Device for observing and recording embryonic development and processing method thereof

Abstract

This invention relates to a device for observing and recording embryonic development, belonging to the field of medical devices. The device comprises an incubator, a camera, a placement and retrieval device, and a PC. The placement and retrieval device is fixedly installed inside the incubator, the camera is mounted on the top of the incubator, and the PC is mounted on the outside of the incubator, connected to the PC. The placement and retrieval device includes a lifting mechanism, a translation mechanism, and a gripping mechanism. The translation mechanism is fixedly installed in front of the lifting mechanism, and the gripping mechanism is fixedly installed in front of the translation mechanism. This invention also relates to a corresponding device that replaces manual labor, eliminating the need for doctors to periodically remove embryos from the incubator for imaging, freeing doctors from this task and allowing them to perform more meaningful work without affecting embryonic development.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a device and method for observing and recording embryonic development. Background Technology

[0002] Reproduction is a crucial element for the continuation of life. In recent years, the incidence of reproductive disorders has been rising annually, becoming a major threat to human health. In vitro fertilization (IVF) technology has emerged as an effective method to help address this challenge. After fertilization in vitro, embryos need to be cultured in an incubator, and doctors need to monitor their development regularly. Currently, doctors remove the embryos from the incubator daily for observation and imaging under a microscope, allowing patients to understand their development. Due to the large number of embryos, this process is extremely time-consuming for doctors, and removing the embryos from the incubator can negatively impact their development. Therefore, there is an urgent need to improve this situation. Summary of the Invention

[0003] To address the aforementioned shortcomings, this invention provides a device and a method for observing and recording embryonic development.

[0004] The apparatus and method for observing and recording embryonic development of the present invention are achieved through the following technical solutions:

[0005] The device for observing and recording embryonic development includes an incubator, a camera, a pick-and-place device, and a PC. The pick-and-place device is fixedly installed inside the incubator, the camera is installed at the top inside the incubator, and the PC is installed on the outside of the incubator. The incubator and the PC are connected.

[0006] Preferably, the picking and placing device includes a lifting mechanism, a translation mechanism, and a clamping mechanism, wherein the translation mechanism is fixedly installed on the front side of the lifting mechanism, and the clamping mechanism is fixedly installed on the front side of the translation mechanism.

[0007] Preferably, the lifting mechanism includes a support plate, a slide rail A, a left bracket, a lifting plate, a lead screw A, a bearing, a motor A, and a right bracket. The slide rail A and the lead screw A are installed inside the support plate via bearings. The lifting plate is installed on the outside of the slide rail A and the lead screw A. The left bracket is fixedly installed on the left side of the lifting plate, and the right bracket is fixedly installed on the right side of the lifting plate. The motor A is installed above the lead screw A. The lead screw A is connected to the motor A via a coupling, and the motor A is fixed to the incubator.

[0008] Preferably, the translation mechanism includes a slide rail bracket, a motor B, a bearing seat A, a lead screw B, a slide rail B, a translation slider, and a support frame. The motor B is mounted above the left bracket, a slide rail bracket is mounted on the outside of the motor B, a bearing seat A is mounted on the inside of the motor B, another bearing seat A and another slide rail bracket are mounted above the right bracket, a slide rail B is mounted between the two slide rail brackets, a lead screw B is mounted between the two bearing seats A, the lead screw B is connected to the motor B via a coupling, a translation slider is mounted on the outside of the lead screw B and the slide rail B, and a support frame is fixedly mounted on the front side of the translation slider.

