CN212574960U - Ovum taking and embryo culturing integrated device based on surgical robot - Google Patents
Ovum taking and embryo culturing integrated device based on surgical robot Download PDFInfo
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Abstract
The invention relates to an ovum taking and embryo culturing integrated device based on a surgical robot, which comprises an ovum taking surgical robot system, a multifunctional closed constant temperature incubator, a computer for displaying images and setting and operating equipment, wherein the computer is used for storing and operating the computer; the ovum-taking operation robot system and the multifunctional closed constant-temperature culture system are both connected with the electronic computer and the operating equipment, and an operator controls the operating process of each system through the electronic computer and the operating equipment; the multifunctional closed constant-temperature culture system comprises an egg identifying and picking operation robot system, an egg incubator and a fertilization operation robot system. The invention completes the whole processes of ovum taking, ovum identification, ovum picking, fertilization and embryo culture by operating equipment under the conditions of ensuring the safety of the operation and ensuring that the ovum and the embryo are not contacted with the external environment. The system greatly improves the working efficiency and safety of the ovum taking operation and embryo culture and realizes the intelligent auxiliary ovum taking and embryo culture process.
Description
Technical Field
The invention relates to the field of medical devices, in particular to an ovum taking and embryo culturing integrated device based on a surgical robot.
Background
In vitro fertilization-embryo transfer (IVF-ET) is one of the most effective means for treating infertility in clinic, makes great contribution to maintaining family and social harmony, and egg taking and embryo culture are important links for ensuring the success of IVF-ET. The goal of the egg extraction procedure is to obtain sufficient and quality eggs for in vitro fertilization from within the patient's ovary by transvaginal puncture, with minimal patient complications; the embryo culture is to realize the normal development of the embryo similar to the in vivo through an embryo in vitro culture system in vitro, so as to obtain the high-quality embryo for embryo transplantation. The process of the ovum taking operation comprises the following steps: after controlled superovulation promotion, a follicle in an ovary finishes a development process, then an operator operates an ovum taking needle to penetrate into the ovary through a fornix behind the vagina under the aseptic condition by the guidance of a vaginal ultrasonic image, the ovum taking needle is punctured into an ovum which wants to obtain an ovum, negative pressure suction is started, follicular fluid in the punctured ovum is collected, then auxiliary personnel matched with an operation transfer a test tube for collecting the follicular fluid to an embryo culture room, the ovum is identified under a microscope by an embryo laboratory personnel, and then the ovum is picked out for subsequent in vitro fertilization and embryo culture. The embryo culture process comprises the following steps: after obtaining the ovum and the sperms, putting the ovum and the sperms into a culture dish with embryo in-vitro culture solution in a clean bench, then putting the culture dish into a culture box for embryo culture, and taking the culture dish out of the culture box every day to observe the process of embryo development.
At present, an ovum taking operation needs an operator to puncture a follicle to suck follicular fluid, then the sucked follicular fluid is delivered to an assistant person who is matched with the operation, then the assistant person transfers a test tube for collecting the follicular fluid to an embryo culture chamber, and the assistant person guides the follicular fluid into a culture dish from the test tube to identify ova and select the ova for in vitro fertilization and embryo culture. Embryo culture requires that an embryo laboratory worker puts ova and sperms into a culture dish containing an embryo in-vitro culture solution in an open environment, then puts the culture dish into an incubator for embryo culture, and needs to take the culture dish out of the incubator every day to observe the process of embryo development in the period. Therefore, the whole process of egg taking and embryo culture needs the skilled operation of an egg taking doctor, and the vaginal ultrasonic probe and the puncture needle cannot be shaken due to the external influence, otherwise, the risk of puncturing the puncture needle into organs such as the body exists; meanwhile, the ovum taking operation can be completed only by the cooperation of at least 3 medical staff, and the cooperation of multiple platforms has a cooperation running-in period and simultaneously occupies a large amount of space, manpower and material resources; in addition, in the whole process, such as transferring follicular fluid, adding ova and sperms into a culture name for in vitro fertilization, conveying a culture dish to culture, taking the culture dish out of a culture box every day to observe embryo development and the like, the ova or embryos are exposed to a certain degree in a temperature and humidity in vitro environment which is not beneficial to embryo development, and the risk of pollution is also combined, which is a negative factor influencing the embryo development.
