CN106802300B - A kind of biology microscope operating device of view-based access control model feedback - Google Patents
A kind of biology microscope operating device of view-based access control model feedback Download PDFInfo
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- CN106802300B CN106802300B CN201710125684.1A CN201710125684A CN106802300B CN 106802300 B CN106802300 B CN 106802300B CN 201710125684 A CN201710125684 A CN 201710125684A CN 106802300 B CN106802300 B CN 106802300B
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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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
Technical field
The present invention relates to biological operation Instrument technology fields, belong to a kind of micro-manipulation device using visual feedback, can
To carry out operation and assembling work to targets such as cell, chromosomes.
Background technique
In biomedical engineering field and scientific research, there is the micromanipulations being largely related to cell, chromosome etc., such as
Intracytoplasmic sperm injection extracts unicellular genetic diagnosis, separation, microinjection, the cutting of chromosome of cell etc. before embryo transfer,
These biomedicine experiments all refer to observation and micromanipulation to cell, for this kind of work, not only require the precision of operation
Want high, accuracy is good, and requires the operating time short, high-efficient etc..
Currently, micromanipulation is all manually completed by micromanipulation instrument.This micromanipulator generally wraps
Include following sections, Isolating Platform, microscope, left microoperation arm, right microoperation arm, micro clamping device (cell adsorbent equipment, micro- suction
Pipe etc.), left control crank, right control crank etc..Its mode of operation relies primarily on operator's viewing microscope eyepiece, in the visual field
The posture information and cell position image of the microoperation arm arrived according to the observation in range are judged, and are controlled by control crank
Microoperation arm in left and right carries out operation.A certain proportion of scaling is carried out to the movement of manpower using mechanical device or utilizes micro machine
Movement is transmitted to the operational instrument (micro pipette being equipped on left motion arm, install microinjection needle on right motion arm) of microoperation arm,
It is allowed to operate cell.In general, left microoperation arm completes the capture and fixation of the object to be operated, right microoperation arm pair
The operation object being fixed carries out micromanipulation (such as gene injection, chromosome cutting etc.).This kind of micromanipulation instrument does not have usually
There is any controller, without any sensor (except microscope).Operation quality vulnerable to operator's individual skill, the state of mind and
The influence of psychology, mood.Activity duration is long, low efficiency, at high cost, and precision consistency is poor, and cell survival rate is low.
With the development of new technology, biology microscope field operation is had also been introduced in many vision facilities, and such as many novel shows
Micro mirror can all be equipped with CCD or CMOS camera, the image in the object lens visual field can be transmitted to the end PC, such operator by camera
Before member can be sitting in computer, large screen is observed to carry out micromanipulation, the advantage of doing so is that human eye has been liberated, so that operator
Before eyes need not be placed on eyepiece always with fixed posture by member.But this kind of operations, it is still user's hand control hand
Handle is operated, for example by cell holders to the mobile longer one end distance of syringe, hand can only be constantly towards a side
To movement or continuous rotation operation code-disc.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of biology microscope operating devices of view-based access control model feedback, can
Accurate micromanipulation is carried out to cell to realize.And a new control mode is introduced, it is aobvious to be different from traditional cell
Microoperation, all work can all be completed in computer terminal, remove control micromanipulator by handle without manpower, more
Operation is simplified, accuracy and efficiency is improved.
Technical scheme is as follows: a kind of biology microscope operating device of view-based access control model feedback, which includes aobvious
Micro- image capture module, micro-displacement platform, micro-operation hand module, master controller and computer.It is different from traditional mode of operation,
Introduce master controller.
The micro image collection module is to be mounted on the CCD camera of microscope side, and CCD camera is as whole operation
The feedback sources of device, major function is the image captured in the micro objective visual field, and is transmitted to computer terminal by USB cable
It is acquired and handles.
The micro-displacement platform includes XY levelling bench, focusing of microscope motor and handle controller, and wherein XY is horizontal
Platform support carries the object to be operated and moves in the plane perpendicular to object lens, and focusing of microscope motor is used to adjust microscopical object lens
The distance between object to be operated, so that CCD camera acquired image is clear enough.Handle controller is to work as operating device
Work is in manual mode, for manually adjusting the position between the object to be operated and object lens.
The micro-operation hand module includes left motion arm, left clamper, right motion arm, right operator, the drive of left motion arm
Dynamic device, left motion arm personal control, right motion arm driver and right motion arm personal control, left clamper are mounted on left behaviour
Make on arm, for clamping and fixing cell, right operating device is fixed on right motion arm, for being punctured, being injected to cell
Deng operation, left motion arm, right motion arm are driven by left motion arm driver, right motion arm driver respectively, left motion arm
Driver and right motion arm driver are connected on master controller, and left motion arm personal control and right motion arm manually control
Device is connected on master controller, is responsible for switching manual mode or computer patterns by master controller.
