An ovicoracal complex replica and egg collecting method

Abstract

The present application relates to a kind of egg crown hill complex imitation and egg picking method, egg crown hill complex imitation and egg picking method, including, by being arranged on microscope image collector and central control module, the image signal of feedback by central control module processing image collector is positioned to the position of egg crown hill complex and egg picking piece, by analyzing the positional relationship of egg picking piece and egg crown hill complex in the process of egg picking, mechanical arm is adjusted, by observing the running track of mechanical arm, determine whether the operation program and egg picking piece appear problem, according to the determination result, mechanical arm is adjusted;Egg crown hill complex imitation includes, the center sphere made of elastic plastic material and the transparent viscous body of several particles by being bonded and being wrapped in the outside of the center sphere.The present application is trained and learned by setting the process of mechanical arm egg picking operation simulation method to mechanical arm egg picking operation, improves the efficiency of mechanical egg picking process.

Description

Technical Field

[0001] This invention relates to the field of reproductive medicine technology, and in particular to a replica of the cumulus coronoid complex and a method for egg retrieval. Background Technology

[0002] In the diagnostic and treatment work of the reproductive medicine center, a crucial aspect is the "egg retrieval surgery" performed by clinicians and the "egg collection procedure" performed by embryology laboratory staff. In the daily work of the embryology laboratory, staff must be proficient in the "egg collection" procedure. When female patients who meet the indications for in vitro fertilization (IVF) undergo ovulation induction treatment to mature follicles and release eggs, an egg retrieval surgery is performed. Under the guidance of transvaginal ultrasound, the clinician aspirates the target follicle via vaginal puncture. The cumulus-ovallum complex (COOC) and follicular fluid from the follicle are then collected in a sealed test tube. While maintaining the test tube temperature, the tube is quickly passed through the window between the egg retrieval operating room and the embryology laboratory staff. The staff then pours the liquid from the test tube into a 3003 dish and identifies and collects the COOC under a microscope. The COOC refers to the complex of the follicle, follicular cavity, follicular fluid, oocyte, cumulus, and radiating granulosa cells that form after follicle growth, enlargement, and differentiation. The clinician and laboratory staff repeat this procedure until all the target follicles have been collected.

[0003] In current technologies, the cumulus corona-cumulus complex (CUC) retrieval requires specialized embryology lab staff, and the process is entirely manual. Large-scale reproductive centers handle numerous patients daily, and replacing the retrieval process with precision machinery is a trend in the intelligent development of reproductive medicine. However, current precision retrieval processes have significant control loopholes regarding the equipment used, making it impossible to ensure the required precision in the retrieval process. Furthermore, to cherish each patient's precious oocytes, a replica of the CUC is needed to validate the efficiency of the retrieval equipment, avoiding the use of the actual CUC for equipment development and testing. Currently, there are few replicas of the CUC available. Summary of the Invention

[0004] Therefore, the present invention provides a replica of the cumulus coronae complex and a method for egg retrieval, in order to overcome the problem that the retrieval equipment used in the egg retrieval process in the prior art has significant control loopholes.

[0005] To achieve the above objectives, the present invention provides a method for collecting eggs using a replica of the cumulus coronae complex, characterized by comprising,

[0006] Step S1: Set up the third eyepiece, image acquisition device, and central control module on the microscope;

[0007] Step S2: Based on the image signal fed back by the image acquisition device, the central control module divides the egg collection dish into several areas according to the light transmittance to determine the specific location of the cumulus coronoid complex replica.

[0008] In step S3, the central control module divides the egg retrieval process into a transfer stage and an egg retrieval stage, and controls the egg retrieval process in the two stages separately.

[0009] Step S4: After the egg retrieval process is completed, the robotic arm, controlled by the central control module, places the cumulus coronoid complex replica into a double-well dish.

[0010] In step S3, during the transfer phase, the central control module determines the position coordinates of the egg-collecting device based on the position feedback from the image acquisition device. Based on the safe egg-collecting distance set within the central control module, it calculates the actual distance between the egg-collecting device and the imitation coronal cumulus complex, compares it with the safe egg-collecting distance, and determines the operating status of the robotic arm connected to the egg-collecting device. During the egg-collecting phase, the central control module is equipped with an egg-collecting track and a standard egg-collecting track. The egg-collecting track is divided into several points with equal movement distances, which are set as observation points. A specific comparative analysis is performed on these observation points to determine whether the robotic arm operation program and the installation position of the egg-collecting device are appropriate, and the detection results are displayed on the third eyepiece.

