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Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection

A technology of automatic injection and definite method, applied in the field of intracytoplasmic sperm injection

Inactive Publication Date: 2011-09-14
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The automated operation of intracytoplasmic sperm injection needs to obtain accurate position and attitude information of the target egg, but there is no relevant report on the accurate positioning method of the egg in the literature

Method used

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  • Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection
  • Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection
  • Method for determining position and gesture of ooecium in automatic intracytoplasmic sperm injection

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Embodiment

[0028] Such as figure 1 As shown, the method for determining the position and posture of the egg cell in the automatic intracytoplasmic sperm injection of the present invention includes the following steps:

[0029] (1), capture each frame of real-time color image and convert it into a grayscale image;

[0030] (2), the grayscale image in step (1) is processed by median filtering to remove noise, and then use the template matching method to identify the positions of the micro-adsorption needle and the micro-injection needle, wherein the recognition range is determined by the micro-adsorption needle and the micro-injection needle. Needle motion estimation to define;

[0031] (3) After determining the positions of the microadsorption needle and the microinjection needle, determine the position and posture of the egg cell.

[0032] Such as figure 2 As shown, the above step (3) determines the position and posture of the egg cell, specifically the following steps can be adopted...

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Abstract

The invention discloses a method for determining a position and a gesture of an ooecium in automatic intracytoplasmic sperm injection, which comprises the following steps of: converting a colored image into a grayscale image and performing median filtering processing; determining positions of a micro-adsorption needle and a micro injection needle, and determining the position and the gesture of the ooecium; performing binarization processing on the grayscale image by using an Otsu adaptive threshold method; averaging n pixels along each pixel of the outline of an ooecium region in sequence towards a central direction of the region to form a sequence S; solving a mean value Savg of the sequence S; judging whether the value of each point in S is within the range [Savg-Ts, Savg+Ts] or not; if so, detecting a circle with a radius of rp in the interior of the ooecium region by using a Hough circle detection method; mapping a coordinate from an image coordinate system to an ooecium local coordinate system to obtain the coordinate of (xp, yp); and calculating an ooecium pitch angle E1 and an ooecium azimuth angle Az through a spatial triangle relationship, and outputting a position coordinate (xc, yc) and a gesture coordinate (Az, E1) of the ooecium.

Description

technical field [0001] The invention relates to an intracytoplasmic single sperm injection technique, in particular to a method for determining the position and posture of an egg cell in the intracytoplasmic single sperm automatic injection. Background technique [0002] Cell injection is an indispensable micro-operation in biotechnology and genetic engineering. Since manual cell manipulation is easily affected by factors such as operator proficiency and fatigue, it is difficult to maintain a stable success rate, and it has also become a bottleneck in the industrialization of bioengineering. In recent years, the automatic cell injection system has gradually become a research hotspot at home and abroad. Since the environment of cell injection under the microscope is unstructured, the current detection of the position and attitude of cells can only be achieved through microscopic vision. In the paper "High-Throughput Automated Injection of Individual Biological Cells" (IEEE ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62C12Q1/02
Inventor 杜启亮田联房张勤青山尚之
Owner SOUTH CHINA UNIV OF TECH
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