[0009] Preferably, the clamping mechanism includes an electric push rod A, a push block, a tilting frame, a toothed shaft, a motor C, an electric push rod B, a push rod bracket, an electric push rod C, a clamping plate bracket, a motor D, a bearing seat B, a rotating shaft, a left clamping plate, a connecting rod A, a hanger, a connecting rod B, an electric push rod D, a right toothed claw, a right clamping claw, a left clamping claw, a weight, a left toothed claw, and a toothed block. The two electric push rods A are fixedly installed in front of the support frame. A push block is fixedly installed in front of the electric push rod A. A motor C is fixedly installed above the push block. A tilting frame is installed on one side of the motor C. A toothed shaft is installed inside the tilting frame and is fixedly connected to the motor C via a coupling. Two electric push rods B are fixedly installed above the tilting frame. A push rod bracket is fixedly installed above the electric push rod B. An electric push rod C is fixedly installed above the push rod bracket. A clamping plate bracket is fixedly installed in front of the electric push rod C. A motor D and two bearing seats B are fixedly installed above the clamping plate bracket. A rotating shaft is installed between the bearing seats B, and the rotating shaft is connected to the motor D via a coupling. A left and right clamping plate are installed on both sides of the clamping plate bracket, and the left and right clamping plates are hinged to the clamping plate bracket respectively. One end of connecting rod A is hinged to the left clamping plate, and the other end of connecting rod A is hinged to one end of connecting rod B. The other end of connecting rod B is hinged to the right clamping plate. A hanger is installed outside the hinge point of connecting rods A and B, and the top of the hanger is connected to the rotating shaft via a steel wire rope. The tilting frame is fixed internally. An electric push rod D is installed, and a toothed block is fixedly installed in front of the electric push rod D. A right toothed claw and a left toothed claw are installed on both sides of the toothed block. The right toothed claw and the left toothed claw are respectively hinged to the tilting frame. The tooth shape of the right toothed claw and the left toothed claw matches the tooth shape of the toothed block. A right gripper is installed on the inside of the right toothed claw and is hinged to the right toothed claw. A left gripper is installed on the inside of the left toothed claw and is hinged to the left toothed claw. A weight is fixedly installed at the bottom of the right gripper and the left gripper.

[0010] Preferably, the right toothed claw and the left toothed claw have incomplete tooth profiles.

[0011] Preferably, the opening at the hinge point between the left gripper and the left toothed gripper is located slightly above the center of the left gripper, and the opening at the hinge point between the right gripper and the right toothed gripper is located slightly above the center of the right gripper.

[0012] The method for observing and recording embryonic development includes:

[0013] S1, Place the embryo culture dish into the incubator. The patient's name is written on the top of the culture dish lid.

[0014] S2, the camera and the pick-and-place device start working according to the set time. The pick-and-place device delivers the embryo culture dishes one by one to the bottom of the camera. The camera takes a picture of the culture dish lid and transmits it to the PC. The PC extracts the patient's name and creates a folder named after the patient.

[0015] S3, the pick-and-place device opens the petri dish lid, places each embryo in the petri dish under the camera for imaging, and transmits the images to a folder named after the patient;

[0016] S4, the PC terminal analyzes the captured embryo images and generates record documents.

[0017] More preferably, the analysis of the embryo image in step S4 above includes cell number, cell size, and cell uniformity. Cell number refers to the total number of cells, cell size refers to the approximate diameter of the cells, and cell uniformity refers to the proportion of the number of cells in the conventional cell count.

[0018] The device and method for observing and recording embryonic development according to the present invention have the advantage that doctors no longer need to take the embryos out of the incubator to take pictures every day. The machine replaces manual labor, freeing doctors from this task and allowing them to do more meaningful work, without affecting the development of the embryos. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the device for observing and recording embryonic development according to the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of the pick-and-place device of the present invention.

[0021] Figure 3 This is a schematic diagram of the lifting mechanism of the present invention.

[0022] Figure 4 This is a schematic diagram of the translation mechanism of the present invention.

[0023] Figure 5 This is a schematic diagram of the clamping mechanism of the present invention.

[0024] Figure 6 This is a diagram of the internal structure of the flipping frame of the present invention.

[0025] Figure 7 This is a schematic diagram of the structure of the hanger of the present invention.

[0026] Figure 8 This is a partial view of the motor D of the present invention.