[0011] Furthermore, in step S2, the light transmittance of each substance in the oocyte collection dish is recorded, and the dish is divided into several regions based on the light transmittance. The central control module is equipped with a light transmittance acquisition value. For any region, the light transmittance is compared with the light transmittance acquisition value to determine whether the substance in this region of the oocyte collection dish is a replica of the cumulus ovalis complex.

[0012] For any substance,

[0013] If the transmittance is greater than or equal to the transmittance acquisition value, the central control module determines that the substance is a pseudo-crown cusp complex and marks the pseudo-crown cusp complex imitation with a green box.

[0014] If the transmittance is less than the transmittance acquisition value, the central control module determines that the substance is a blood clot or epithelial tissue.

[0015] Further, in step S2, the central control module performs overall identification and determines the intermediate shape and size of the pseudocromion complex imitation marked with a green box in the image acquisition device. The central control module stores standard identification images of the pseudocromion complex imitation, standard identification rate of the pseudocromion complex imitation, and standard diameter range of the central sphere of the pseudocromion complex imitation. The central control module calculates the identification rate of the pseudocromion complex imitation based on the standard identification images and determines the intermediate shape and size of the pseudocromion complex imitation to determine whether the pseudocromion complex imitation marked with a green box is a pseudocromion complex imitation.

[0016] For any replica of the pseudo-ovoid cumulus complex marked with a green box

[0017] If the recognition rate is greater than or equal to the standard recognition rate, and its center is circular, and the diameter range of the center falls within the standard diameter range, then the central control module determines that the pseudo-crown tumulus complex is a pseudo-crown tumulus complex, and at the same time changes the green frame to a red frame.

[0018] If any of the recognition rate, center shape, or center diameter range is not met, the central control module determines that the replica of the cumulus ovalis complex is a blood clot or epithelial tissue.

[0019] Furthermore, the egg-collecting device is equipped with a light-emitting element, and the image acquisition device transmits the position information of the light-emitting element to the central control module. The central control module locates the egg-collecting device based on the position of the light-emitting element.

[0020] The central control module calculates the actual distance between the position of the egg-collecting device and the position of the imitation coronal cumulus complex. The central control module is equipped with a safe egg-collecting distance and an egg-collecting origin point for the egg-collecting device. Based on the comparison between the actual distance and the safe egg-collecting distance, the central control module adjusts the operation of the robotic arm.

[0021] If the actual distance is less than or equal to the safe egg-collecting distance, the central control module controls the robotic arm to decelerate and drives the egg-collecting device to the egg-collecting origin. The central control module then controls the robotic arm to run along the egg-collecting track.

[0022] Furthermore, the central control module has several observation points set along the z-axis.

[0023] For any observation point, a standard feed distance is set. The image acquisition device collects the actual feed distance of each observation point in real time during the egg picking process. The central control module compares the detected actual feed distance with the corresponding standard feed distance to determine the operating status of the robotic arm.

[0024] If the actual feed distance is greater than the standard feed distance, the central control module determines that the robotic arm is malfunctioning.

[0025] If the actual feed distance is less than the standard feed distance, the central control module determines that the robotic arm is malfunctioning.

[0026] Furthermore, the central control module is equipped with a standard operating error value. For any observation point, the absolute value of the difference between the actual observation distance and the standard observation distance is calculated within the central control module.

[0027] If the calculated absolute value is less than or equal to the standard operating error value, the central control module determines that the robotic arm at the observation point is operating normally and continues to determine the next observation point.

[0028] If the calculated absolute value is greater than the standard operating error value, the central control module determines that the robotic arm at the observation point is not operating normally and controls the robotic arm to stop operating.

[0029] Furthermore, during the egg collection process, the central control module divides the actual observation distance into several collection groups based on the total number of eggs, and then numbers each of these collection groups.

[0030] For any collection group

[0031] The central control module stores the number of actual observation distances of its acquisition group. The central control module is equipped with an evaluation value for the number of acquisition points and a counting module. The central control module analyzes and processes each actual observation distance in the acquisition group, calculates and measures the evaluation value, and determines the installation status of the egg-collecting device based on the comparison between the calculated evaluation value and the evaluation value for the number of acquisition points.

[0032] The counting module starts counting when it begins to analyze and judge the data in this acquisition group, and then resets the count to zero after all the data in this acquisition group has been completely analyzed. The counting starts again when the next acquisition group is analyzed and judged.

[0033] If the calculated evaluation value equals the evaluation value of the number of collection points, the central control module will make a judgment on the installation status of the egg collection device and re-record the number of observation points.

