CN207216133U - A kind of mirror image microscopic imaging device and automated micro-manipulation pin pose calibrating system - Google Patents
A kind of mirror image microscopic imaging device and automated micro-manipulation pin pose calibrating system Download PDFInfo
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- CN207216133U CN207216133U CN201721118203.6U CN201721118203U CN207216133U CN 207216133 U CN207216133 U CN 207216133U CN 201721118203 U CN201721118203 U CN 201721118203U CN 207216133 U CN207216133 U CN 207216133U
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Abstract
The utility model discloses a kind of mirror image microscopic imaging device and automated micro-manipulation pin pose calibrating system.Wherein, mirror image microscopic imaging device includes mirror image shaper, mirror image shaper support and movement executing mechanism, the movement executing mechanism is fixedly installed on microscope carrier along Y direction, the mirror image shaper support is set along X-direction and mirror image shaper support one end is connected with movement executing mechanism, the mirror image shaper is installed on the other end of mirror image shaper support, and the horizontal plane of face and microscope carrier where the level crossing of the mirror image shaper in 45 ° of angles and is in 45 ° of angles with coronal-plane.The utility model can use simple structure and scheme to calibrate microneedle function part posture to perfect condition, i.e., position relationship between the function part and horizontal plane of microneedle.
Description
Technical field
The utility model is related to microsurgical instrument equipment technical field, more specifically, more particularly to a kind of mirror image it is micro- into
As device and automated micro-manipulation pin pose calibrating system.
Background technology
Inverted microscope is the important instrument and equipment of biology laboratory, is indispensable work in micromanipulation field
Tool.Treatment means of the Intracytoplasmic sperm injection (ICSI) as male sterility, it has also become preferable Insemination procedures, in full generation
It is used widely on boundary.Traditional IC SI methods complete ICSI processes by manual operation micro-manipulation device.Lu et al. describes one
Kind selects sperm and carried out by operating personnel to perform robotization ICSI (Lu et al. .IEEE Trans to egg mother cell
Biomed Eng.2011 Jul；58(7):2102-8.doi:10.1109/TBME.2011.2146781.Epub 2011 Apr
25.).Patent " automation intracytoplasmic sperm injection accessory pollination system " (application number：CN201380021578.9 one) is described
The complete ICSI automated systems of kind.It is limited to the complexity of ICSI technologies, robotization ICSI and ICSI automated system also has
Many detailed problems have it is to be solved, it is also very long from clinical practice with a distance from.At present, traditional ICSI methods compare as a kind of
Reliable method, it is still the unique method of clinical practice.
The inverted microscope that traditional IC SI methods are related to collectively constitutes execution with micro-injection system, micromanipulation system
The device of micromanipulation.Inverted microscope contains the basic function parts such as light source 11, objective table 12, eyepiece 13, microinjection
System contains microneedle 14, needle holder 15, needle holder horizontal plane angle adjuster 16, the regulation of needle holder coronal plane angularity
The basic function part such as device 17, micromanipulation system contain the basic function parts such as needle holder three-dimensional position adjuster 18.Its
In, microneedle 14 has special construction, including the main body of elongate and the function part 141 with main body in angle.Tradition
It is as shown in Figure 1 with the relation of relevant apparatus after the assembling of ICSI methods microneedle.
For convenience of description, the direction being involved in now is limited.Microscope carrier is set to be square, there is a left side
121st, the right side 122, preceding 123, rear 124 4 side, as shown in Figure 1.Parallel with before objective table 123 or rear 124 is X-axis, left with objective table
121 or the right side 122 it is parallel be Y-axis, vertical with objective table 12 is Z axis.XY forms horizontal plane, XZ forms coronal-plane, YZ forms sagittal
Face.To look squarely visual angle, basipetal visual angle parallel with Z axis is vertical view visual angle at visual angle from the close-by examples to those far off parallel with Y-axis.
The installation requirement of microneedle is very strict.Preferable microneedle posture has following two features：First,
Visual angle is overlooked, the centre section of function part 141 of microneedle is parallel with coronal-plane, as shown in Figure 2；2nd, visual angle is being looked squarely,
The lower edge of function part 141 and plane-parallel of microneedle, as shown in Figure 3.
