described 3d printer connects described image acquiring apparatus drives described mechanical arm to drive described Objective extraction device to move with the driving mechanism of 3D printer described in the image control extracted according to described image acquiring apparatus.
Wherein, described target object is irregular bar-shaped object, and described method also comprises: the outline determining described target object, and outside described outline, determine a rectangle frame, using the vertical extension line of center, long limit of described rectangle frame and the intersection point of described target object as the current location of described target object.
Meanwhile, the embodiment of the present invention also proposed a kind of mobile micro Objective extraction device, comprising:
Locating module, for extracting the image of mobile micro target, and according to the current location (X of the image determination mobile micro target extracted by image acquiring apparatus
1, Y
1, Z
1);
Distance calculation module, for obtaining the current location (X of Objective extraction device
0, Y
0, Z
0); And the displacement X along at least one axle in X-axis, Y-axis, Z axis of this extraction mechanism is determined with this
m, Y
m, Z
m;
X
m=(X
1-X
0) α, wherein 1 > α > 0;
Y
m=(Y
1-Y
0) β, wherein 1 > β > 0;
Z
m=(Z
1-Z
0) λ, wherein 1 > λ > 0;
Driver module, moves to precalculated position (X for driving described Objective extraction device
0+ X
m, Y
0+ Y
m, Z
0+ Z
m);
Judge module, for obtaining the image of current mobile micro target, and according to the position (X of image determination mobile micro target extracted by image acquiring apparatus
2, Y
2, Z
2), judge precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m) with the position (X of mobile micro target
2, Y
2, Z
2) between spacing whether be less than predetermined threshold value, if terminated; If otherwise control described distance calculation module, driver module and again control described Objective extraction device and move and re-start judgement according to judge module.
Wherein, described image acquiring apparatus is microscope camera lens.
Wherein, described Objective extraction device is vacuum WAND.
Wherein, described Objective extraction device is fixed on the mechanical arm of 3D printer, and the control mainboard of described 3d printer connects described image acquiring apparatus drives described mechanical arm to drive described Objective extraction device to move with the driving mechanism of 3D printer described in the image control extracted according to described image acquiring apparatus.
Wherein, described target object is irregular bar-shaped object, and described locating module is also for the outline of determining described target object, and outside described outline, determine a rectangle frame, using the vertical extension line of center, long limit of described rectangle frame and the intersection point of described target object as the current location of described target object.
The beneficial effect of technique scheme of the present invention is as follows: technique scheme proposes the control mode that one " owes feedback ", has good effect for the uncontrollable target of extraction movement locus.Because the moving direction of target is unpredictable, therefore likely at Objective extraction device when mobile, target just have left position before this.Therefore technique scheme does not move to the position of target when each movement, but moves to the position of distance objective certain distance.And then obtain the position of target, constantly finely tune with this.Because Objective extraction device is when constantly moving, be ever-reduced with the distance of target, the time that the Distance geometry of therefore each movement consumes is also more and more less.So just more accurate target can be extracted, and can raise the efficiency.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the method for the embodiment of the present invention.
Embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with accompanying drawing and instantiation.
Be described for nematode in embodiments of the present invention, but those skilled in that art are appreciated that embodiments of the invention can be applied to the extraction of the miniature target of all mini mobiles, and are not limited to nematode.In order to extract the nematode in nutrient culture media, nutrient culture media can be placed in the substrate of 3D printer, then Objective extraction device (such as diamond pickup tube) be fixed on the mechanical arm of 3D printer.Then the Objective extraction device come in controller mechanical arm by the control algolithm of the embodiment of the present invention moves to the position of nematode, and extracts nematode.And the image acquiring apparatus obtaining nematode position in nutrient culture media can be microscope camera lens.The image in nutrient culture media is obtained like this by microscope camera lens, then image is carried out the position processing to obtain nematode in image, then to the control gear sending controling instruction of 3D printer, the constantly movement of controller mechanical arm, until the position of Objective extraction device on mechanical arm overlaps with target location, just target can be extracted accurately.
Certainly, any equipment of the accurate movement of Objective extraction device that can drive can as driving mechanism, such as mechanical arm etc.; Therefore 3D printer is adopted just to realize an example of the embodiment of the present invention as driving mechanism, but not the restriction to the embodiment of the present invention.
The control method of the embodiment of the present invention adopts the technology of owing feedback, namely moves the position all moving to distance objective certain distance each time, instead of move to the position of target.This due to target (such as nematode) be constantly mobile, and moving direction can not be estimated, and when therefore very likely occurring that Objective extraction device moves to target location, target changes position.If target is towards the direction movement identical with Objective extraction device moving direction, then a mobile distance is just passable more only to need control objectives extraction element; If but target moves in the opposite direction, then Objective extraction device current location has moved " excessive ", also needs towards the oppositely oppositely back to move, and causes efficiency reduce and easily damage drive motor.And have employed the method for the embodiment of the present invention, Objective extraction device type frequently reciprocating can be prevented.