[0034] Furthermore, during the egg collection process, the central control module records the actual feed distance of the egg collection device for each observation point in any collection group. The central control module stores a standard feed distance and calculates the error judgment value of the egg collection device based on the actual feed distance and the standard feed distance. The installation status of the egg collection device is then judged based on the error judgment value.

[0035] For all observation points in any acquisition group

[0036] If the error judgment values ​​of each existing egg-collecting device are equal and none of them are zero, the central control module determines that the egg-collecting device is installed incorrectly.

[0037] If the error judgment values ​​of all the existing egg-collecting devices are equal and all equal to zero, then the central control module determines that the egg-collecting devices are operating normally.

[0038] Furthermore, during the egg-collecting process, the central control module calculates the program judgment value for each observation point in any collection group based on the actual feed distance and standard feed distance of each observation point, and determines the program running status within the robotic arm connected to the egg-collecting device based on the value of the program judgment value.

[0039] For all observation points in any acquisition group

[0040] If all the existing running program judgment values ​​are equal and none of them are equal to one, then the central control module determines that the running program is incorrect.

[0041] If all the existing running program judgment values ​​are equal and all equal to one, then the central control module determines that the running program is running normally.

[0042] The present invention also provides a replica of the cumulus ovalis complex, comprising a central sphere made of elastic plastic material and a transparent adhesive body composed of several particles bonded together and surrounding the central sphere. The central sphere is opaque and has a diameter of 1-2 mm. The transparent adhesive body may contain blood clots and a single layer of epithelial tissue. The transparent adhesive body is internally adhered to the central sphere and has a spherical shape with a diameter of 5-25 mm. The transparent adhesive body may also be ellipsoidal with a long diameter of 5-25 mm and a short diameter of 3-20 mm.

[0043] Compared with existing technologies, the advantages of this invention are as follows: The central control module processes and analyzes images captured by the image acquisition device, identifies and locates the cumulus ovalis complex (CUC) replicas in the egg collection dish based on the light transmittance, size, and shape of each substance, and marks the identified CUC replicas with a red frame and displays them on the third eyepiece, facilitating direct and accurate confirmation of the CUC replicas' position by egg collectors. By setting safe and standard egg collection distances, the distance from the egg collection device to the CUC replica is compared with the safe distance, controlling the robotic arm's operation. This ensures that after rapid movement during the transfer process, the robotic arm can decelerate promptly and enter the egg collection track normally. To ensure normal operation during the egg collection stage, the actual observation distance at each observation point is detected and compared with the standard observation distance to determine if the actual egg collection track deviates. Furthermore, by grouping several observation points and analyzing the actual observation distance and corresponding standard observation distance of each group, the causes of egg collection track deviations are detected and judged in real time, improving the stability and accuracy of the equipment.

[0044] Furthermore, this invention compares the light transmittance of each substance in the oocyte collection dish with the light transmittance acquisition value set in the central control module, and filters and classifies the substances in the oocyte collection dish according to the light transmittance, removing blood clots and epithelial tissue impurities that affect observation, thereby improving the screening efficiency of each substance in the oocyte collection dish. At the same time, it marks the pseudo-ovum coronal complex imitation, laying the groundwork for further identification of the oum coronal complex imitation.

[0045] Furthermore, this invention performs overall identification and judgment of the shape and size of the pseudo-ovum coronal complex imitation marked with a green box in the image acquisition device by the central control module, and performs detailed identification of the pseudo-ovum coronal complex imitation marked with a green box, gradually locking in the pseudo-ovum coronal complex imitation and marking it with a red box, thus paving the way for the egg retrieval procedure.

[0046] Furthermore, this invention standardizes the operating trajectory of the egg-collecting device. Based on the operation process of the egg-collecting device, the standard operating conditions of several observation points are compared one by one. The standard egg-collecting trajectory of the egg-collecting device is determined according to the determined coordinate function, and the appropriateness of the operating procedure of the egg-collecting device is judged, thereby improving the accuracy of the egg-collecting operation.

[0047] Furthermore, this invention calculates the operating error value by comprehensively comparing the running track of the egg-collecting device with the standard running track, and compares it with the standard error value set by the robotic arm itself to determine whether the error value during the operation of the egg-collecting device meets the set requirements. This prevents deviations in the running amplitude of the egg-collecting device from damaging the cumulus coronoide complex replica, effectively avoiding the waste of the cumulus coronoide complex replica.