In summary, although the related art is mature, there is still a large room for improvement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and discloses an operation robot-based control device and system integrating ovum taking and embryo culture. This get ovum and embryo culture integrated controlling means and system based on operation robot provides a new means for present get ovum operation and embryo culture, reduces the increase that the operator leads to the operation complication because of self or external factor interference under the assistance of robot arm, lets the follicular fluid of suction simultaneously under the external environment condition of contactless, direct input to the constant temperature incubator of accessible electronic computer control, the follicular fluid of having avoided traditional get ovum operation effectively forwards this exposure process under unfavorable environment. Meanwhile, ovum picking, ovum identification, ovum picking and in vitro fertilization can be directly completed by an operator and a checker in an operating room. The embryo after fertilization is directly input into the embryo incubator for culture, the risk caused by taking the culture dish out of the incubator to observe the embryo development every day is avoided with the help of the Time lapse, the space and the labor are greatly saved by the system, the working efficiency and the safety of the ovum taking operation and the embryo culture are improved, and the intelligent auxiliary ovum taking and embryo culture process is realized.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
an ovum-taking and embryo-culturing integrated device based on a surgical robot comprises an ovum-taking surgical robot system, a multifunctional closed constant-temperature incubator, a computer for displaying images and setting and operating equipment; the ovum-taking operation robot system and the multifunctional closed constant-temperature culture system are both connected with the electronic computer and the operating equipment, and an operator controls the operating process of each system through the electronic computer and the operating equipment;
the ovum taking operation robot system comprises an ovum taking operation robot, an ovum taking mechanical arm, a power module, a reagent storage box and a matched flushing device, wherein the ovum taking mechanical arm is arranged on the ovum taking operation robot and is used for taking an ovum; the mechanical arm for taking the ovum is provided with an ultrasonic probe and a double-cavity ovum taking needle for taking the ovum, and the double-cavity ovum taking needle is connected with a negative pressure suction device and a sterile channel;
the multifunctional closed constant-temperature culture system comprises an egg identifying and picking operation robot system, an egg incubator and a fertilization operation robot system;
the egg recognizing and picking operation robot system comprises an egg picking robot, a mechanical arm, a power module and an egg picking operation area, wherein the mechanical arm is arranged on the egg picking robot and used for picking eggs; the mechanical arm for egg picking operation is provided with an aspirator and a liquid transfer device; the egg picking robot carries out egg picking operation in the egg picking operation area and then puts the eggs into an egg incubator through a sterile channel; the ovum incubator is connected with the fertilization operation robot system through a sterile transmission device;
the fertilization operation robot system comprises a fertilization operation robot, a mechanical arm, a power module and a fertilization operation area, wherein the mechanical arm is arranged on the fertilization operation robot and is used for fertilization operation; the mechanical arm for fertilization operation is provided with a suction apparatus, a liquid transfer apparatus and a clamp holder.
In the ovum-taking surgical robot system, the ultrasonic probe guides the puncture of the double-cavity ovum-taking needle under the stability of the mechanical arm; the negative pressure suction device provides power for the double-cavity ovum taking needle to suck follicular fluid; the sterile channel is used for ensuring that the follicular fluid is directly conveyed to an egg recognizing culture dish of the constant-temperature culture box in a sterile environment after the follicular fluid is sucked from the ovary; the reagent storage tank and the flushing device flush the vulva and the vagina of the patient by using normal saline, and flush the double-cavity ovum taking needle by using PBS; the mechanical arm is provided with a washing nozzle, a clamping arm and an injector.
