Liquid-based cell imaging methods, imaging devices, and storage media

Abstract

This application relates to the field of image capture, specifically disclosing a method, device, and storage medium for capturing liquid-based cells. The method includes: acquiring a panoramic image of the liquid-based cells and determining the cell region where the liquid-based cells are located based on the panoramic image; selecting multiple viewpoints within the cell region and determining the focal position of each viewpoint; constructing a three-dimensional model of the cell region based on the focal positions and planar positions of the multiple viewpoints; and controlling the movement of the capturing device based on the three-dimensional model to capture images of the cell region. The liquid-based cell capture method provided in this application can improve the capture speed.

Description

Technical Field

[0001] This application relates to the field of image capture, and more particularly to a liquid-based cell capture method, capture device, and storage medium. Background Technology

[0002] With the development of image processing and digital imaging technologies, digital microscopy can be used to scan liquid-based cells and obtain digital images. This allows pathologists or physicians to remotely review slides based on digital images, enabling accurate diagnoses of complex cases. However, because the number and position of liquid-based cells on the slide are not fixed, the focal point of each field of view is different during scanning. Refocusing is required after each imaging session to ensure the clarity of the resulting digital image, which also makes the scanning process relatively slow. Summary of the Invention

[0003] This application provides a liquid-based cell imaging method, imaging device, and storage medium to improve imaging speed.

[0004] In a first aspect, this application provides a method for imaging liquid-based cells, the method comprising:

[0005] Acquire a panoramic image of the liquid-based cell, and determine the cell region where the liquid-based cell is located based on the panoramic image;

[0006] Multiple field-of-view points are selected within the cell region, and the focal position of each field-of-view point is determined;

[0007] A three-dimensional model of the cell region is constructed based on the focal positions and planar positions of the multiple field-of-view points;

[0008] The camera is controlled to move based on the three-dimensional model and to capture images of the cell region.

[0009] Secondly, this application also provides a shooting device, including a camera device and a controller, wherein the camera device is used to perform shooting and imaging, and the controller includes a memory and a processor;

[0010] The memory is used to store computer programs;

[0011] The processor is configured to execute the computer program and, in executing the computer program, implement the liquid-based cell imaging method as described above.

[0012] Thirdly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the liquid-based cell imaging method described above.

[0013] This application discloses a method, device, and storage medium for imaging liquid-based cells. The method involves acquiring a panoramic image of the liquid-based cells, determining the cell region based on the panoramic image, selecting multiple viewpoints within the cell region, and determining the focal position of each viewpoint. Subsequently, a three-dimensional model of the entire cell region is constructed based on the focal and planar positions of the viewpoints. Finally, the imaging device is moved and imaged based on the three-dimensional model. By constructing a three-dimensional model of the entire cell region based on the three-dimensional spatial coordinates of a few viewpoints within the cell region, and controlling the imaging device based on the constructed three-dimensional model to image the cell region, the method improves imaging speed while ensuring image clarity. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic flowchart illustrating the steps of a liquid-based cell imaging method provided in an embodiment of this application;

[0016] Figure 2 This is a schematic diagram of the determined shooting area provided in the embodiments of this application;

[0017] Figure 3 This is a schematic diagram showing the location of the starting point of the shooting path provided in the embodiments of this application;

[0018] Figure 4a This is a schematic diagram of a shooting path provided in an embodiment of this application;

[0019] Figure 4b This is a schematic diagram of another shooting path provided in an embodiment of this application;

[0020] Figure 5 This is a schematic block diagram of the structure of a shooting device provided in an embodiment of this application. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0023] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0024] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0025] Embodiments of this application provide a method, apparatus, and storage medium for imaging liquid-based cells. This method can be used to scan and image liquid-based cell slides for digital imaging.

[0026] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Please see Figure 1 , Figure 1 This is a schematic flowchart of a liquid-based cell imaging method provided in an embodiment of this application. This liquid-based cell imaging method constructs a three-dimensional model of the entire cell region using the three-dimensional spatial coordinates of a small number of viewpoints, thereby shortening the focusing time of the imaging device on the field of view during the imaging process and increasing the imaging speed.