It is microscopical conventional visual angle to overlook visual angle, can directly observe the centre section of function part 141 of microneedle
It is whether parallel with coronal-plane.Due to the limitation of existing light microscope technique, do not observe actually and look squarely visual angle shown in Fig. 3
Micro-image, so as to judge whether the posture of the microneedle after installation is in the state of second desired characteristics.
The stringency of microneedle installation effect is required by obtaining preferable micromanipulation final result.Microneedle work(
Energy portion centre section and coronal-plane or the angle of microneedle function part lower edge and horizontal plane are bigger, are to micromanipulation object
The damage of egg mother cell is bigger, while operation is more difficult, causes micromanipulation final result to be deteriorated.In order to reach preferable micromanipulation
Pipe posture, visual angle is overlooked, operator is observed by eyepiece, and adjustment needle holder horizontal plane angle adjuster 16, needle holder are coronal
The parts such as face angle demodulator 17, needle holder three-dimensional position adjuster 18 can realize first feature, i.e., state shown in Fig. 2.
But because looking squarely micro-image of the view less than the function part 141 of microneedle, it naturally also can not just judge to show
Corner dimension between the lower edge of function part 141 and horizontal plane of microoperation pin.
Its function part thickness of different micromanipulation pipes is different, and conventional holds ovum pin, injection needle, the external diameter of biopsy needle function part
It is 120 μm, 10 μm, 40 μm respectively；Length is different, 300~1000 μm or so；Angle is different, microneedle main part and work(
The bent angle in energy portion forms for artificial calcining, angle difference be present between the bent angle of the Different Individual of every kind of model and same model；
In addition, after microneedle installation its function part apart from microscope slide daylight opening DLO from very short, about 500 μm.Obviously, by naked
Eye judges that whether horizontal it is extremely difficult；Design a kind of camera device of super low coverage micromanipulation pipe function from horizontal view angle
There is also larger difficulty in portion.
Current present situation is to judge angle between the lower edge of function part 141 of microneedle and horizontal plane entirely with operation
Person's experience.Same operator installs the microneedle or same operator's different time installation phase homotype of different model
Number microneedle larger subjective differences still can occur.Exist for the importance and the state of the art of microneedle installation
Monograph《Practical Manual of In Vitro Fertilization》Page 332~334 are discussed in greater detail.
In order to solve the technical problem of the accurate installation of micromanipulation pipe in traditional IC SI methods, it is necessary to which design is a kind of automatic
Change microneedle pose calibrating system.
Utility model content
The purpose of this utility model is to provide a kind of automated micro-manipulation pin pose calibrating system.
In order to achieve the above object, the technical solution adopted in the utility model is as follows：
A kind of mirror image microscopic imaging device, including mirror image shaper, mirror image shaper support and movement executing mechanism, it is described
Movement executing mechanism is fixedly installed on microscope carrier along Y direction, and the mirror image shaper support is set along X-direction
And mirror image shaper support one end is connected with movement executing mechanism, the mirror image shaper is installed on the another of mirror image shaper support
One end, the horizontal plane of face and microscope carrier is in 45 ° of angles and with coronal-plane where the level crossing of the mirror image shaper
45 ° of angles.
Further, the level crossing region of the mirror image shaper is square.
Further, the mirror image shaper support is the rigid board of the connection mirror image shaper and movement executing mechanism
Manage structure.
Further, the movement executing mechanism is linear slider guide rail structure.
Further, in addition to the light source located at mirror image shaper level crossing side, the light source look squarely visual angle for enhancing
Light intensity.
