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Cell sample centrifugal treatment system and method based on machine vision
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A machine vision and centrifugal processing technology, applied in image data processing, instruments, manipulators, etc., can solve problems such as waste of human and financial resources, damage, cell sample contamination, etc., to improve work efficiency, avoid position deviation, and simplify manual operations.
Pending Publication Date: 2020-12-18
QILU UNIV OF TECH
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In some places such as hospitals, biological or medical research institutes that require a large number of observation and analysis of cells, the process of cell centrifugation needs to be operated manually, which not only wastes a lot of human and financial resources, but also may cause some misoperations during the operation. Contamination or damage to cell samples
[0004] The prior art discloses the technology of realizing the automatic processing of the cell centrifugation process through the mechanical arm, but when identifying the center position, it is often used to paste a two-dimensional code on the target position and determine the center position by scanning the two-dimensional code information; although this method Simple and effective, but due to the slight error in the placement position of the QR code, there may be an error between the determined center point and the actual center point, and the problem of inaccurate placement of the test tube box will occur
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Embodiment 1
[0033] In one or more embodiments, a machine vision-based cell sample centrifugation processingsystem is disclosed, referring to figure 1 ,include:
[0034] A centrifuge, where the test tube boxes of the centrifuge are respectively provided with cards of set colors;
[0036] The image processing module is used to determine the point coordinates of placing or grabbing the test tube box according to the obtained centrifuge image;
[0037] The intelligent robotic arm module is used to place the test tube box according to the point coordinates.
[0038] Specifically, the centrifuge adopts a standard medical centrifuge, refer to Figure 4 , made a number of white paper cards, and pasted them on the corresponding positions of the centrifuge frame. Since the positions where the cards are placed are brighter, it is very easy to distinguish those positions and their centers in OpenCV.
[0039] The image acquisiti...
Embodiment 2
[0050] In one or more embodiments, a method for centrifuging cell samples based on machine vision is disclosed, including the following process:
[0051] (1) Initialization
[0052] Adjust the robotic arm to the state ready to grab the test tube, start the image processing program, turn on the light source, adjust the camera aperture until the points on the preview screen are clearly identifiable, check that the camera, robotic arm, computer, and centrifuge are installed and debugged correctly, then you can start working .
[0053] (2) Camera calibration
[0054] The camera is calibrated using Zhang Zhengyou's calibration method. The calibration process is as follows:
[0055] 1. Print the checkerboard calibration paper and attach it to a flat surface;
[0056] 2. Take pictures of the calibration board from various angles by moving the camera or on a plane, usually 20 pictures;
[0057] 3. Detect feature points in the picture;
[0058] 4. Calculate 5 internal parameters ...
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Abstract
The invention discloses a cell sample centrifugal treatment system and method based on machine vision. The cell sample centrifugal treatment system comprises a centrifuge, wherein cards with set colors are arranged at the test tube box placement positions of the centrifuge respectively; an image acquisition module which is used for acquiring a centrifuge image; an image processing module which isused for determining position coordinates for placing or grabbing the test tube box according to the acquired centrifuge image; and an intelligent mechanical arm module which is used for placing the test tube box according to the position coordinates. The system has the beneficial effects that manual operation is greatly simplified, original manual placement is changed into mechanical arm placement, manpower can be saved, the working efficiency is improved, losses caused by manual misoperation are reduced, and powerful guarantee is provided for cell sample centrifugal treatment and subsequentoperation of cell sample centrifugal treatment.
Description
technical field [0001] The invention relates to the technical field of automatic control of cytopathology instruments, in particular to a system and method for centrifugal processing of cell samples based on machine vision. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] With the rapid development of artificial intelligence, the intelligence of all walks of life is becoming more and more obvious. There is a lack of intelligence in the preparation work before cell observation. In some places such as hospitals, biological or medical research institutes that require a large number of observation and analysis of cells, the process of cell centrifugation requires manual operation, which not only wastes a lot of human and financial resources, but also may cause some misoperations during the operation. Contaminate or damage cell samples. [00...
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