The multifunctional closed constant-temperature culture system also comprises an embryo culture storage system which is provided with a label robot and a microscope camera system, wherein the microscope camera system adopts a Time lapse camera and is used for shooting images of follicular fluid in an ovum identification culture dish and transmitting the images to a computer and operating equipment for analysis and evaluation, and evaluation images are transmitted back to the ovum identification and ovum picking operation robot system from the computer and the operating equipment; the egg picking robot and a mechanical arm provided with an aspirator and a liquid shifter complete egg picking under the guidance of the returned evaluation image; pick up the ovum operating area by the recognition of eggs culture dish, wash ovum dish, oocyte culture dish, consumptive material reagent and change module and waste disposal, clean module and constitute, the process of picking up the ovum is being carried out in picking up the ovum operating area.
The egg incubator can temporarily store the selected eggs in the egg picking operation, after the eggs are picked by the double-cavity egg picking needle, the oocyte culture dish is collected into the egg incubator through the conveying device in the sterile channel, and meanwhile, a patient information label is marked on the egg identification culture dish by using the label robot; the microscope camera system transmits the images in the box to the computer and the operating equipment.
The multifunctional closed constant-temperature culture system further comprises an incubator auxiliary module and a parameter module, and a processing system integrating all functional modules comprises a camera module, a disinfection module, a consumable and reagent replacement module, a waste treatment and cleaning module, a brightness control and temperature and humidity control module, a gas control module, a self-checking and fault alarm module, a power module and a sterile transmission module.
The fertilization operating area is composed of an oocyte culture dish, an in vitro semen receiving culture dish, a consumable reagent replacing module, a waste treatment module and a cleaning module, and the fertilization process is carried out in the fertilization operating area.
The fertilization operation robot system also comprises a fertilization operation microscope camera system, the mechanical arm for fertilization operation completes sperm dripping observation under the guidance of the fertilization operation microscope camera system, and then the ovum is added into an in-vitro semen receiving culture dish.
The electronic computer and the operating equipment integrate the following working interfaces: the system comprises an egg taking ultrasonic and mechanical arm operation interface, an artificial intelligent egg identification interface, an egg picking microscope image and mechanical arm operation interface, a fertilization microscope image and mechanical arm operation interface, an ovum incubator image and robot operation interface, an embryo incubator image and mechanical arm operation interface, a Time lpase photography interface, a fault self-checking interface, a consumable reagent interface, a waste treatment and cleaning interface, a parameter setting interface, an operation setting interface and a disinfection interface.
Compared with the prior art, the invention has the beneficial effects that:
the invention enables an operator to realize ovum taking by operating the mechanical arm of the computer application program control robot, thereby reducing the increase of operation complications caused by the interference of the operator or external factors; the follicle fluid of a patient can be directly injected into the constant-temperature incubator through the sterile pipeline, then an operator can control the constant-temperature incubator by using a computer application program, the ovum identification is finished through a microscope image input to the computer, then the operation module is controlled to pick up the ovum, the ovum and the sperm are placed in the culture dish for in vitro fertilization, and finally the culture dish can be directly transferred to the embryo incubator through the sterile pipeline; the risk of taking the culture dish out of the incubator every day and observing the development of the embryo is avoided with the help of the Time lapse. In addition, the system can operate for a long time and keep stable effect.
Drawings
Fig. 1 is a basic structure and basic operation principle diagram of an integrated control device and system for ovum taking and embryo culture based on a surgical robot.
FIG. 2 is a schematic diagram of the operation of the control device and system for ovum retrieval and embryo culture integration based on the surgical robot.
Fig. 3 is a working principle diagram of the control device and the system for egg identification and egg picking based on the integration of egg taking and embryo culture of the surgical robot.
FIG. 4 is a schematic diagram of the operation of the control device and system fertilization operation based on the integration of ovum picking and embryo culture of the surgical robot.
FIG. 5 is a schematic diagram of the operation of the control device and system for integrating ovum picking and embryo culture based on the surgical robot.
FIG. 6 is a schematic view of the computer application program interface of the control device and system for integrating ovum retrieval and embryo culture based on the surgical robot.
Fig. 7 is a schematic structural diagram of an auxiliary module and a parameter module of the control device and the system incubator based on the integration of ovum taking and embryo culture of the surgical robot.
Detailed Description
The present invention will be further described with reference to the following specific examples.