[0048] Furthermore, in this invention, the actual observation distance is divided into several acquisition groups according to its total number, and each value in the acquisition group is evaluated. At the same time, the value of each point is evaluated and accumulated until the calculated evaluation value in the acquisition group reaches the number of acquisition points or the counting module reaches the number value in the acquisition group. Then, a new observation and judgment are performed to ensure that the possible errors in the movement of the robotic arm are analyzed one by one.

[0049] Furthermore, after the egg-collecting device completes its normal operation along the track in this invention, there may be a situation where the track of the egg-collecting device deviates, but the deviation value does not exceed the standard operating error value. In response to the above situation, the egg-collecting process is monitored in real time, and the egg-collecting data is analyzed. In particular, the central control module calculates the actual observation distance and the standard observation distance for each group. If the egg-collecting device is installed too long or too short, it needs to be reinstalled.

[0050] Furthermore, this invention determines the robotic arm or operating program by calculating the ratio of the actual observation distance to its corresponding standard feed distance, checks the robotic arm's operating program, monitors the operating process in real time, and provides timely feedback on the operating status, allowing egg collectors to promptly identify errors and perform timely repairs, thereby improving the accuracy of the equipment.

[0051] Furthermore, the cumulus corona complex replica in this invention has a simple structure but a high degree of similarity to the real cumulus corona complex. Using the replica instead of the real cumulus corona complex for oocyte retrieval facilitates the simulation and adjustment of the oocyte retrieval equipment without relying on a small amount of the cumulus corona complex for adjustment, thus reducing the material costs of equipment debugging. Attached Figure Description

[0052] Figure 1 This is a flowchart of the oocyte retrieval method using the cumulus coronoid complex replica described in the embodiment;

[0053] Figure 2 This is a schematic diagram of the egg-collecting equipment used in the egg-collecting method for the cumulus coronoid complex replica described in the embodiment.

[0054] Figure 3 This is a schematic diagram of the structure of the replica of the cumulus ovalis complex described in the embodiment;

[0055] In the image, 1 is a microscope, 2 is an egg collection dish, 3 is a robotic arm, 4 is a third eyepiece, 5 is a central sphere, and 6 is a transparent mucus. Detailed Implementation

[0056] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0057] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0058] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0059] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] Please see Figure 1 , Figure 2 As shown, Figure 1 This is a flowchart illustrating the oocyte retrieval method using the cumulus coronoid complex replica described in the embodiment. Figure 2 This is a schematic diagram of the egg-collecting equipment used in the egg-collecting method for the cumulus coronoid complex replica described in the embodiment.

[0061] This invention provides a method for collecting oocytes using a replica of the cumulus coronae complex, characterized by comprising:

[0062] Step S1: Set up the third eyepiece, image acquisition device, and central control module on the microscope;

[0063] Step S2: Based on the image signal fed back by the image acquisition device, the central control module divides the egg collection dish into several areas according to the light transmittance to determine the specific location of the cumulus coronoid complex replica.

[0064] In step S3, the central control module divides the egg retrieval process into a transfer stage and an egg retrieval stage, and controls the egg retrieval process in the two stages separately.

[0065] Step S4: After the egg retrieval process is completed, the robotic arm, controlled by the central control module, places the cumulus coronoid complex replica into a double-well dish.

[0066] In step S3, during the transfer phase, the central control module determines the position coordinates of the egg-collecting device based on the position feedback from the image acquisition device. Based on the safe egg-collecting distance set within the central control module, it calculates the actual distance between the egg-collecting device and the imitation coronal cumulus complex, compares it with the safe egg-collecting distance, and determines the operating status of the robotic arm connected to the egg-collecting device. During the egg-collecting phase, the central control module is equipped with an egg-collecting track and a standard egg-collecting track. The egg-collecting track is divided into several points with equal movement distances, which are set as observation points. A specific comparative analysis is performed on these observation points to determine whether the robotic arm operation program and the installation position of the egg-collecting device are appropriate, and the detection results are displayed on the third eyepiece.

[0067] exist Figure 2In this embodiment, an egg-collecting device, which is a glass Pasteur pipette, is installed on the robotic arm 3. The movement of the robotic arm 3 is controlled by a central control module, which in turn controls the egg-collecting device to perform the egg-collecting operation. In this embodiment, a central control module and an image acquisition device are installed inside the microscope 1. The central control module processes and analyzes the images captured by the image acquisition device to identify and locate the cumulus coronoidea complex (CUC) replicas in the egg-collecting dish 2. The fully identified CUC replicas are marked with a red frame and displayed on the third eyepiece 4, allowing the egg-collecting personnel to visually and accurately confirm the location of the CUC replicas.