The master controller is the control axis of other several modules, be equivalent to micro-manipulation device and computer it
Between connection bridge, master controller is responsible for for the sensor information of device, the data such as pulse information of personal control being transmitted to
Computer, while the data that computer is passed over are converted to control instruction, and then operate relevant block motion, complete behaviour
Make function.
The mode of operation is that this programme uses new control mode, selects work in master controller or computer terminal
Mode is manual mode or computer patterns.Manual mode is traditional manual manipulation method, and computer patterns are then all
Operation is all completed in computer terminal.Under computer patterns, the distance arrived according to visual feedback is directly controlled aobvious by computer
The long range of micro-operation hand is mobile, has further liberated the operation of manpower, and to operate more accurate and effective.And
The image procossing of computer terminal is judged and is identified to the target to be operated, and the degree of automation and efficiency of operation is improved.
Compared with prior art, the invention has the following beneficial effects:
1, the present apparatus is improved according to the deficiency of existing scheme, 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 and profession is grasped
Make the degree of dependence of personnel, so that operation is more simple, convenient, improves the degree of automation of micromanipulation.
2, use micro-vision as feedback, the position of operator and the object to be operated, and then basis can be directly determined
The distance between they are mutually precisely moved using master controller operating robotic arm, are different from that traditional " observation-operation-is seen again
Examine-operate again " backwardness work pattern, improve operating efficiency.
3, in conjunction with image processing techniques, the object to be operated of different shapes and operator can be matched, Ke Yigeng
Effective identification such as micro pipette, microinjection needle tool, improve the success rate of operation.
Detailed description of the invention
Fig. 1 is the present invention a kind of structure and composition schematic diagram of the biology microscope operating device of view-based access control model feedback.
In figure:
1, light source 7, left motion arm driver 13, left hand handwheel controller
2, left motion arm 8, microscope camera 14, micro-displacement platform handle
3, left clamper 9, microscope 15, right hand handwheel controller
4, micro-displacement platform 10, focusing motor 16, computer
5, right operator 11, right motion arm driver 17, operation hand controls
6, right motion arm 12, micro-displacement platform controller
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Biology microscope operating device shown in Figure 1, that the present invention feeds back for a kind of view-based access control model, including light source (1),
Microscope (9), CCD camera (8), left microoperation arm (2), right microoperation arm (6), computer (16), XY micro-displacement platform (4),
Left clamper (3), right operating device (5), master controller (17) etc..Cutting, fusion, the injection etc. of cell are completed in computer terminal
Micromanipulation.Left clamper (3) is suction pipe, and right operating device (5) is injection needle.
CCD camera (8) is installed on the side of microscope (9) mirror body, is equivalent to the sensor and feedback dress of whole system
It sets, captures the image under the micro objective visual field, computer is transmitted to by USB cable and is handled.
Left clamper (3), right operating device (5) are separately mounted to left microoperation arm (2), on right microoperation arm (6), Zuo Wei
Motion arm (2), right microoperation arm (6) are the three degrees of freedom right angle coordinate formula motion platform driven by precision stepper motor, Zuo Wei
Respectively by left and right driver control, two drivers are mainly the control transmitted to controller for motion arm (2), right microoperation arm (6)
Signal processed amplifies, and the limit signal of left microoperation arm (2), right microoperation arm (6) is passed to master controller.
Master controller is core component, connects left clamper (3), right operating device (5), and connect left hand handwheel control
Device (13) processed, right hand handwheel controller (15), and be connected on computer by USB.There is switching to switch on master controller, uses
The operating mode for carrying out switching device is manual operation mode or computer operating modes.In manual operation mode, left and right operation
Arm is controlled by left hand and right hand handwheel controller.In computer operating modes, left and right operation arm is controlled by computer.
Micro-displacement platform module is by XY micro-displacement platform (4), focusing motor (10), micro-displacement platform controller (12), micro-
(14) four part of displacement platform handle composition, wherein micro-displacement platform (4) is plane XY platform, and load can be ask to do water by operation object
Movement in plane is used to adjust the position between object being observed and micro objective.Focusing motor (10) is to work as to be seen
The position of survey object and object lens adjusts microscopical focal length after determining, so that the image observed from eyepiece or camera is enough
Clearly.Micro-displacement platform handle (14) is used in a manual mode, control XY micro-displacement platform and focusing motor movement.