An ovum-taking and embryo-culturing integrated device based on a surgical robot comprises an ovum-taking surgical robot system, a multifunctional closed constant-temperature incubator, a computer for displaying images and setting and operating equipment; the ovum-taking operation robot system and the multifunctional closed constant-temperature culture system are both connected with the electronic computer and the operating equipment, and an operator controls the operating process of each system through the electronic computer and the operating equipment;
the ovum taking operation robot system comprises an ovum taking operation robot, an ovum taking mechanical arm, a power module, a reagent storage box and a matched flushing device, wherein the ovum taking mechanical arm is arranged on the ovum taking operation robot and is used for taking an ovum; the mechanical arm for taking the ovum is provided with an ultrasonic probe and a double-cavity ovum taking needle for taking the ovum, and the double-cavity ovum taking needle is connected with a negative pressure suction device and a sterile channel;
the multifunctional closed constant-temperature culture system comprises an egg identifying and picking operation robot system, an egg incubator and a fertilization operation robot system;
the egg recognizing and picking operation robot system comprises an egg picking robot, a mechanical arm, a power module and an egg picking operation area, wherein the mechanical arm is arranged on the egg picking robot and used for picking eggs; the mechanical arm for egg picking operation is provided with an aspirator and a liquid transfer device; the egg picking robot carries out egg picking operation in the egg picking operation area and then puts the eggs into an egg incubator through a sterile channel; the ovum incubator is connected with the fertilization operation robot system through a sterile transmission device;
the fertilization operation robot system comprises a fertilization operation robot, a mechanical arm, a power module and a fertilization operation area, wherein the mechanical arm is arranged on the fertilization operation robot and is used for fertilization operation; the mechanical arm for fertilization operation is provided with a suction apparatus, a liquid transfer apparatus and a clamp holder.
In the ovum-taking surgical robot system, the ultrasonic probe guides the puncture of the double-cavity ovum-taking needle under the stability of the mechanical arm; the negative pressure suction device provides power for the double-cavity ovum taking needle to suck follicular fluid; the sterile channel is used for ensuring that the follicular fluid is directly conveyed to an egg recognizing culture dish of the constant-temperature culture box in a sterile environment after the follicular fluid is sucked from the ovary; the reagent storage tank and the flushing device flush the vulva and the vagina of the patient by using normal saline, and flush the double-cavity ovum taking needle by using PBS; the mechanical arm is provided with a washing nozzle, a clamping arm and an injector.
The multifunctional closed constant-temperature culture system also comprises an embryo culture storage system which is provided with a label robot and a microscope camera system, wherein the microscope camera system adopts a Time lapse camera and is used for shooting images of follicular fluid in an ovum identification culture dish and transmitting the images to a computer and operating equipment for analysis and evaluation, and evaluation images are transmitted back to the ovum identification and ovum picking operation robot system from the computer and the operating equipment; the egg picking robot and a mechanical arm provided with an aspirator and a liquid shifter complete egg picking under the guidance of the returned evaluation image; pick up the ovum operating area by the recognition of eggs culture dish, wash ovum dish, oocyte culture dish, consumptive material reagent and change module and waste disposal, clean module and constitute, the process of picking up the ovum is being carried out in picking up the ovum operating area.
The egg incubator can temporarily store the selected eggs in the egg picking operation, after the eggs are picked by the double-cavity egg picking needle, the oocyte culture dish is collected into the egg incubator through the conveying device in the sterile channel, and meanwhile, a patient information label is marked on the egg identification culture dish by using the label robot; the microscope camera system transmits the images in the box to the computer and the operating equipment.
The multifunctional closed constant-temperature culture system further comprises an incubator auxiliary module and a parameter module, and a processing system integrating all functional modules comprises a camera module, a disinfection module, a consumable and reagent replacement module, a waste treatment and cleaning module, a brightness control and temperature and humidity control module, a gas control module, a self-checking and fault alarm module, a power module and a sterile transmission module.
The fertilization operating area is composed of an oocyte culture dish, an in vitro semen receiving culture dish, a consumable reagent replacing module, a waste treatment module and a cleaning module, and the fertilization process is carried out in the fertilization operating area.
