Zebrafish embryo heart injecting system and method based on vision servo three-dimensional rotation

Abstract

The invention discloses a zebrafish embryo heart injecting system and method based on vision servo three-dimensional rotation, and relates to the field of micro-injection. The zebrafish embryo heart injecting system comprises a stereomicroscope, a CCD camera, a supervisory computer, a triaxial mechanical hand, a rotating manipulator, a micropipet and a pump, wherein the CCD camera is located abovethe stereomicroscope, and is used for collecting images and transmitting the collected images to the supervisory computer for treatment; the supervisory computer is connected with the triaxial mechanical hand and the rotating manipulator, and is used for analyzing the real-time position and the gesture of a zebrafish embryo as well as the point position of the micropipet according to the collected images, and transmitting a control signal to the triaxial mechanical hand and the rotating manipulator to control the direction and the speed of the triaxial mechanical hand and the rotating angle of the rotating manipulator; the triaxial mechanical hand is used for clamping the corresponding micropipet to move the point of the corresponding micropipet to a target position; the rotating manipulator is used for clamping the corresponding micropipet to rotate the zebrafish embryo; and the pump is used for providing sucking force for sucking and holding the zebrafish embryo and thrust for pushing out foreign substances. The system is simple in structure, high in precision and good in stability.

Description

technical field [0001] The invention relates to the field of microinjection, in particular to a visual servo three-dimensional rotating zebrafish embryo heart injection system and method. Background technique [0002] As a general method for introducing foreign substances into living cells or specific parts of biological larvae, microinjection technology has been widely used in modern bioengineering experiments. With the rapid development of machine vision and automation technology, vision-based automatic micromanipulation The technology has attracted much attention due to its advantages of high precision, high reliability, and large batches. As a common model animal, zebrafish has a short sexual maturity time. After sexual maturity, a female fish can lay eggs once a week, with as many as 300 eggs. The rapidity of its reproduction saves time and cost for experimental research. At the same time, zebrafish develops in vitro, and its embryos are transparent throughout, which i...

AI Technical Summary

Problems solved by technology

This repeated attitude adjustment depends largely on the experience of the operator, and professional operators usually spend years of time and cost

At the same time, the repeatability of manual micromanipulation cannot be guaranteed, and manual manipulation will also introduce external pollution, resulting in experimental failure

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