The utility model also provides a kind of automated micro-manipulation pin pose calibrating system, including,
Mirror image microscopic imaging device；
Inverted microscope system, including manual/auto focusing unit and video image acquisition device；
Before and after micromanipulation system, including needle holder, needle holder anchor, needle holder/left and right/upper and lower displacement driver；
With the needle holder rotating driver of the needle holder mechanical couplings；
With the coronal plane angularity driver of the needle holder anchor mechanical couplings；
With the sagittal plane angle drive of the needle holder anchor mechanical couplings；
For the machine of function engagement said apparatus, it includes being integrated with the CPU of processing software, the place
Manage that software is used for automated surveillance and control mirror image shaper is in place, inverted microscope system auto-focusing, video image acquisition
And before and after analysis, needle holder/left and right/upper and lower displacement driver, needle holder rotating driver and angle drive.
The calibration method of automated micro-manipulation pin pose calibrating system of the present utility model, comprises the following steps,
S1, left and right two microneedles are assembled on corresponding needle holder manually；
S2, needle holder is fixed on needle holder anchor manually；
S3, microneedle function part is manually adjusted to visual field middle section；
S4, start the automatic calibration mode of machine；
Before and after S5, inverted microscope auto-focusing unit and needle holder/left and right/upper and lower displacement driver synergy, obtain
To micromanipulation pipe function part in horizontal plane video image；
S6, video image acquisition device collection horizontal plane video image；
Micromanipulation pipe function part starts in horizontal plane and the angle [alpha] of X-axis in S7, software analysis horizontal plane video image
Needle holder rotating driver and sagittal plane angle drive, are calibrated to α=0, complete the calibration of coronal-plane；
S8, mirror image shaper are navigated to apart from the position of microneedle function part beeline；
S9, inverted microscope auto-focusing unit and needle holder upper and lower displacement driver synergy, obtain micromanipulation
Pipe function part is in the video image of coronal-plane；
S10, video image acquisition device collection coronal-plane video image；
Micromanipulation pipe function part is in coronal-plane and the angle [alpha] of X-axis in S11, software analysis coronal-plane video image ', open
Dynamic coronal plane angularity driver, is calibrated to α '=0, completes the calibration of sagittal plane；
S12, mirror image shaper reset, and system operates ready state generally in ICSI.
Further, in step s 4, machine can be set successively performs automatically to left and right two micromanipulation pipes posture
Calibration, can also be calibrated simultaneously.
Further, in step s 8, beeline 0.5mm.
Compared with prior art, the utility model has the advantage of：The utility model can use simple structure and scheme
Microneedle function part posture is calibrated to perfect condition, i.e., position relationship between the function part and horizontal plane of microneedle.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Structural representation after the assembling of Fig. 1 traditional IC SI methods microneedle with relevant apparatus relation.
One of preferable microneedle postures of Fig. 2：In overlook visual angle, microneedle function part centre section with it is coronal
Face is parallel.
The two of the preferable microneedle postures of Fig. 3：In looking squarely visual angle, microneedle function part lower edge is put down with horizontal plane
OK.
The basic image-forming principle schematic diagram of Fig. 4 ordinary optical microscopes.
Fig. 5 is automated micro-manipulation pin pose calibrating system structure diagram of the present utility model.
Fig. 6 is mirror image microscopic imaging device structural representation of the present utility model.
Fig. 7 is mirror image micro-imaging principle schematic of the present utility model.
Fig. 8 is the mirror image micro-imaging design sketch of microneedle function part of the present utility model：Visual angle is being looked squarely in mirror
As the microneedle part that shaper is mirrored into is observed that its micro-image from eyepiece.
Fig. 9 is that the utility model automated micro-manipulation pin pose calibrating system shows before calibration in what vertical view visual angle obtained
Microoperation pin function part micro-image.
Figure 10 is that the utility model automated micro-manipulation pin pose calibrating system obtains in vertical view visual angle after calibration
Microneedle function part micro-image.
Figure 11 obtains micro- for the utility model automated micro-manipulation pin pose calibrating system before calibration from eyepiece
Pin function part is operated in the mirror image micro-image for looking squarely visual angle.
Figure 12 obtains micro- from eyepiece after calibration for the utility model automated micro-manipulation pin pose calibrating system
Pin function part is operated in the mirror image micro-image for looking squarely visual angle.