The fertilization operation robot system also comprises a fertilization operation microscope camera system, the mechanical arm for fertilization operation completes sperm dripping observation under the guidance of the fertilization operation microscope camera system, and then the ovum is added into an in-vitro semen receiving culture dish.
The electronic computer and the operating equipment integrate the following working interfaces: the system comprises an egg taking ultrasonic and mechanical arm operation interface, an artificial intelligent egg identification interface, an egg picking microscope image and mechanical arm operation interface, a fertilization microscope image and mechanical arm operation interface, an ovum incubator image and robot operation interface, an embryo incubator image and mechanical arm operation interface, a Time lpase photography interface, a fault self-checking interface, a consumable reagent interface, a waste treatment and cleaning interface, a parameter setting interface, an operation setting interface and a disinfection interface.
The ultrasonic image, the microscope image and the mechanical arm operation interface can clearly display the mechanical arm and enough operation visual field; the artificial intelligent egg identifying interface can analyze images returned by the egg identifying robot, identify structures which may be eggs in the image for reference of an operator, and comprises an artificial modification interface and record time; the sterile transmission interface can manually control the movement of the culture dish on each part; the ovum incubator and embryo incubator interface can record all the ovum and embryo patient information, ovum taking operation time, fertilization time and culture time in the incubator at present; the Time lpase photographing interface comprises related settings, embryo culture high-definition pictures returned by a Time lpase camera every day, and Time is recorded; the fault self-checking interface comprises the interval time of each self-checking, the recording time of each self-checking, the alarm when the temperature, the humidity and the gas composition are abnormal, the fault occurrence part and self-checking repair options; the consumable and reagent interface can enable the system to check, replace and place consumable reagents for each operation part in advance, can record the consumption and the surplus of the consumable reagents of each part of the system, can automatically start a supplement request in case of shortage, and can be used for supplementing the consumable and the reagents by related personnel; the waste treatment and cleaning interface corresponds to each part of the incubator, and after an operator finishes the operation of the part, the waste treatment and cleaning can be started automatically or manually; a parameter setting interface, which comprises the definition adjustment, the switching and the storage of the camera shooting, the control of the brightness, the temperature and the humidity of the incubator and the control of the gas components; the operation setting interface includes various adjustments to control equipment, the mechanical arm and various images, such as sensitivity of the mechanical arm, video FOV, video resolution and the like (not limited thereto); the disinfection interface comprises the disinfection time and intensity; the interface of the negative pressure suction and flushing device comprises a negative pressure suction device, a flushing switch, the size of negative pressure, the selection of flushing fluid, the size of flushing pressure and the selection of flushing parts (a flushing nozzle and a double-cavity ovum taking needle). The case system and the operation recording system interface can be directly connected with the hospital system, and can help an operator to call patient information and record operation information.
In this embodiment, the operation device is various human engineering devices for controlling the robot of the system to complete the ovum-taking operation and the embryo culture process for an operator, and may be a handle, a rocker, a control panel, a pedal, a button controller, a mouse, a keyboard and the like.
In this embodiment, the incubator auxiliary module and the parameter module are mainly composed of the modules shown in fig. 7. All parts of the incubator are controlled and regulated by the above modules, the purpose of which is shown in the description of the computer application program interface.
In this embodiment, the system can perform remote operation of ovum retrieval and embryo culture integration through a 5G technology.
In this embodiment, the robot egg-identifying artificial intelligence of this system can carry out big data storage and calculation through getting the ovum in a large number, can also improve the rate of accuracy that the robot intelligence got the ovum through learning artificial egg-identifying simultaneously.
In the embodiment, the evaluation of the ovum, fertilization and embryo conditions of the system can also introduce artificial intelligence and big data storage and calculation, can provide powerful reference data for operators when the conditions are difficult to evaluate, and can be used for clinical scientific research.
In this embodiment, the system can be connected with other networked systems (such as a case system) of a hospital.
In the embodiment, the ovum-taking puncture ultrasonic image of the system can be stored, and the puncture track can be displayed when the video is played, thereby being beneficial to teaching, operation record and work summary.