[0027] Figure 9 This is a schematic diagram of the structure of the left gripper of the present invention.

[0028] Figure 10 This is a schematic diagram of the structure of the clamping bracket of the present invention.

[0029] Figure 11 This is a schematic diagram of the structure of the left clamping plate of the present invention.

[0030] Figure 12 This is a schematic diagram of the working mechanism of the present invention.

[0031] Figure Labels

[0032] 1. Incubator, 2. Camera, 3. Loading / unloading device, 4. PC terminal

[0033] 301. Lifting mechanism; 302. Translation mechanism; 303. Clamping mechanism.

[0034] 30101, Support plate; 30102, Slide rail A; 30103, Left bracket; 30104, Lifting plate.

[0035] 30105, Lead Screw A; 30106, Bearing; 30107, Motor A; 30108, Right Bracket.

[0036] 30201, Slide rail bracket; 30202, Motor B; 30203, Bearing housing A; 30204, Lead screw B;

[0037] 30205, Slide rail B; 30206, Translation slider; 30207, Support frame; 30301, Electric push rod A.

[0038] 30302, Push block; 30303, Tilting frame; 30304, Toothed shaft; 30305, Motor C.

[0039] 30306, Electric Actuator B; 30307, ​​Actuator Bracket; 30308, Electric Actuator C.

[0040] 30309, Clamping plate bracket; 30310, Motor D; 30311, Bearing housing B; 30312, Rotating shaft.

[0041] 30313, Left clamping plate; 30314, Connecting rod A; 30315, Hanger; 30316, Connecting rod B.

[0042] 30317, Electric actuator D; 30318, Right toothed jaw; 30319, Right gripper; 30320,

[0043] Left gripper, 30321, weight block, 30322, left toothed gripper, 30323, toothed block, 30324, right gripper plate Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0045] Reference Figure 1 A device for observing and recording embryonic development includes an incubator 1, a camera 2, a pick-and-place device 3, and a PC terminal 4. The pick-and-place device 3 is fixedly installed inside the incubator 1, the camera 2 is installed at the top inside the incubator 1, and the PC terminal 4 is installed on the outside of the incubator 1. The incubator 1 and the PC terminal 4 are connected.

[0046] Reference Figure 2 The picking and placing device 3 comprises a lifting mechanism 301, a translation mechanism 302 and a clamping mechanism 303. The translation mechanism 302 is fixedly installed on the front side of the lifting mechanism 301, and the clamping mechanism 303 is fixedly installed on the front side of the translation mechanism 302.

[0047] Reference Figure 3 The lifting mechanism 301 includes a support plate 30101, a slide rail A30102, a left bracket 30103, a lifting plate 30104, a lead screw A30105, a bearing 30106, a motor A30107, and a right bracket 30108. The slide rail A30102 and the lead screw A30105 are installed inside the support plate 30101 through the bearing 30106. The lifting plate 30104 is installed on the outside of the slide rail A30102 and the lead screw A30105. The left bracket 30103 is fixedly installed on the left side of the lifting plate 30104, and the right bracket 30108 is fixedly installed on the right side of the lifting plate 30104. The motor A30107 is installed above the lead screw A30105. The lead screw A30105 is connected to the motor A30107 through a coupling. The motor A30107 is fixed to the incubator 1.

[0048] Reference Figure 4The translation mechanism 302 includes a slide rail bracket 30201, a motor B30202, a bearing seat A30203, a lead screw B30204, a slide rail B30205, a translation slider 30206, and a support frame 30207. The motor B30202 is mounted above the left bracket 30103. A slide rail bracket 30201 is mounted on the outer side of the motor B30202, and a bearing seat A30203 is mounted on the inner side of the motor B30202. Another bearing seat A30204... 203 and another slide rail bracket 30201 are installed above the right bracket 30108. A slide rail B30205 is installed between the two slide rail brackets 30201. A lead screw B30204 is installed between the two bearing seats A30203. The lead screw B30204 is connected to the motor B30202 through a coupling. A translation slider 30206 is installed on the outside of the lead screw B30204 and the slide rail B30205. A support frame 30207 is fixedly installed on the front side of the translation slider 30206.