[0068] During the transfer phase, by setting safe and standard egg-collecting distances, the robotic arm 3 can decelerate promptly after rapid movement during the transfer process and enter the egg-collecting phase normally. To ensure the normal operation of the egg-collecting phase, the central control module sets an egg-collecting track and controls the robotic arm 3 to move along the track. By detecting the actual observation distance at the observation points and comparing it with the standard observation distance, it is determined whether the actual egg-collecting track deviates. Furthermore, by grouping several observation points and analyzing the actual observation distance and its corresponding standard observation distance for each group, the causes of egg-collecting track deviations can be detected and judged in real time, improving the equipment's performance. Stability and accuracy; in addition, the microscope 1 is a stereo microscope 1. The microscope 1 has no stage and is fixed in the ultra-clean workbench. The oocyte collection dish 2, the double-well dish and the robotic arm 3 are all set on the workbench. The double-well dish is used to hold the cumulus coronae complex. In the attached figure, the double-well dish overlaps with the oocyte collection dish 2, so it is not marked. The operator uses a binocular lens for the entire stereo microscope 1. The stereo microscope 1 has a third eyepiece 4 next to the binocular lens for projecting the interface for the operator to observe and assist the oocyte collector in viewing the operation. The image acquisition device and the central control module are both located inside the microscope 1. To avoid confusion in the figure, they are not shown in the figure.

[0069] This invention uses a central control module to process and analyze images captured by an image acquisition device. Based on the transmittance, size, and shape of each substance, it identifies and locates the cumulus ovalis complex (CUC) replicas within the egg-collecting dish. The identified CUC replicas are marked with a red frame and displayed on the third eyepiece, allowing egg collectors to visually and accurately confirm their location. By setting safe and standard egg-collecting distances, the distance from the egg-collecting device to the CUC replica is compared to the safe distance, controlling the robotic arm's operation. This ensures that after rapid movement, the robotic arm can decelerate promptly and enter the egg-collecting track normally. To ensure normal operation during the egg-collecting stage, the actual observation distance at each observation point is detected and compared with the standard observation distance to determine if the actual egg-collecting track deviates. Furthermore, by grouping several observation points and analyzing the actual observation distance and corresponding standard observation distance of each group, the causes of egg-collecting track deviations are detected and judged in real time, improving the stability and accuracy of the equipment.

[0070] In this embodiment, specifically, in step S2, the light transmittance of each substance in the egg collection dish is recorded, and the dish is divided into several regions according to the light transmittance. The central control module is set with a light transmittance acquisition value. For any region, the light transmittance is compared with the light transmittance acquisition value to determine whether the substance in this region of the egg collection dish is a replica of the cumulus ovalis complex.

[0071] For any substance,

[0072] If the transmittance is greater than or equal to the transmittance acquisition value, the central control module determines that the substance is a pseudo-crown cusp complex and marks the pseudo-crown cusp complex imitation with a green box.

[0073] If the transmittance is less than the transmittance acquisition value, the central control module determines that the substance is a blood clot or epithelial tissue.

[0074] The central control module is equipped with a transmittance acquisition value α. The central control module receives image signals from the image acquisition device transmitted within the egg collection dish 2, and numbers the transmittance of each substance within the egg collection dish 2 as the transmittance a1 of the first substance, a2 of the second substance, ..., a1 of the nth substance. n .

[0075] For the light transmittance a of the nth substance n ,

[0076] If a n If ≥α, the central control module determines that the substance is a pseudocromion complex and marks the pseudocromion complex imitation with a green box;

[0077] If a n If <α, the central control module determines that the substance is a blood clot or epithelial tissue.

[0078] This invention compares the light transmittance of each substance in the oocyte collection dish with the light transmittance acquisition value set in the central control module. Based on the light transmittance, the substances in the oocyte collection dish are screened and classified, and blood clots and epithelial tissue impurities that affect observation are removed, thereby improving the screening efficiency of each substance in the oocyte collection dish. At the same time, the pseudo-columellar complex imitation is marked, which lays the groundwork for further identification of the pseudo-columellar complex.

[0079] In this embodiment, specifically in step S2, the central control module performs overall identification and determines the intermediate shape and size of the pseudocromion complex imitation marked with a green box in the image acquisition device. The central control module stores standard identification images of the pseudocromion complex imitation, standard identification rate of the pseudocromion complex imitation, and standard diameter range of the central sphere of the pseudocromion complex imitation. The central control module calculates the identification rate of the pseudocromion complex imitation based on the standard identification images and determines the intermediate shape and size of the pseudocromion complex imitation to determine whether the pseudocromion complex imitation marked with a green box is a pseudocromion complex imitation.