[0028] like Figure 1 As shown, the liquid-based cell imaging method specifically includes steps S101 to S104.

[0029] S101. Obtain a panoramic image of the liquid-based cell and determine the cell region where the liquid-based cell is located based on the panoramic image.

[0030] First, push the slide coated with liquid-based cells to the microscopic examination position. At this time, a wide-angle camera can be used to take a panoramic image of the slide, which includes the cell area where the liquid-based cells are located and the background area of ​​the slide.

[0031] In one embodiment, before determining the cell region where the liquid-based cells are located based on the panoramic image, the panoramic image can be preprocessed to eliminate irrelevant information, simplify the data, and improve the accuracy of image recognition. Image preprocessing may include at least one of several methods such as filtering and noise reduction, grayscale conversion, and morphological processing of the panoramic image.

[0032] After obtaining the panoramic image, image recognition can be performed on the panoramic image to identify the cell region where the liquid-based cells are located.

[0033] In one embodiment, determining the cell region where the liquid-based cells are located based on the panoramic image can be done using an image segmentation method. This method involves segmenting the cell region containing the liquid-based cells from the background region of the slide, thereby determining the cell region where the liquid-based cells are located. The image segmentation method can be threshold-based segmentation, region-based segmentation, or edge-based segmentation.

[0034] After identifying the cell region where the liquid-based cells are located, the cell region is moved to below the objective lens of the imaging device by horizontal movement along the X-axis and / or Y-axis, so as to facilitate imaging of the cell region.

[0035] S102. Select multiple field-of-view points within the cell region and determine the focal position of each field-of-view point.

[0036] When selecting viewpoints within a cell region, they can be selected randomly or according to certain selection rules. In practice, the selected viewpoints can be distributed throughout the entire cell region to ensure the accuracy of the subsequent 3D model of the cell region.

[0037] In one embodiment, the step of selecting multiple field-of-view points within a cell region may include: segmenting the cell region to obtain multiple segmented regions, and selecting a field-of-view point within each segmented region.

[0038] First, the cell region is segmented. During segmentation, the cell region can be divided into multiple segments of the same size according to a preset size, or into multiple segments of different sizes. After obtaining multiple segments, at least one field of view can be selected in each segment, so that the selected field of view covers the entire cell region.

[0039] After determining multiple field-of-view points, the focal position of each field-of-view point is determined. The focal position of a field-of-view point refers to the focusing position of the objective lens when shooting at that point. When shooting at the field of view corresponding to that field-of-view point from the focusing position, the clearest image can be obtained.

[0040] In one embodiment, the step of determining the focal position of each field of view point may include: acquiring at least two images of the field of view point captured by the imaging device at different objective lens heights; calculating the sharpness value of the captured images, and obtaining the objective lens height of the imaging device corresponding to the captured image with the highest sharpness value, and determining the focal position of the field of view point based on the objective lens height.

[0041] When determining the focal position of the field of view, the vertical distance between the imaging device and the slide along the Z-axis can be adjusted. This vertical distance adjusts the objective lens height of the imaging device. Then, the imaging device is controlled to take pictures at different objective lens heights, i.e., at different objective lens heights, capturing images of the field of view. At least two images are obtained at each height. The sharpness value of each image is then calculated; a higher sharpness value indicates a sharper image. In practice, the Tenengrad evaluation function can be used to calculate the sharpness value of each image.

[0042] After calculating the sharpness value of each captured image, the image with the highest sharpness value can be selected from at least two captured images based on these values. This image with the highest sharpness value is then used as the image captured at the focal position. The objective lens height corresponding to this image with the highest sharpness value is then obtained, and the focal position of the field of view can be determined based on this objective lens height.

[0043] S103. Construct a three-dimensional model of the cell region based on the focal position and planar position of the field of view.

[0044] After obtaining the focal position of each field of view point, the Z-axis coordinate of the field of view point can be determined based on the focal position, and the X-axis and Y-axis coordinates of the field of view point can be determined based on the planar position of the field of view point, thereby obtaining the three-dimensional spatial coordinates of each field of view point, and constructing a three-dimensional model of the entire cell region based on the three-dimensional spatial coordinates of each field of view point.

