Multi-view composite single-cell micro-operation system and control method

Abstract

The invention discloses a multi-view composite single-cell micro-operation system and a control method. The multi-view composite single-cell micro-operation system comprises a two-degree-of-freedom operation platform used for placing a culture dish; a three-degree-of-freedom operator used for mounting a capillary needle for adsorption or injection and arranged on one side of the two-degree-of-freedom operating platform; a five-degree-of-freedom operator used for mounting a capillary needle for adsorption or injection and arranged on the other side of the two-degree-of-freedom operation platform; a telecentric binocular camera used for obtaining capillary needle tip images of the three-degree-of-freedom operator and the five-degree-of-freedom operator; an inverted microscopic camera used for obtaining images of cells in the capillary needle and the culture dish; and an upper computer connected with all the above parts. According to the control mode, advantages of binocular telecentric vision and inverted microscopic vision can be fully utilized, and a defect that a common cell injection platform lacks depth information is overcome.

Description

technical field [0001] The invention relates to the field of automatic microinjection, in particular to a multi-purpose compound single-cell micro-operating system and a control method. Background technique [0002] Cell microinjection is the most basic and commonly used technique in bioengineering. This technology can be simply summarized as using a glass capillary needle with a diameter of about 10 microns to penetrate the cell membrane and inject foreign substances directly into the cell. Its main features are: 1) little damage to cells; 2) controllable amount of exogenous substances injected; 3) wide range of applications, including intracytoplasmic injection fertilization and drug verification. Most of the existing cell injection platforms are based on general biological microscopes, including two three-degree-of-freedom manipulators, which can control the adsorption of cells and the capillary needle for injection respectively. In addition, cell microinjection platfor...

AI Technical Summary

Problems solved by technology

The biggest disadvantage of this method is the physical damage to the needle tip

However, the above two methods can only obtain the relative depth between points, and cannot actually solve the problem of attitude adjustment of capillary needles.

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