Claims (3)
1. a kind of biology microscope operating device of view-based access control model feedback, it is characterised in that: the device includes micro image collection mould
Block, micro-displacement platform, micro-operation hand module, master controller and computer；
The micro image collection module is to be mounted on the CCD camera of microscope side, and CCD camera is as whole operation device
Feedback sources, function is the image captured in the micro objective visual field, and is transmitted to computer terminal by USB cable and is acquired
And processing；
The micro-displacement platform includes XY levelling bench, focusing of microscope motor and handle controller, wherein XY levelling bench
Support carries the object to be operated and moves in the plane perpendicular to object lens, and focusing of microscope motor is used to adjust microscopical object lens and quilt
The distance between operation object, so that CCD camera acquired image is clear；Handle controller is when operating device works in hand
When dynamic model formula, for manually adjusting the position between the object to be operated and object lens；
The micro-operation hand module include left motion arm, left clamper, right motion arm, right operator, left motion arm driver,
Left motion arm personal control, right motion arm driver and right motion arm personal control, left clamper are mounted on left motion arm
On, for clamping and fixing cell, right operating device is fixed on right motion arm, for being punctured to cell, injection operation,
Left motion arm, right motion arm are driven by left motion arm driver, right motion arm driver respectively, left motion arm driver and
Right motion arm driver is connected on master controller, and the personal control of left motion arm personal control and right motion arm is connected to
On master controller, it is responsible for switching manual mode or computer patterns by master controller.
2. a kind of biology microscope operating device of view-based access control model feedback according to claim 1, it is characterised in that: main control
Device is control axis, and the connection bridge being equivalent between micro-manipulation device and computer, master controller is responsible for device
Sensor information, the pulse information data of personal control are transmitted to computer, while the data that computer is passed over turn
It is changed to control instruction, and then operation module moves, completes operating function.
3. a kind of biology microscope operating device of view-based access control model feedback according to claim 1, it is characterised in that: computer
Under mode, the distance arrived according to visual feedback, the long range for directly controlling micromanipulation hand by computer is mobile, further solves
The operation of manpower has been put, and to operate more accurate and effective；And in the image procossing of computer terminal to being operated
Target is judged and is identified, the degree of automation and efficiency of operation is improved.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710125684.1A CN106802300B (en) | 2017-03-05 | 2017-03-05 | A kind of biology microscope operating device of view-based access control model feedback |
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| CN201710125684.1A CN106802300B (en) | 2017-03-05 | 2017-03-05 | A kind of biology microscope operating device of view-based access control model feedback |
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| CN106802300A CN106802300A (en) | 2017-06-06 |
| CN106802300B true CN106802300B (en) | 2019-08-09 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108170296A (en) * | 2018-03-07 | 2018-06-15 | 中山大学 | Light-duty biochemical isolation long-distance operating device |
| CN108760485A (en) * | 2018-03-30 | 2018-11-06 | 天津大学 | A kind of equipment for the detection of micro-nano-scale substance physical characteristic |
| CN109239406B (en) * | 2018-10-08 | 2020-03-31 | 西安交通大学 | Device and method for detecting positioning and delivering of organelle drugs |
| CN110108904A (en) * | 2019-05-15 | 2019-08-09 | 北京航空航天大学 | The real-time drift compensating system of atomic force microscope and method of view-based access control model sensing |
| CN111679421A (en) * | 2020-05-29 | 2020-09-18 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Intelligent microscopic operation system based on 3D imaging technology |
| CN114063277B (en) * | 2021-11-25 | 2022-11-18 | 广州市华粤行医疗科技有限公司 | Control device and method for micromanipulation |
| CN115521864A (en) * | 2022-11-29 | 2022-12-27 | 季华实验室 | Remote operation's force feedback self-adaptation micromanipulator |
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| CN101082548A (en) * | 2007-07-06 | 2007-12-05 | 哈尔滨工程大学 | Micromanipulation device used for microoperation |
| CN101706446A (en) * | 2009-11-20 | 2010-05-12 | 北京航空航天大学 | Micro-operation device for automatically screening Caenorhabditis elegans |
| CN103282781A (en) * | 2010-11-23 | 2013-09-04 | 安德鲁联合有限公司 | Devices and methods for programmable manipulation of pipettes |
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Patent Citations (5)
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| CN101082548A (en) * | 2007-07-06 | 2007-12-05 | 哈尔滨工程大学 | Micromanipulation device used for microoperation |
| CN106127130A (en) * | 2008-07-21 | 2016-11-16 | 菲斯佛斯特公司 | The notice system and method based on living things feature recognition being managed |
| CN101706446A (en) * | 2009-11-20 | 2010-05-12 | 北京航空航天大学 | Micro-operation device for automatically screening Caenorhabditis elegans |
| CN103282781A (en) * | 2010-11-23 | 2013-09-04 | 安德鲁联合有限公司 | Devices and methods for programmable manipulation of pipettes |
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Granted publication date: 20190809 |