Concrete, the embodiment of the present invention proposes a kind of mobile micro target extraction method, comprising:
Step 1, extracted the image of mobile micro target by image acquiring apparatus, and according to the current location (X of the image determination mobile micro target extracted
1, Y
1, Z
1);
Step 2, obtain the current location (X of the Objective extraction device for extracting described mobile micro target
0, Y
0, Z
0); And the displacement X along at least one axle in X-axis, Y-axis, Z axis of this extraction mechanism is determined with this
m, Y
m, Z
m;
X
m=(X
1-X
0) α, wherein 1 > α > 0;
Y
m=(Y
1-Y
0) β, wherein 1 > β > 0;
Z
m=(Z
1-Z
0) λ, wherein 1 > λ > 0;
Step 3, described Objective extraction device is driven to move to precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m);
Step 4, obtained the image of current mobile micro target by image acquiring apparatus, and according to the position (X of the image determination mobile micro target extracted
2, Y
2, Z
2), judge precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m) with the position (X of mobile micro target
2, Y
2, Z
2) between spacing whether be less than predetermined threshold value, if it is step terminates; If otherwise return step 2.
In above-described embodiment, constantly can obtain the current location of target, and movement is each time all the position that the present bit moving to distance objective is equipped with some gaps.Owing to being the position constantly obtaining target, therefore after can being equipped with the position of some gaps in the present bit moving to distance objective, again target is positioned, and again drive Objective extraction device to move according to the result behind location, until when Objective extraction device overlaps with the position of target or is less than predetermined threshold value, then control objectives extraction element extracts target.
Wherein, described image acquiring apparatus is microscope camera lens.Wherein, described Objective extraction device is vacuum WAND.Wherein, described Objective extraction device be fixed on 3D printer mechanical arm on and the control mainboard connecting described 3D printer drives the Objective extraction device on described mechanical arm to move with the driving mechanism controlling described 3D printer.
In such scheme, microscope camera lens can be utilized constantly to obtain image, and from image, extract the position of nematode.Then by the method for the embodiment of the present invention, the mechanical arm constantly movement of 3D printer is driven.Because Objective extraction device is on the mechanical arm of fixing 3D printer, move to the position of target at mechanical arm after, just nematode can be drawn by the Objective extraction device (vacuum WAND) on mechanical arm.
It is pointed out that the target location proposed in above-described embodiment is three-dimensional, namely target location is expressed as (X, Y, Z) triaxial coordinate.Can extract for the target in two-dimensional space when reality uses, namely think that wherein the coordinate of Z axis is always fixed value (such as 0), the embodiment of the present invention no longer repeats this.
Wherein, described target object is irregular bar-shaped object, and described method also comprises: the outline determining described target object, and outside described outline, determine a rectangle frame, using the vertical extension line of center, long limit of described rectangle frame and the intersection point of described target object as the current location of described target object.
Meanwhile, the embodiment of the present invention also proposed a kind of mobile micro Objective extraction device, comprising:
Step 1, extracted the image of mobile micro target by image acquiring apparatus, and according to the current location (X of the image determination mobile micro target extracted
1, Y
1, Z
1);
Step 2, obtain the current location (X of the Objective extraction device for extracting described mobile micro target
0, Y
0, Z
0); And the displacement X along at least one axle in X-axis, Y-axis, Z axis of this extraction mechanism is determined with this
m, Y
m, Z
m;
X
m=(X
1-X
0) α, wherein 1 > α > 0;
Y
m=(Y
1-Y
0) β, wherein 1 > β > 0;
Z
m=(Z
1-Z
0) λ, wherein 1 > λ > 0;
Step 3, described Objective extraction device is driven to move to precalculated position (X
0+ X
m, Y
0+ Y
m, Z
m+ Z
m);
Step 4, obtained the image of current mobile micro target by image acquiring apparatus, and according to the position (X of the image determination mobile micro target extracted
2, Y
2, Z
2), judge precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m) with the position (X of mobile micro target
2, Y
2, Z
2) between spacing whether be less than predetermined threshold value, if it is step terminates; If otherwise control described distance calculation module, driver module and again control described Objective extraction device and move and re-start judgement according to judge module.
Wherein, described image acquiring apparatus is microscope camera lens.
Wherein, described Objective extraction device is vacuum WAND.
Wherein, described Objective extraction device is fixed on the mechanical arm of 3D printer, and the control mainboard of described 3d printer connects described image acquiring apparatus drives described mechanical arm to drive described Objective extraction device to move with the driving mechanism of 3D printer described in the image control extracted according to described image acquiring apparatus.