[0049] Reference Figure 5 and Figure 6The clamping mechanism 303 includes an electric push rod A30301, a push block 30302, a flipping frame 30303, a toothed shaft 30304, a motor C30305, an electric push rod B30306, a push rod bracket 30307, ​​an electric push rod C30308, a clamping plate bracket 30309, a motor D30310, a bearing seat B30311, a rotating shaft 30312, a left clamping plate 30313, a connecting rod A30314, a hanger 30315, a connecting rod B30316, an electric push rod D30317, a right toothed claw 30318, a right clamping claw 30319, a left clamping claw 30320, a weight 30321, a left toothed claw 30322, and a toothed block 30323. The two electric push rods A30301 are fixedly installed. In front of the support frame 30207, a push block 30302 is fixedly installed in front of the electric push rod A30301. A motor C30305 is fixedly installed above the push block 30302. A tilting frame 30303 is installed on one side of the motor C30305. A geared shaft 30304 is installed inside the tilting frame 30303 and is fixedly connected to the motor C30305 via a coupling. Two electric push rods B30306 are fixedly installed above the tilting frame 30303. A push rod bracket 30307 is fixedly installed above the electric push rods B30306. An electric push rod C30308 is fixedly installed above the push rod bracket 30307. A clamping plate bracket 30309 is fixedly installed in front of the electric push rod C30308. A motor D30310 and two bearing seats B30311 are fixedly installed above 309. A rotating shaft 30312 is installed between the two bearing seats B30311. The rotating shaft 30312 is connected to the motor D30310 via a coupling. A left clamping plate 30313 and a right clamping plate 30324 are installed on both sides of the clamping plate bracket 30309. The left clamping plate 30313 and the right clamping plate 30324 are respectively hinged to the clamping plate bracket 30309. One end of the connecting rod A30314 is hinged to the left clamping plate 30313, and the other end of the connecting rod A30314 is hinged to one end of the connecting rod B30316. The other end of the connecting rod B30316 is hinged to the right clamping plate 30324. A hanger 30315 is installed at the hinge point of the connecting rods A30314 and B30316. On the outside, the top of the hanger 30315 is connected to the rotating shaft via a steel wire rope. An electric push rod D30317 is fixedly installed inside the tilting frame 30303. A toothed block 30323 is fixedly installed in front of the electric push rod D30317. A right toothed claw 30318 and a left toothed claw 30322 are installed on both sides of the toothed block 30323. The right toothed claw 30318 and the left toothed claw 30322 are hinged to the tilting frame 30303. The teeth of the right toothed claw 30318 and the left toothed claw 30322 match the teeth of the toothed block 30323. A right gripper 30319 is installed inside the right toothed claw 30318 and is hinged to it. A left gripper 30320 is installed inside the left toothed claw 30322.The left gripper 30320 is hinged to the left toothed gripper 30322, and a weight 30321 is fixedly installed at the bottom of the right gripper 30319 and the left gripper 30320.

[0050] Reference Figure 6 The right toothed claw 30318 and the left toothed claw 30322 have incomplete tooth profiles.

[0051] Reference Figure 9 The opening at the hinge of the left gripper 30320 and the left toothed gripper 30322 is located slightly above the center of the left gripper 30320, and the opening at the hinge of the right gripper 30319 and the right toothed gripper 30318 is located slightly above the center of the right gripper 30319.