[0080] For any replica of the pseudo-ovoid cumulus complex marked with a green box

[0081] If the recognition rate is greater than or equal to the standard recognition rate, and its center is circular, and the diameter range of the center falls within the standard diameter range, then the central control module determines that the pseudo-crown tumulus complex is a pseudo-crown tumulus complex, and at the same time changes the green frame to a red frame.

[0082] If any of the recognition rate, center shape, or center diameter range is not met, the central control module determines that the replica of the cumulus ovalis complex is a blood clot or epithelial tissue.

[0083] For several replicas of the cumulus ovalis complex, the central control module numbers the diameter of the replicas as the first replica, the second replica, ..., the mth replica.

[0084] The central control module stores standard recognition images of pseudo-crown cumulus complex replicas. The central control module compares the recognition image of the m-th pseudo-crown cumulus complex replica marked with a green box in the image acquisition device with the standard recognition image, and calculates the recognition rate Rm of the pseudo-crown cumulus complex replica.

[0085] The standard recognition rate R0 of the cumulus ovalis complex imitation in the central control module is 75%, and the standard diameter differentiation interval of the cumulus ovalis complex imitation is [1, 2].

[0086] If the recognition rate Rm = 80%, and the center of the m-th pseudo-crown cusp complex is circular, and the center diameter of the m-th pseudo-crown cusp complex is 1.5mm, then the central control module determines that the pseudo-crown cusp complex is a pseudo-crown cusp complex and changes the green frame to a red frame.

[0087] If the recognition rate Rm = 60%, and the center of the m-th pseudo-ovoid cumulus complex is elliptical, and the diameter of the center of the m-th pseudo-ovoid cumulus complex is 3mm, then the central control module determines that the pseudo-ovoid cumulus complex is a blood clot or epithelial tissue.

[0088] This invention uses a central control module to perform overall identification and determine the shape and size of the pseudo-ovum coronal complex imitation marked with a green box in the image acquisition device, and then performs detailed identification of the pseudo-ovum coronal complex imitation marked with a green box, gradually locking onto the pseudo-ovum coronal complex imitation and marking it with a red box, thus paving the way for the oocyte retrieval procedure.

[0089] In this embodiment, specifically, the egg-collecting device is equipped with a light-emitting element, and the image acquisition device transmits the position information of the light-emitting element to the central control module. The central control module locates the egg-collecting device based on the position of the light-emitting element.

[0090] The central control module calculates the actual distance between the position of the egg-collecting device and the position of the imitation coronal cumulus complex. The central control module is equipped with a safe egg-collecting distance and an egg-collecting origin point for the egg-collecting device. Based on the comparison between the actual distance and the safe egg-collecting distance, the central control module adjusts the operation of the robotic arm.

[0091] If the actual distance is less than or equal to the safe egg-collecting distance, the central control module controls the robotic arm to decelerate and drives the egg-collecting device to the egg-collecting origin. The central control module then controls the robotic arm to run along the egg-collecting track.

[0092] The central control module numbers several replicas of the cumulus corona complex, denoted as replica b1 of the first cumulus corona complex, replica b2 of the second cumulus corona complex, ..., replica b1 of the i-th cumulus corona complex. i The replica of the i-th fossa coronoid complex is located at coordinates (x...). i y i ,0). An egg-collecting component is mounted on robotic arm 3, and a light-emitting element is installed on the component. An image acquisition device captures the image of the light-emitting element and transmits it to the central control module. The central control module positions the egg-collecting component and sets its coordinates (x, y). j ′ y j ′ , z j ).

[0093] In this embodiment, specifically, the central control module has several observation points set along the z-axis direction.

[0094] For any observation point, a standard feed distance is set. The image acquisition device collects the actual feed distance of each observation point in real time during the egg picking process. The central control module compares the detected actual feed distance with the corresponding standard feed distance to determine the operating status of the robotic arm.

[0095] If the actual feed distance is greater than the standard feed distance, the central control module determines that the robotic arm is malfunctioning.

[0096] If the actual feed distance is less than the standard feed distance, the central control module determines that the robotic arm is malfunctioning.

[0097] The central control module sets the egg-collecting trajectory function, denoted as F(x), and sets several observation points along the z-axis, denoted as the first observation point Z1, the second observation point Z2, ..., the kth observation point Z. k The kth observation point Z k The observed coordinates on F(x) are (X k ,Y k Z k ), with the kth observation point Z k When the base point is Z, the position of the kth observation point is Z. k To the kth observation point Z k The observed coordinates (X) on F(x) k ,Y k Z k The distance is L. k L k Let Z be the observation point of the kth position. k The standard feed distance at the base point, where

[0098] The above describes the normal operation of the egg-collecting device according to the system standard. In actual operation, the track that the egg-collecting device actually travels on is the track captured by the image acquisition device.