In this embodiment, the operating device of the system can save different operation settings and parameter settings in the computer application program according to the needs of different operators.
As shown in fig. 1, the control device and system for integrating ovum retrieval and embryo culture based on a surgical robot of the present invention comprises an ovum retrieval surgical robot system (which can be equipped with a vaginal ultrasonic probe and can be freely assembled with instruments required in the operation), a negative pressure suction device, a flushing device, a sterile pipeline system, a multifunctional closed constant temperature incubator for identifying ovum, picking up ovum, fertilization and embryo culture, an electronic computer for displaying images and setting and operating (including related matched application programs), and an operating device for facilitating an operator to operate the robot. The working process of the in-vitro egg taking system integrating identification and picking in the embodiment of the invention is as follows:
as shown in fig. 2, before the ovum-taking operation, the electronic computer is started, the application program is opened for system self-check, and after the self-check is correct, the operation setting interface of the application program is switched to, so that the corresponding settings can be made for the operation equipment, the mechanical arm, the relevant parameters of each image and the like. Before taking the ovum, the patient takes the bladder lithotomy position and fixes the bladder lithotomy position on an operating bed, normal saline is selected through an application program interface for flushing, and after the proper flushing pressure is adjusted, an operator operates an application program to start flushing. Meanwhile, an operator controls the operating equipment connected with the computer, sends out instructions through related application programs, controls the mechanical arm of the ovum-taking operation robot after being processed by the output signal processing module, and washes the vulva and the vagina of a patient. And then, the operator adjusts the flushing liquid and the flushing part through the application program interface, and the PBS is changed to flush the double-cavity ovum-taking needle to start flushing. After the washing, the egg taking is started. And the ultrasonic probe on the mechanical arm sends data to an ultrasonic image acquisition card on the computer for image capture, and the processed real-time ultrasonic image picture is displayed in an application program and a puncture guide line is displayed. Under the guidance of ultrasonic wave, the operator controls the double-cavity ovum taking needle on the mechanical arm to penetrate into the ovary through the fornix behind the vagina by operating the equipment. When the operator decides to suck the follicular fluid, the pressure of the negative pressure suction is set in the application program, so that the operation device can be controlled to operate the double-cavity ovum taking device arranged on the mechanical arm to suck the follicular fluid. The follicular fluid is directly sucked into an ovum recognizing culture dish in an ovum picking operation area of the constant temperature culture box through a sterile channel. And after the ovum is taken out, opening a washing interface to wash the double-cavity ovum taking needle. The patient leaves the operating room with the help of the verifier. The operator is ready to proceed to the next procedure. Before the ovum taking operation, signals can be sent to various modules of the incubator through an application program interface in advance to adjust parameters in various parts of the incubator. The operator can set the intensity and time of brightness, temperature, humidity, gas composition, disinfection and sterilization of the incubator through an application program, and then the consumable reagent of the incubator is checked, replaced and placed through the consumable and reagent interfaces. And taking the ovum after all the parameters of the incubator meet the living conditions of the oocyte, the sperm and the embryo. As shown in fig. 3, after the obtained follicular fluid is inputted into the ovum picking operation area of the incubator, the computer display screen can be switched from the ultrasound operation screen to the ovum identification, ovum picking microscope image and mechanical arm operation interface by the application program. After the image is processed by the input signal processing module, the high-definition picture is transmitted to the application program for display through the HDMI or DVI interface of the computer. The microscope image of the egg identifying robot can be evaluated through the analysis of the egg identifying artificial intelligence, a result graph and a report are formed on an artificial intelligence egg identifying interface, highlight display is carried out on a structure which can be an egg, an operator controls a mechanical arm of the egg identifying robot through operating equipment after confirming the egg, the highlighted egg is absorbed in an image egg identifying culture dish, the highlighted egg is added into an egg washing dish, rinsing liquid is added through a pipettor of the mechanical arm, and after rinsing is finished, the egg is absorbed into an oocyte culture dish and added with oocyte culture liquid. The operator starts aseptic transmission system, consumptive material reagent change module and waste treatment, clean module afterwards, sends into the ovum incubator with the oocyte culture dish to accomplish and change, waste cleaning and the cleanness to picking up ovum operating area and recognizing ovum, the consumptive material reagent of picking up the ovum robot.