[0052] Reference Figure 12 When the device is started, the lifting mechanism 301 and the translation mechanism 302 move the clamping mechanism 303 to the side of the petri dish. The left jaw 30320 and the right jaw 30319 clamp the petri dish and send it below the camera 2 to photograph the petri dish lid. Then, the electric push rod C30308 drives the clamping plate bracket 30309 to move forward, and the motor D30310 drives the left clamping plate 30313 and the right clamping plate 30324 to clamp the petri dish lid. Under the action of the electric push rod B30306, the petri dish is separated from the lid. Then, the electric push rod C30308 drives the petri dish lid to move backward, and the motor C30305 drives the flipping frame 30303 to rotate, so that the device is in the correct position. Figure 12 As shown in the working state, the lifting mechanism 301 and the translation mechanism 302 then send each embryo in the culture dish to the camera 2 for imaging.

[0053] In practical applications, current hospital methods for imaging embryos involve manually removing the embryo from the incubator and placing it under an imaging device. During this process, the embryo's development is affected because it is removed from the incubator environment. This invention, based on the proposed device, employs a method that directly images the embryo within the incubator, thus overcoming the drawbacks of removing the embryo from the incubator for imaging. The specific method is as follows:

[0054] The method for observing and recording embryonic development includes:

[0055] S1, Place the embryo culture dish into incubator 1. The patient's name is written on the top of the culture dish lid.

[0056] S2, camera 2 and pick-and-place device 3 start working according to the set time. Pick-and-place device 3 delivers the embryo culture dish to the bottom of camera 2 one by one. Camera 2 takes a picture of the culture dish lid and transmits it to PC 4. PC 4 extracts the patient's name and creates a folder named after the patient's name.

[0057] S3, the pick-and-place device 3 opens the lid of the culture dish, places each embryo in the culture dish under the camera 2 for imaging, and transmits the captured images to a folder named after the patient;

[0058] S4, the PC terminal analyzes the captured embryo images and generates record documents.

[0059] The analysis of the embryo image in step S4 above includes cell number, cell size, and cell uniformity. Cell number refers to the total number of cells; cell size refers to the approximate diameter of the cell, which varies from day to day under normal development; cell uniformity refers to the proportion of the number of cells in the normal range. Normally developing cells are approximately round in shape and have a length-to-width ratio of approximately one, while abnormally developing cells do not have a length-to-width ratio of approximately one.

[0060] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0061] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution device.

[0062] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0063] For those skilled in the art, any changes, modifications, substitutions, and variations made to the embodiments without departing from the principles and spirit of the present invention, based on the teachings of the present invention, still fall within the protection scope of the present invention.

Claims

1. A device for observing and recording embryonic development, comprising an incubator, a camera, a loading / unloading device, and a PC, characterized in that: The incubator is equipped with a fixed loading and unloading device inside, a camera is mounted on the top of the incubator, and a PC terminal is mounted on the outside of the incubator, with the incubator and the PC terminal connected. The loading and unloading device includes a lifting mechanism, a translation mechanism, and a clamping mechanism. The translation mechanism is fixedly mounted on the front side of the lifting mechanism, and the clamping mechanism is fixedly mounted on the front side of the translation mechanism. The clamping mechanism includes an electric push rod A, a push block, a flipping frame, a toothed shaft, a motor C, an electric push rod B, a push rod bracket, an electric push rod C, a clamping plate bracket, a motor D, a bearing seat B, a rotating shaft, a left clamping plate, a connecting rod A, a hanger, and a connecting... The system includes rod B, electric push rod D, right toothed claw, right gripper, left gripper, weight, left toothed claw, and toothed block. Two electric push rods A are fixedly installed in front of the support frame. A push block is fixedly installed in front of each electric push rod A. A motor C is fixedly installed above each push block. A tilting frame is installed on one side of the motor C. A toothed shaft is installed inside the tilting frame and is fixedly connected to the motor C via a coupling. Two electric push rods B are fixedly installed above the tilting frame. A push rod bracket is fixedly installed above each electric push rod B. An electric push rod C is fixedly installed above the push rod bracket. A clamping bracket is fixedly installed in front of push rod C. A motor D and two bearing seats B are fixedly installed above the clamping bracket. A rotating shaft is installed between the two bearing seats B, and the rotating shaft is connected to the motor D via a coupling. A left clamping plate and a right clamping plate are installed on both sides of the clamping bracket, and the left and right clamping plates are respectively hinged to the clamping bracket. One end of connecting rod A is hinged to the left clamping plate, and the other end of connecting rod A is hinged to one end of connecting rod B. The other end of connecting rod B is hinged to the right clamping plate. A hanger is installed outside the hinge point of connecting rod A and connecting rod B. The top of the hanger... The rotating frame is connected to the rotating shaft by a steel wire rope. An electric push rod D is fixedly installed inside the rotating frame. A toothed block is fixedly installed in front of the electric push rod D. A right toothed claw and a left toothed claw are installed on both sides of the toothed block. The right toothed claw and the left toothed claw are respectively hinged to the rotating frame. The tooth shape of the right toothed claw and the left toothed claw matches the tooth shape of the toothed block. A right clamping claw is installed on the inner side of the right toothed claw. The right clamping claw is hinged to the right toothed claw. A left clamping claw is installed on the inner side of the left toothed claw. The left clamping claw is hinged to the left toothed claw. A weight is fixedly installed at the bottom of the right clamping claw and the left clamping claw. The opening at the hinge point between the left gripper and the left toothed gripper is located slightly above the center of the left gripper, and the opening at the hinge point between the right gripper and the right toothed gripper is located slightly above the center of the right gripper.