[0099] The actual observation distances are numbered and denoted as the first actual observation distance l1, the second actual observation distance l2, ..., the kth actual observation distance l k .

[0100] For the kth observation point Z k It is equipped with a standard feed distance L k If l k >L k , or l k <L k The central control module determines that a problem has occurred in the operation of robotic arm 3; if l k =L k The central control module determines that the program is running normally.

[0101] This invention standardizes the operating trajectory of the egg-collecting device. Based on the operation process of the egg-collecting device, the standard operating conditions of several observation points are compared one by one. The standard egg-collecting trajectory of the egg-collecting device is determined according to the determined coordinate function, and the appropriateness of the operating procedure of the egg-collecting device is judged, thereby improving the accuracy of the egg-collecting operation.

[0102] In this embodiment, specifically, the central control module has a standard operating error value. For any observation point, the absolute value of the difference between the actual observation distance and the standard observation distance is calculated within the central control module.

[0103] If the calculated absolute value is less than or equal to the standard operating error value, the central control module determines that the robotic arm at the observation point is operating normally and continues to determine the next observation point.

[0104] If the calculated absolute value is greater than the standard operating error value, the central control module determines that the robotic arm at the observation point is not operating normally and controls the robotic arm to stop operating.

[0105] For any observation point, for the k-th observation point Z k It is equipped with a standard feed distance L k The central control module has a standard operating error value Δl0.

[0106] If |l k -L k If |≤Δl0, then the central control module determines the position of the k-th observation point Z. k The operation is normal; proceed to determine the next observation point. If |l k -L k If |>Δl0, the central control module determines that the robotic arm at the observation point is not operating normally and controls robotic arm 3 to stop running.

[0107] This invention calculates the operating error value by comprehensively comparing the running track of the egg-collecting device with the standard running track, and compares it with the standard error value set by the robotic arm itself to determine whether the error value during the operation of the egg-collecting device meets the set requirements. This prevents deviations in the running amplitude of the egg-collecting device from damaging the cumulus coronoide complex replica, effectively avoiding the waste of the cumulus coronoide complex replica.

[0108] In this embodiment, specifically, during the egg collection process, the central control module divides the actual observation distance into several collection groups based on the total number of eggs, and then numbers each of these collection groups.

[0109] For any collection group

[0110] The central control module stores the number of actual observation distances of its acquisition group. The central control module is equipped with an evaluation value for the number of acquisition points and a counting module. The central control module analyzes and processes each actual observation distance in the acquisition group, calculates and measures the evaluation value, and determines the installation status of the egg-collecting device based on the comparison between the calculated evaluation value and the evaluation value for the number of acquisition points.

[0111] The counting module starts counting when it begins to analyze and judge the data in this acquisition group, and then resets the count to zero after all the data in this acquisition group has been completely analyzed. The counting starts again when the next acquisition group is analyzed and judged.

[0112] If the calculated evaluation value equals the evaluation value of the number of collection points, the central control module will make a judgment on the installation status of the egg collection device and re-record the number of observation points.

[0113] The actual observation distances are divided into q acquisition groups based on their total number. The central control module is set with an evaluation value Pj for the number of acquisition points. The central control module assigns the actual observation distances l1, l2, ... l to each acquisition group. k The data collection groups were divided into several groups, and these groups were numbered as h1, h2, ..., h3. g The number of data collection groups, g, is the ratio of the total number of observation points, k, to the number of data points, q, within each data collection group, i.e., g = k / q.

[0114] For collection group h g The central control module stores the number q of actual observation distances, and the counting module calculates the measured evaluation value of the acquisition group based on the value of q. Where r is the number of data collection groups h g The actual observed distances within the range are numbered r = 1, 2, 3, ..., q.

[0115] If the evaluation value P is calculated g If the number of observation points equals the evaluation value Pj, the central control module will make a judgment on the installation status of the egg collection device and re-record the number of observation points.

[0116] In this invention, the actual observation distance is divided into several acquisition groups according to its total number, and each value in the acquisition group is evaluated. At the same time, the value of each point is evaluated and accumulated until the calculated evaluation value in the acquisition group reaches the number of acquisition points or the counting module reaches the number value in the acquisition group. Then, a new observation and judgment are performed to ensure that the possible errors in the movement of the robotic arm are analyzed one by one.