[0045] The planar position of the viewpoint can be determined based on its location within the cell region or its location within the panoramic image. The positions of the origin, X-axis, Y-axis, and Z-axis of the three-dimensional coordinate system can be determined based on actual conditions.

[0046] In another embodiment, the step of constructing a three-dimensional model of the cell region based on the focal positions and planar positions of the plurality of field-of-view points may include: determining the focal position of the imaging point within the cell region based on the focal positions and planar positions of the plurality of field-of-view points and the planar positions of other imaging points within the cell region; and constructing a three-dimensional model of the cell region based on the focal positions and planar positions of the imaging points, as well as the focal positions and planar positions of the field-of-view points.

[0047] In other words, the focal position of other imaging points within a cell region can be predicted based on the focal position and planar position of each field of view point, as well as the planar position of other imaging points within the cell region. The field of view corresponding to each imaging point and the field of view corresponding to each field of view point together constitute the field of view of the entire cell region.

[0048] Then, based on the estimated focal positions of other imaging points within the cell region and the planar positions of each other imaging point within the cell region, the three-dimensional spatial coordinates of each imaging point within the cell region are determined. The three-dimensional spatial coordinate system of the imaging point is the same as the three-dimensional spatial coordinate system of the field of view point.

[0049] The planar position of the imaging point can be determined based on the position of the field of view point within the cell region, or it can be determined based on the position of the field of view point in the panoramic image.

[0050] By using the focal positions of a few field-of-view points to predict the focal positions of other imaging points within the entire cell region, a three-dimensional model of the entire cell region can be constructed based on the three-dimensional spatial coordinates of the field-of-view points and the three-dimensional spatial coordinates of the imaging points. This results in a more refined three-dimensional model that better reflects the actual cell region.

[0051] In practice, slope fitting and surface fitting can be performed based on the focal positions of multiple field points to determine the focal positions of other imaging points within the cell region.

[0052] Before determining the focal position of the shooting point within the cell region based on the focal position of the field of view, abnormal field of view points with abnormal focal positions can be removed from the field of view points. For example, a random sampling consensus algorithm can be used.

[0053] S104. Based on the three-dimensional model, control the movement of the imaging device and capture images of the cell region.

[0054] After obtaining a 3D model of the entire cell region, the imaging device can be controlled to move and image the cell region based on this model. In practice, the imaging device can be controlled to move in the planar and / or vertical directions based on the 3D spatial coordinates of each field of view and / or imaging point in the 3D model. Upon reaching the coordinates of the field of view and / or imaging point, the device will capture an image of the corresponding field of view. By pre-constructing a 3D model and controlling the movement of the imaging device based on its 3D spatial coordinates to image the cell region, the focusing time during the imaging process is shortened, and the imaging speed is increased.

[0055] In one embodiment, the step of controlling the movement of the imaging device based on the three-dimensional model and imaging the cell region may include: determining the imaging area based on the cell region; and controlling the movement of the imaging device based on the imaging area and the three-dimensional model and imaging the cell region.

[0056] The imaging area can be determined based on the cellular region, ensuring that the imaging area encompasses the entire cellular region. For example... Figure 2 The diagram shows the imaging area. The black circular area represents the cell region of the liquid-based cell, and the adjacent square area outside the black circular area is the imaging area. Figure 2 As can be seen, the imaging area encompasses the entire cellular region and may also include a portion of the slide area without liquid-based cells.

[0057] Alternatively, in the specific implementation process, the shooting area can be determined based on the constructed 3D model of the cell region. When determining the shooting area, it can be based solely on the planar position within the 3D model. Here, the planar position within the 3D model of the cell region is also the planar position where the cell region is located, ensuring that the determined shooting area includes the cell region.

[0058] In one embodiment, the step of determining the imaging region based on the cell region may include: obtaining the region boundary of the cell region; constructing an imaging boundary based on the region boundary; and determining the imaging region based on the imaging boundary, wherein the imaging region includes the cell region.