And the robot in the ovum operation box immediately marks the culture dish with the patient information when the culture dish is sent into the box for future double-person checking. After culturing for several hours, the operator controls the mechanical arm in the ovum incubator to take out the needed culture dish, and after the operator and the checker check that the patient information is correct, the aseptic transmission device is started to send the oocyte culture dish to the fertilization operation area.
As shown in fig. 4, the operator switches the application program to the fertilization microscope image and the manipulator operation interface, controls the manipulator to take out the prepared sperm test tube by using the operation equipment, and performs the double-person check with the checker that the patient couple information is correct, and then performs the observation of sperm dripping to complete the sperm evaluation. The operator then operates the machine and aspirates the ova from the oocyte culture dish, places them in a culture dish containing the in vitro receptor fluid, and adds the sperm. The sterile transmission system, the consumable reagent replacement module, the waste treatment module and the cleaning module are started, the in-vitro semen culture dish is sent into the embryo culture system for culture, and meanwhile, the consumable reagent replacement, waste cleaning and cleaning of the egg picking operation area, the egg recognition robot and the egg picking robot are completed.
As shown in fig. 5, after 16-20 hours, the operator switches the application program to the image of the embryo incubator and the mechanical arm operation interface, observes the in vitro semen receiving culture dish, blows and beats the culture dish by the suction apparatus of the mechanical arm to remove the granular cells, adds the zygote into the culture dish containing the embryo growth solution, and the robot automatically beats the zygote or the embryo information label on the culture dish. Then, an operator evaluates the development of the embryo through the Time lapse photography interface every day, and utilizes the mechanical arm to change the culture dish, clean waste and disinfect and clean in Time. When the embryo is developed to be capable of being transplanted, after the double-person check of the operator and the checker is carried out, the culture dish can be sent out of the system through the sterile transmission system.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention in any way, and any person skilled in the art can make any simple modification, equivalent replacement, and improvement on the above embodiment without departing from the technical spirit of the present invention, and still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. The utility model provides a get ovum and embryo culture integrated device based on surgical robot which characterized in that: comprises an ovum-taking operation robot system, a multifunctional closed constant-temperature incubator, a computer for displaying images and setting and operating equipment; the ovum-taking operation robot system and the multifunctional closed constant-temperature culture system are both connected with the computer and the operating equipment, and an operator controls the operating process of each system through the computer and the operating equipment;
the ovum taking operation robot system comprises an ovum taking operation robot, an ovum taking mechanical arm, a power module, a reagent storage box and a matched flushing device, wherein the ovum taking mechanical arm is arranged on the ovum taking operation robot and is used for taking an ovum; the mechanical arm for taking the ovum is provided with an ultrasonic probe and a double-cavity ovum taking needle for taking the ovum, and the double-cavity ovum taking needle is connected with a negative pressure suction device and a sterile channel;
the multifunctional closed constant-temperature culture system comprises an egg identifying and picking operation robot system, an egg incubator and a fertilization operation robot system;
the egg recognizing and picking operation robot system comprises an egg picking robot, a mechanical arm, a power module and an egg picking operation area, wherein the mechanical arm is arranged on the egg picking robot and used for picking eggs; the mechanical arm for egg picking operation is provided with an aspirator and a liquid transfer device; the egg picking robot carries out egg picking operation in the egg picking operation area and then puts the eggs into an egg incubator through a sterile channel; the ovum incubator is connected with the fertilization operation robot system through a sterile transmission device;
the fertilization operation robot system comprises a fertilization operation robot, a mechanical arm, a power module and a fertilization operation area, wherein the mechanical arm is arranged on the fertilization operation robot and is used for fertilization operation; the mechanical arm for fertilization operation is provided with a suction apparatus, a liquid transfer apparatus and a clamp holder.