Embodiment
Preferred embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings, so that the advantages of the utility model
It can be easier to be readily appreciated by one skilled in the art with feature, it is apparent clear and definite so as to be made to the scope of protection of the utility model
Define.
Embodiment one：
Micromanipulation pipe pose calibrating is exactly to overlook visual angle and looking squarely the posture of visual angle calibration microneedle function part
To perfect condition.As described in background, the micro-image for looking squarely visual angle is not already available.Therefore, automated micro-manipulation is realized
Pin pose calibrating, first technical problems to be solved are：Microneedle function part 141 is obtained in real time in the micro- of horizontal view angle
Image.
The basic image-forming principle of ordinary optical microscope is that the light of light source 11 passes through the function of transparent microneedle
Portion 141 is directly entered the optical imaging system for starting with object lens 13, as shown in Figure 4.Obviously, the visual angle of imaging is to be put down with light
Capable Z axis overlooks visual angle.This visual angle be it is single, i.e., can only from overlook view.
In order to realize the micro-image for the microneedle function part 141 for looking squarely visual angle, as shown in figure Fig. 5 and 6, this practicality
A kind of mirror image microscopic imaging device 19 of new design, including mirror image shaper 191, mirror image shaper support 192 and motion are held
Row mechanism 193, the movement executing mechanism 193 are fixedly installed on microscope carrier along Y direction, the mirror image shaper
Support 192 is set along X-direction and the one end of mirror image shaper support 192 is connected with movement executing mechanism 193, and the mirror image is formed
Device 191 is installed on the other end of mirror image shaper support 192, face and microscope where the level crossing of the mirror image shaper 191
The horizontal plane of objective table in 45 ° of angles and is in 45 ° of angles with coronal-plane.
It is level crossing that the mirror image of the mirror image shaper, which forms structure, for capturing the mirror of observed object and certain viewing angles
Picture, it is process using materials such as glass, metals through level crossing technique, it is preferred that level crossing region is square.
The mirror image shaper support is the rigid physical structure of the connection mirror image shaper and movement executing mechanism.
The movement executing mechanism 193 can use the displacement mechanisms such as linear slider guide rail, axis joint, pass through Motor execution
Object accurately can be moved on to another specific site by mechanism from origin, and can be resetted.
The movement executing mechanism 193 is optionally moved on to sliding block from a site of guide rail by manpower driving another
One arm of individual site or axis joint connection mirror image shaper moves on to another angle from an angle.
The movement executing mechanism is also optionally driven by driver, that is, realizes automatic control function.
The utility model can also include the light source 194 located at the level crossing side of mirror image shaper 191, and the light source 194 is used
The light intensity at visual angle is looked squarely in enhancing；The observed object of increase is in the brightness of mirror image in mirror image shaper.
The principle of described mirror image microscopic imaging device is：Using flat mirror face imaging characteristic, light is from certain viewing angles (this reality
With in new to look squarely visual angle) penetrated through object (being micromanipulation pipe function part 141 in the utility model) on level crossing, warp
The optical imaging system being reflected into using object lens as starting is crossed, so as to obtain the micro-image of object, the image is object in spy
Determine under viewing angles in the micro-image of the mirror image formed on level crossing.As shown in fig. 7, level crossing MN and stage surface (water
Plane) OS is in 45 ° of angles, and it is in 45 ° of angles with coronal-plane, the incident light A through transparent substance S is penetrated with incidence angle θ i, incidence point O
On level crossing MN, N is normal, and reflecting to form reflected light B with angle of reflection θ r enters object lens, and the image of acquisition is the aobvious of mirror image S '
Micro- enlarged drawing.
Mirror image shaper support 192, the movement executing mechanism 193 being connected with the mirror image shaper support 192 are used as mirror
As shaper 191, the participation component with reset, in place/reset track of mirror image shaper 191 receive movement executing mechanism in place
193 limitations are parallel with objective table Y-axis.
Mirror image micro-imaging design sketch is as shown in Figure 8.In the microneedle looked squarely visual angle and be mirrored into mirror image shaper
Part is from eyepiece it is observed that its micro-image, can not observe its image in the part for having mirror image shaper to be mirrored into.