[0059] In practice, the boundaries of the cell region can be determined based on the captured panoramic image. Specifically, when identifying the cell region containing the liquid-based cell using the panoramic image, the boundaries of that cell region can be determined accordingly. Alternatively, the boundaries of the cell region can be determined based on a 3D model of the cell region. Specifically, the boundaries of the cell region can be determined using the planar coordinates of each imaging point and / or field of view point within the cell region.

[0060] After obtaining the boundary of the cell region, a shooting boundary can be constructed based on this boundary. The constructed shooting boundary constitutes the shooting area. That is, a larger shooting area is constructed to include the cell region, so as to ensure the integrity of the cell region in the image.

[0061] Once the shooting area is determined, the movement of the shooting device can be controlled based on the determined shooting area and the 3D model to shoot the cell area.

[0062] The range and path of motion of the imaging device can be determined based on the imaging area, enabling the imaging device to capture the entire imaging area completely. Furthermore, the imaging position of the imaging device can be determined based on the 3D model, allowing the imaging device to capture the cell region according to the position of each coordinate point in the 3D model.

[0063] In one embodiment, the step of controlling the movement of the imaging device based on the imaging area and the three-dimensional model to image the cell region may include: setting the imaging path of the imaging device based on the imaging area; and controlling the movement of the imaging device according to the three-dimensional model and the imaging path to adjust the imaging position so as to image the cell region.

[0064] When setting the shooting path, you can set the shooting path arbitrarily within the shooting area according to the actual shooting situation or usage habits. For example, you can set an S-shaped shooting path or any other shooting path within the shooting area.

[0065] In practice, you can first set the starting point of the shooting path, and then set the corresponding shooting path based on that starting point. The starting point of the path can be any point in the shooting area, either on the shooting boundary of the shooting area or within the shooting area.

[0066] For example Figure 3 As shown, the starting point of the path can be at point A, the intersection of the left and upper shooting boundaries; point B, the intersection of the left and lower shooting boundaries; point C, the intersection of the right and lower shooting boundaries; point D, the intersection of the right and upper shooting boundaries; or point E on the right shooting boundary.

[0067] For example Figure 4a As shown, the starting point of the shooting path is located at point A, the intersection of the left and upper shooting boundaries of the shooting area. The shooting path of the shooting device is as follows in the horizontal direction: Figure 4a As indicated by the dashed arrow, the movement direction is to the right. After the imaging device moves to the right boundary of the imaging area, it can move along the Y-axis based on the planar coordinates of the imaging point and / or the field of view in the 3D model, and then continue to move along the X-axis.

[0068] like Figure 4b As shown in the diagram, the starting point of the shooting path is located at point D, the intersection of the right and upper shooting boundaries of the shooting area. The shooting path of the shooting device is as follows in the horizontal direction: Figure 4b As shown by the dashed arrow, the direction of movement can be to the left. After the imaging device moves to the left boundary of the imaging area, it can move along the Y-axis according to the planar coordinates of the imaging point and / or the field of view in the 3D model, and then continue to move along the X-axis.

[0069] It is understood that the above description is provided as an example to facilitate understanding of the technical solution of this application and does not limit the specific content of this solution. In practical applications, when determining the shooting path, the movement can also be from the lower shooting boundary to the upper shooting boundary or from the upper shooting boundary to the lower shooting boundary, and the cell region can be photographed during the movement.

[0070] After determining the shooting path, the movement of the shooting device can be controlled based on the 3D model and the shooting path, thereby adjusting the shooting position of the shooting device to facilitate the shooting of the cell area.

[0071] When controlling the movement of the imaging device, the horizontal shooting position can be determined based on the planar positions of each imaging point and / or field of view point within the shooting area. Alternatively, the horizontal shooting position can be determined based on the planar coordinates of each imaging point and / or field of view point in the 3D model, i.e., the X-axis and Y-axis coordinates.