2. The surgical robot-based ovum retrieval and embryo culture integrated device according to claim 1, wherein: in the ovum-taking surgical robot system, the ultrasonic probe guides the puncture of the double-cavity ovum-taking needle under the stability of the mechanical arm; the negative pressure suction device provides power for the double-cavity ovum taking needle to suck follicular fluid; the sterile channel is used for ensuring that the follicular fluid is directly conveyed to an egg recognizing culture dish of the constant-temperature culture box in a sterile environment after the follicular fluid is sucked from the ovary; the reagent storage tank and the flushing device flush the vulva and the vagina of the patient by using normal saline, and flush the double-cavity ovum taking needle by using PBS; the mechanical arm is provided with a washing nozzle, a clamping arm and an injector.
3. The surgical robot-based ovum retrieval and embryo culture integrated device according to claim 1, wherein: the multifunctional closed constant-temperature culture system also comprises an embryo culture storage system which is provided with a label robot and a microscope camera system, wherein the microscope camera system adopts a Time lapse camera and is used for shooting images of follicular fluid in an ovum identification culture dish and transmitting the images to a computer and operating equipment for analysis and evaluation, and evaluation images are transmitted back to the ovum identification and ovum picking operation robot system from the computer and the operating equipment; the egg picking robot and a mechanical arm provided with an aspirator and a liquid shifter complete egg picking under the guidance of the returned evaluation image; pick up the ovum operating area by the recognition of eggs culture dish, wash ovum dish, oocyte culture dish, consumptive material reagent and change module and waste disposal, clean module and constitute, the process of picking up the ovum is being carried out in picking up the ovum operating area.
4. The surgical robot-based ovum retrieval and embryo culture integrated device according to claim 1, wherein: the egg incubator can temporarily store the selected eggs in the egg picking operation, after the eggs are picked by the double-cavity egg picking needle, the oocyte culture dish is collected into the egg incubator through the conveying device in the sterile channel, and meanwhile, a patient information label is marked on the egg identification culture dish by using the label robot; the microscope camera system transmits the images in the box to the computer and the operating equipment.
5. The surgical robot-based ovum retrieval and embryo culture integrated device according to claim 1, wherein: the fertilization operating area is composed of an oocyte culture dish, an in vitro semen receiving culture dish, a consumable reagent replacing module, a waste treatment module and a cleaning module, and the fertilization process is carried out in the fertilization operating area.
6. The surgical robot-based ovum retrieval and embryo culture integrated device according to claim 1, wherein: the fertilization operation robot system also comprises a fertilization operation microscope camera system, the mechanical arm for fertilization operation completes sperm dripping observation under the guidance of the fertilization operation microscope camera system, and then the ovum is added into an in-vitro semen receiving culture dish.
7. The surgical robot-based ovum retrieval and embryo culture integrated device according to claim 1, wherein: the computer and the operating equipment integrate the following working interfaces: the system comprises an egg taking ultrasonic and mechanical arm operation interface, an artificial intelligent egg identification interface, an egg picking microscope image and mechanical arm operation interface, a fertilization microscope image and mechanical arm operation interface, an ovum incubator image and robot operation interface, an embryo incubator image and mechanical arm operation interface, a Time lapse photography interface, a fault self-checking interface, a consumable reagent interface, a waste treatment and cleaning interface, a parameter setting interface, an operation setting interface and a disinfection interface.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111407413A (en) * | 2020-04-07 | 2020-07-14 | 南京鼓楼医院 | Ovum taking and embryo culturing integrated device based on surgical robot |
| CN117982214A (en) * | 2024-04-07 | 2024-05-07 | 安徽医科大学第一附属医院 | Auxiliary identification method and system for rapid egg picking |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111407413A (en) * | 2020-04-07 | 2020-07-14 | 南京鼓楼医院 | Ovum taking and embryo culturing integrated device based on surgical robot |
| CN117982214A (en) * | 2024-04-07 | 2024-05-07 | 安徽医科大学第一附属医院 | Auxiliary identification method and system for rapid egg picking |
| CN117982214B (en) * | 2024-04-07 | 2024-07-23 | 安徽医科大学第一附属医院 | Auxiliary identification method and system for rapid egg picking |
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