Again because of mirror image the characteristics of, the actual direction of the image observed in eyepiece and microneedle function part is in specular,
It is shown as the feature stood upside down.In the diagram, mirror image micro-image shows that the lower edge of micromanipulation pipe function part 141 is in non-horizontal
Posture.
The utility model can be obtained by level and regard by installing mirror image microscopic imaging device additional on existing inverted microscope
The micro- enlarged drawing of the micromanipulation pipe function part 141 at angle, so as to be to judge and adjust the level of microneedle function part
Posture establishes technical foundation.
Embodiment two：
On the basis of embodiment one, the present embodiment also provides a kind of automated micro-manipulation pin pose calibrating system, bag
Include,
The mirror image microscopic imaging device 19 of embodiment one；
Inverted microscope system, including manual/auto focusing unit 21, video image acquisition device 22；
Before and after micromanipulation system, including needle holder 23, needle holder anchor 24, needle holder/left and right/upper and lower displacement driving
Device 25；
With the needle holder rotating driver 28 of the needle holder mechanical couplings；
With the coronal plane angularity driver 27 of the needle holder anchor mechanical couplings, substitute the coronal face angle of needle holder
Spend adjuster 17；
With the horizontal plane angle driver 26 of the needle holder anchor mechanical couplings, substitute the horizontal face angle of needle holder
Spend adjuster 16；
For the machine of function engagement said apparatus, it includes being integrated with the CPU of processing software, the place
Manage that software is used for automated surveillance and control mirror image shaper is in place, inverted microscope system auto-focusing, video image acquisition
And before and after analysis, needle holder/left and right/upper and lower displacement driver, needle holder rotating driver and angle drive.
As shown in figure 9, before calibration, in the micro-image for overlooking visual angle acquisition, wherein micromanipulation pipe function part is in water
The projection of plane and the angle [alpha] 1 ≠ 0 of X-axis, α 2 ≠ 0.
As shown in figure 11, before calibration, in the mirror image micro-image for looking squarely visual angle acquisition：Micromanipulation pipe function part lower edge
In the projection of coronal-plane and angle [alpha] 1 ' ≠ 0, α 2 ' ≠ 0 of X-axis.
The calibration method of the automated micro-manipulation pin pose calibrating system specifically includes following steps：
S1, left and right two microneedles are assembled on corresponding needle holder manually；
S2, needle holder is fixed on needle holder anchor manually；
S3, microneedle function part is manually adjusted to visual field middle section；
S4, start the automatic calibration mode of machine；
Before and after S5, inverted microscope auto-focusing unit and needle holder/left and right/upper and lower displacement driver synergy, obtain
To micromanipulation pipe function part in horizontal plane video image；
S6, video image acquisition device collection horizontal plane video image；
Micromanipulation pipe function part starts in horizontal plane and the angle [alpha] of X-axis in S7, software analysis horizontal plane video image
Needle holder rotating driver and sagittal plane angle drive, are calibrated to α=0, complete the calibration of coronal-plane；
S8, mirror image shaper are navigated to apart from the position of microneedle function part beeline；
S9, inverted microscope auto-focusing unit and needle holder upper and lower displacement driver synergy, obtain micromanipulation
Pipe function part is in the video image of coronal-plane；
S10, video image acquisition device collection coronal-plane video image；
Micromanipulation pipe function part is in coronal-plane and the angle [alpha] of X-axis in S11, software analysis coronal-plane video image ', open
Dynamic coronal plane angularity driver, is calibrated to α '=0, completes the calibration of sagittal plane；
S12, mirror image shaper reset, and system operates ready state generally in ICSI.
Adjusted more than, as shown in Figure 10, automated micro-manipulation pin pose calibrating is micro- after overlooking visual angle acquisition
Operate the micro-image of pin function part：Micromanipulation pipe function part centre section is in the projection of horizontal plane and the angle [alpha] 1=of X-axis
0th, α 2=0.