[0072] Furthermore, the objective lens height of the imaging device in each field of view, i.e., the vertical imaging position, can be determined based on the three-dimensional spatial coordinates of each imaging point and / or field of view point in the three-dimensional model. The objective lens height is determined by the vertical coordinates of each imaging point and / or field of view point, i.e., the Z-axis coordinate.

[0073] After determining the horizontal and vertical shooting positions of the shooting device, the device can be moved to the corresponding shooting position to take pictures.

[0074] Furthermore, during the movement of the imaging device, the height of the objective lens in the vertical direction can be adjusted simultaneously with the horizontal movement of the device to facilitate imaging of the cellular region. This simultaneous horizontal and vertical movement reduces the time required for position adjustments during imaging, enabling rapid imaging of the entire cellular region and improving imaging speed and efficiency.

[0075] The liquid-based cell imaging method provided in the above embodiments acquires a panoramic image of the liquid-based cell, determines the cell region where the liquid-based cell is located based on the panoramic image, selects multiple viewpoints within the cell region, and determines the focal position of each viewpoint. Subsequently, a three-dimensional model of the entire cell region is constructed based on the focal position and planar position of the viewpoints. Finally, the imaging device is controlled to move and image the cell region based on the three-dimensional spatial coordinates of a few viewpoints within the cell region. By constructing a three-dimensional model of the entire cell region based on the three-dimensional spatial coordinates of a few viewpoints within the cell region, and controlling the imaging device to move and image the cell region based on the constructed three-dimensional model, the imaging speed is improved while ensuring image clarity.

[0076] Please see Figure 5 , Figure 5 This is a schematic block diagram illustrating the structure of an imaging device according to an embodiment of this application. The imaging device includes a camera and a controller. The camera is connected to the controller, which controls the movement of the camera to capture images of the cell region. The camera can be a webcam, camera, or other device capable of image capture.

[0077] The controller includes a processor, memory, and network interface connected via a system bus. The memory may include non-volatile storage media and internal memory.

[0078] Non-volatile storage media can store operating systems and computer programs. These computer programs include program instructions that, when executed, cause the processor to perform any liquid-based cell imaging method.

[0079] The processor provides computing and control capabilities to support the operation of the entire shooting device.

[0080] Internal memory provides an environment for the execution of computer programs in non-volatile storage media. When executed by a processor, the computer program enables the processor to perform any liquid-based cell imaging method.

[0081] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the imaging device to which the present application is applied. A specific imaging device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0082] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0083] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0084] Acquire a panoramic image of the liquid-based cell, and determine the cell region where the liquid-based cell is located based on the panoramic image;

[0085] Multiple field-of-view points are selected within the cell region, and the focal position of each field-of-view point is determined;

[0086] A three-dimensional model of the cell region is constructed based on the focal positions and planar positions of the plurality of field of view points;

[0087] The camera is controlled to move based on the three-dimensional model and to capture images of the cell region.

[0088] In one embodiment, before determining the cell region where the liquid-based cell is located based on the panoramic image, the processor is configured to:

[0089] The panoramic image is preprocessed, and the preprocessing includes at least one of filtering and noise reduction and morphological processing.

[0090] In one embodiment, when the processor selects multiple field points within the cell region, it is configured to:

[0091] The cell region is segmented to obtain multiple segmented regions, and the field of view point is selected within each segmented region.

[0092] In one embodiment, when determining the focal position of each of the viewpoints, the processor is configured to:

[0093] Acquire at least two images of the field of view taken by the imaging device at different heights of the objective lens at the same viewpoint;

[0094] Calculate the image sharpness value, obtain the objective lens height of the imaging device corresponding to the image with the highest sharpness value, and determine the focal position of the field of view point based on the objective lens height.

[0095] In one embodiment, when the processor constructs a three-dimensional model of the cell region based on the focal positions and planar positions of the plurality of viewpoints, it is configured to:

[0096] The focal position of other imaging points within the cell region is determined based on the focal position and planar position of the plurality of field-of-view points, as well as the planar position of other imaging points within the cell region;

[0097] A three-dimensional model of the cell region is constructed based on the focal position and planar position of the imaging point, as well as the focal position and planar position of the field of view.