Wherein, described target object is irregular bar-shaped object, and described locating module is also for the outline of determining described target object, and outside described outline, determine a rectangle frame, using the vertical extension line of center, long limit of described rectangle frame and the intersection point of described target object as the current location of described target object.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a mobile micro target extraction method, is characterized in that, comprising:
Step 1, extracted the image of mobile micro target by image acquiring apparatus, and according to the current location (X of the image determination mobile micro target extracted
1, Y
1, Z
1);
Step 2, obtain the current location (X of the Objective extraction device for extracting described mobile micro target
0, Y
0, Z
0); And the displacement X along at least one axle in X-axis, Y-axis, Z axis of this extraction mechanism is determined with this
m, Y
m, Z
m;
X
m=(X
1-X
0) α, wherein 1 > α > 0;
Y
m=(Y
1-Y
0) β, wherein 1 > β > 0;
Z
m=(Z
1-Z
0) λ, wherein 1 > λ > 0;
Step 3, described Objective extraction device is driven to move to precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m);
Step 4, obtained the image of current mobile micro target by image acquiring apparatus, and according to the position (X of the image determination mobile micro target extracted
2, Y
2, Z
2), judge precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m) with the position (X of mobile micro target
2, Y
2, Z
2) between spacing whether be less than predetermined threshold value, if it is step terminates; If otherwise return step 2.
2. mobile micro target extraction method according to claim 1, is characterized in that, described image acquiring apparatus is microscope camera lens.
3. mobile micro target extraction method according to claim 1, is characterized in that, described Objective extraction device is vacuum WAND.
4. mobile micro target extraction method according to claim 1, it is characterized in that, described Objective extraction device is fixed on the mechanical arm of 3D printer, and the control mainboard of described 3d printer connects described image acquiring apparatus drives described mechanical arm to drive described Objective extraction device to move with the driving mechanism of 3D printer described in the image control extracted according to described image acquiring apparatus.
5. mobile micro target extraction method according to claim 1, it is characterized in that, described target object is irregular bar-shaped object, and described method also comprises: the outline determining described target object, and outside described outline, determine a rectangle frame, using the vertical extension line of center, long limit of described rectangle frame and the intersection point of described target object as the current location of described target object.
6. a mobile micro Objective extraction device, is characterized in that, comprising:
Locating module, for extracting the image of mobile micro target, and according to the current location (X of the image determination mobile micro target extracted by image acquiring apparatus
1, Y
1, Z
1);
Distance calculation module, for obtaining the current location (X of Objective extraction device
0, Y
0, Z
0); And the displacement X along at least one axle in X-axis, Y-axis, Z axis of this extraction mechanism is determined with this
m, Y
m, Z
m;
X
m=(X
1-X
0) α, wherein 1 > α > 0;
Y
m=(Y
1-Y
0) β, wherein 1 > β > 0;
Z
m=(Z
1-Z
0) λ, wherein 1 > λ > 0;
Driver module, moves to precalculated position (X for driving described Objective extraction device
0+ X
m, Y
0+ Y
m, Z
0+ Z
m);
Judge module, for obtaining the image of current mobile micro target, and according to the position (X of image determination mobile micro target extracted by image acquiring apparatus
2, Y
2, Z
2), judge precalculated position (X
0+ X
m, Y
0+ Y
m, Z
0+ Z
m) with the position (X of mobile micro target
2, Y
2, Z
2) between spacing whether be less than predetermined threshold value, if terminated; If otherwise control described distance calculation module, driver module and again control described Objective extraction device and move and re-start judgement according to judge module.
7. mobile micro Objective extraction device according to claim 6, is characterized in that, described image acquiring apparatus is microscope camera lens.
8. mobile micro Objective extraction device according to claim 6, is characterized in that, described Objective extraction device is vacuum WAND.
9. mobile micro Objective extraction device according to claim 6, it is characterized in that, described Objective extraction device is fixed on the mechanical arm of 3D printer, and the control mainboard of described 3d printer connects described image acquiring apparatus drives described mechanical arm to drive described Objective extraction device to move with the driving mechanism of 3D printer described in the image control extracted according to described image acquiring apparatus.
10. mobile micro Objective extraction device according to claim 6, it is characterized in that, described target object is irregular bar-shaped object, and described locating module is also for the outline of determining described target object, and outside described outline, determine a rectangle frame, using the vertical extension line of center, long limit of described rectangle frame and the intersection point of described target object as the current location of described target object.
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|---|---|---|---|
| CN201510395197.8A CN104933727A (en) | 2015-07-06 | 2015-07-06 | Mobile micro target extraction method and apparatus |
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|---|---|---|---|
| CN201510395197.8A CN104933727A (en) | 2015-07-06 | 2015-07-06 | Mobile micro target extraction method and apparatus |
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| CN104933727A true CN104933727A (en) | 2015-09-23 |
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Effective date of registration: 20170721 Address after: 315040 Zhejiang province Ningbo city Ningbo high tech Zone Juxian road 587 Lane 15 No. 2 building 401 Applicant after: Ningbo high tech Zone Xuanrui Le Blue Technology Co. Ltd. Address before: 100086 Tsinghua University Beijing south, building 1, unit 401, 8 Applicant before: Wang Yuexuan |
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Application publication date: 20150923 |
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| WD01 | Invention patent application deemed withdrawn after publication |