As shown in figure 12, after automated micro-manipulation pin pose calibrating from the microneedle function part that eyepiece obtains in flat
Depending on visual angle mirror image micro-image：Because of in the projection of coronal-plane and angle [alpha] 1 '=0, the α 2 ' of X-axis under micromanipulation pipe function part
=0.
I.e. the utility model realizes calibration microneedle function part posture to the work(of perfect condition, i.e. microneedle
Position relationship between energy portion and horizontal plane.
Although being described in conjunction with the accompanying embodiment of the present utility model, patent owner can want in appended right
Various deformations or amendments are made within the scope of asking, as long as no more than the protection model described by claim of the present utility model
Enclose, all should be within the scope of protection of the utility model.
Claims (6)
- A kind of 1. mirror image microscopic imaging device, it is characterised in that：Including mirror image shaper, mirror image shaper support and Motor execution Mechanism, the movement executing mechanism are fixedly installed on microscope carrier along Y direction, and the mirror image shaper support is along X Direction of principal axis is set and mirror image shaper support one end is connected with movement executing mechanism, and the mirror image shaper is installed on mirror image and formed The other end of device support, the horizontal plane of face and microscope carrier where the level crossing of the mirror image shaper in 45 ° of angles and It is in 45 ° of angles with coronal-plane.
- 2. mirror image microscopic imaging device according to claim 1, it is characterised in that：The level crossing area of the mirror image shaper Domain is square.
- 3. mirror image microscopic imaging device according to claim 1, it is characterised in that：The mirror image shaper support is connection The rigid physical structure of the mirror image shaper and movement executing mechanism.
- 4. mirror image microscopic imaging device according to claim 1, it is characterised in that：The movement executing mechanism is slided for straight line Block guide rail structure.
- 5. mirror image microscopic imaging device according to claim 1, it is characterised in that：Also include being located at mirror image shaper plane The light source of mirror side, the light source are used to strengthen the light intensity for looking squarely visual angle.
- A kind of 6. automated micro-manipulation pin pose calibrating system, it is characterised in that：Including,Mirror image microscopic imaging device described in claim 1-5 any one；Inverted microscope system, including manual/auto focusing unit and video image acquisition device；Before and after micromanipulation system, including needle holder, needle holder anchor, needle holder/left and right/upper and lower displacement driver；With the needle holder rotating driver of the needle holder mechanical couplings；With the coronal plane angularity driver of the needle holder anchor mechanical couplings；With the sagittal plane angle drive of the needle holder anchor mechanical couplings；For the machine of function engagement said apparatus, it includes being integrated with the CPU of processing software, and the processing is soft Part is used for automated surveillance and control mirror image shaper is in place, inverted microscope system auto-focusing unit, video image acquisition And before and after analysis, needle holder/left and right/upper and lower displacement driver, needle holder rotating driver and angle drive.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107357031A (en) * | 2017-09-02 | 2017-11-17 | 长沙傲图生物科技有限公司 | A kind of mirror image microscopic imaging device and automated micro-manipulation pin pose calibrating system and method |
| WO2023068924A1 (en) * | 2021-10-22 | 2023-04-27 | Life Science Methods B.V. | Microinjection system and method |
-
2017
- 2017-09-02 CN CN201721118203.6U patent/CN207216133U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107357031A (en) * | 2017-09-02 | 2017-11-17 | 长沙傲图生物科技有限公司 | A kind of mirror image microscopic imaging device and automated micro-manipulation pin pose calibrating system and method |
| EP3534199A4 (en) * | 2017-09-02 | 2019-12-25 | Hunan Changsha Ourtool Biological Technology Co., Ltd. | Mirror image microscopic imaging device, and microneedle attitude calibration system and method |
| US11372225B2 (en) | 2017-09-02 | 2022-06-28 | Hunan Changsha Ourtool Biological Technology Co., Ltd. | Mirror image microscopic imaging device, and microneedle attitude calibration system and method |
| WO2023068924A1 (en) * | 2021-10-22 | 2023-04-27 | Life Science Methods B.V. | Microinjection system and method |
| NL2029490B1 (en) * | 2021-10-22 | 2023-05-19 | Life Science Methods B V | Microinjection system and method |
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