[0098] In one embodiment, when the processor controls the movement of the imaging device based on the three-dimensional model and images the cell region, it is configured to:

[0099] The imaging area is determined based on the described cell region;

[0100] The camera is controlled to move according to the shooting area and the three-dimensional model, and the cell area is then photographed.

[0101] In one embodiment, when implementing the determination of the imaging region based on the cell region, the processor is configured to:

[0102] Obtain the region boundary of the cell region;

[0103] A shooting boundary is constructed based on the region boundary, and a shooting region is determined based on the shooting boundary, wherein the shooting region includes the cell region.

[0104] In one embodiment, when the processor controls the movement of the imaging device based on the imaging area and the three-dimensional model to image the cell region, it is configured to:

[0105] The shooting path of the shooting device is set based on the shooting area;

[0106] The camera is controlled to move and adjust its position according to the 3D model and the shooting path in order to capture images of the cell region.

[0107] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement any of the liquid-based cell imaging methods provided in the embodiments of this application.

[0108] The computer-readable storage medium can be an internal storage unit of the shooting device described in the foregoing embodiments, such as the hard disk or memory of the shooting device. Alternatively, the computer-readable storage medium can be an external storage device of the shooting device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the shooting device.

[0109] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for imaging liquid-based cells, characterized in that, The method includes: Acquire a panoramic image of the liquid-based cell, and determine the cell region where the liquid-based cell is located based on the panoramic image; Multiple field-of-view points are selected within the cell region, and the focal position of each field-of-view point is determined; The focal positions of other imaging points within the cell region are determined based on the focal positions and planar positions of the plurality of field-of-view points, and the planar positions of other imaging points within the cell region; or The planar position of the imaging point is determined based on the position of the field of view point within the cell region or in the panoramic image; the focal position of the imaging point is determined by performing slope fitting and surface fitting based on the focal positions of the multiple field of view points. A three-dimensional model of the cell region is constructed based on the focal position and planar position of the imaging point, as well as the focal position and planar position of the field of view. The camera is controlled to move based on the three-dimensional model and to capture images of the cell region.

2. The liquid-based cell imaging method according to claim 1, characterized in that, Before determining the cell region where the liquid-based cell is located based on the panoramic image, the method includes: The panoramic image is preprocessed, and the preprocessing includes at least one of filtering and noise reduction and morphological processing.

3. The liquid-based cell imaging method according to claim 1, characterized in that, The selection of multiple field-of-view points within the cell region includes: The cell region is segmented to obtain multiple segmented regions, and the field of view point is selected within each segmented region.

4. The liquid-based cell imaging method according to claim 1, characterized in that, Determining the focal position of each of the viewpoints includes: Acquire at least two images of the field of view taken by the imaging device at different heights of the objective lens at the same viewpoint; Calculate the image sharpness value, obtain the objective lens height corresponding to the image with the highest sharpness value, and determine the focal position of the field of view point based on the objective lens height.

5. The liquid-based cell imaging method according to claim 1, characterized in that, The process of controlling the movement of the imaging device based on the three-dimensional model and imaging the cell region includes: The imaging area is determined based on the described cell region; The camera is controlled to move according to the shooting area and the three-dimensional model, and the cell area is then photographed.

6. The liquid-based cell imaging method according to claim 5, characterized in that, The step of determining the imaging area based on the cell region includes: Obtain the region boundary of the cell region; A shooting boundary is constructed based on the region boundary, and a shooting region is determined based on the shooting boundary, wherein the shooting region includes the cell region.

7. The liquid-based cell imaging method according to claim 5, characterized in that, The step of controlling the movement of the imaging device and imaging the cell region based on the imaging area and the three-dimensional model includes: The shooting path of the shooting device is set based on the shooting area; The camera is controlled to move and adjust its position according to the 3D model and the shooting path in order to capture images of the cell region.

8. A shooting device, characterized in that, It includes a camera device and a controller, the camera device being connected to the controller for capturing images, and the controller including a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the liquid-based cell imaging method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the liquid-based cell imaging method as described in any one of claims 1 to 7.

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