2. The apparatus for observing and recording embryonic development as described in claim 1, characterized in that: The lifting mechanism includes a support plate, a slide rail A, a left bracket, a lifting plate, a lead screw A, a bearing, a motor A, and a right bracket. The slide rail A and the lead screw A are installed inside the support plate via bearings. The lifting plate is installed on the outside of the slide rail A and the lead screw A. The left bracket is fixedly installed on the left side of the lifting plate, and the right bracket is fixedly installed on the right side of the lifting plate. The motor A is installed above the lead screw A and is connected to the motor A via a coupling. The motor A is fixed to the incubator.

3. The apparatus for observing and recording embryonic development as described in claim 2, characterized in that: The translation mechanism includes a slide rail bracket, a motor B, a bearing seat A, a lead screw B, a slide rail B, a translation slider, and a support frame. The motor B is mounted above the left bracket. A slide rail bracket is mounted on the outside of the motor B, and a bearing seat A is mounted on the inside of the motor B. Another bearing seat A and another slide rail bracket are mounted above the right bracket. A slide rail B is installed between the two slide rail brackets, and a lead screw B is installed between the two bearing seats A. The lead screw B is connected to the motor B via a coupling. A translation slider is mounted on the outside of the lead screw B and the slide rail B, and a support frame is fixedly mounted on the front side of the translation slider.

4. The apparatus for observing and recording embryonic development as described in claim 1, characterized in that: The right and left toothed claws have incomplete tooth shapes.

5. A method for observing and recording embryonic development based on the device described in claim 1, characterized in that: The method includes: S1, Place the embryo culture dish into the incubator. The patient's name is written on the top of the culture dish lid. S2, the camera and the pick-and-place device start working according to the set time. The pick-and-place device delivers the embryo culture dishes one by one to the bottom of the camera. The camera takes a picture of the culture dish lid and transmits it to the PC. The PC extracts the patient's name and creates a folder named after the patient's name. S3, the aforementioned pick-and-place device opens the lid of the culture dish, places each embryo in the culture dish under the camera for photographing, and transmits the photographed image to a folder named after the patient; S4, the PC terminal analyzes the captured embryo images and generates a record document.

6. The method for observing and recording embryonic development as described in claim 5, characterized in that: The analysis of the embryo image in step S4 includes cell number, cell size, and cell uniformity. Cell number refers to the total number of cells, cell size refers to the approximate diameter of the cells, and cell uniformity refers to the proportion of the number of cells in the normal range.

Images