[0117] In this embodiment, specifically, during the egg collection process, the central control module records the actual feed distance of the egg collection device for each observation point in any collection group. The central control module stores a standard feed distance. It calculates the error judgment value of the egg collection device based on the actual feed distance and the standard feed distance, and judges the installation status of the egg collection device based on the error judgment value.

[0118] For all observation points in any acquisition group

[0119] If the error judgment values ​​of each existing egg-collecting device are equal and none of them are zero, the central control module determines that the egg-collecting device is installed incorrectly.

[0120] If the error judgment values ​​of all the existing egg-collecting devices are equal and all equal to zero, then the central control module determines that the egg-collecting devices are operating normally.

[0121] During the egg retrieval phase, the central control module controls the robotic arm 3 to move the egg-retrieval component to the egg-retrieval origin coordinates (x0, y0, z0), and then controls the counting module to count and record the number of observation points passed during the egg retrieval process. Simultaneously, the central control module records the actual observation distance l. k Its corresponding standard feed distance L k Subtract the values ​​and take the difference, which is the error judgment value Δl for egg collection. k .

[0122] For collection group h g When the counting module counts q, the central control module controls the acquisition group h. g Perform a calculation and control the counting module to reset to zero. If Δl1 = Δl2 = ... = Δl j If ≠0, the central control module determines that the egg-collecting component is installed incorrectly; if Δl1=Δl2=……=Δl j =0, the central control module determines that it is operating normally.

[0123] In this invention, after the egg-collecting device has completed its normal operation along the track, there may be a situation where the track of the egg-collecting device deviates, but the deviation value does not exceed the standard operating error value. To address this situation, the egg-collecting process is monitored in real time, and the egg-collecting data is analyzed. In particular, the central control module calculates the actual observation distance and the standard observation distance for each group. If the egg-collecting device is installed too long or too short, it needs to be reinstalled.

[0124] In this embodiment, specifically, during the egg-collecting process, the central control module calculates the program judgment value for each observation point in any collection group based on the actual feed distance and standard feed distance of each observation point, and determines the program running status within the robotic arm connected to the egg-collecting device based on the value of the program judgment value.

[0125] For all observation points in any acquisition group

[0126] If all the existing running program judgment values ​​are equal and none of them are equal to one, then the central control module determines that the running program is incorrect.

[0127] If all the existing running program judgment values ​​are equal and all equal to one, then the central control module determines that the running program is running normally.

[0128] During the egg collection process, the central control module controls the robotic arm 3 to move the egg collection device to the egg collection origin coordinates (x0, y0, z0), and then controls the counting module to count and record the number of observation points passed during the egg collection process. At the same time, the central control module takes the actual observation distance l. k Its corresponding standard feed distance L k The ratio of the two values ​​is denoted as the program's decision value l'. k When the counting module counts j, the central control module controls the acquisition group h. g Perform a calculation. If there exist l'1 = l'2 = ... = l' k ≠1, the central control module determines that the robotic arm 3's operating program has an error; if l'1=l'2=……=l' k =1, the central control module determines that the robotic arm 3 is running normally.

[0129] This invention determines the robotic arm or operating program by calculating the ratio of the actual observation distance to its corresponding standard feed distance, checks the robotic arm's operating program, monitors the operation process in real time, and provides timely feedback on the operating status. This allows egg collectors to promptly identify errors and perform timely repairs, thereby improving the accuracy of the equipment.

[0130] See Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of the replica of the cumulus ovalis complex described in the embodiment.

[0131] The present invention also provides a replica of the cumulus ovalis complex, comprising a central sphere made of elastic plastic material and a transparent adhesive body composed of several particles bonded together and surrounding the central sphere. The central sphere is opaque and has a diameter of 1-2 mm. The transparent adhesive body may contain blood clots and a single layer of epithelial tissue. The transparent adhesive body is internally adhered to the central sphere and has a spherical shape with a diameter of 5-25 mm. The transparent adhesive body may also be ellipsoidal with a long diameter of 5-25 mm and a short diameter of 3-20 mm.

[0132] The cumulus coronae complex replica has a central sphere 5 corresponding to the main body of the cumulus coronae complex, and a transparent mucus 6 corresponding to the granulosa cells attached around the cumulus coronae complex. That is, the transparent mucus 6 is composed of several particles bonded together. By replacing the main body and granulosa cells of the cumulus coronae complex with the central sphere 5 and the transparent mucus 6 respectively, its structure is simple and can be supplemented with materials similar to blood clots and white epithelial tissue, realistically mimicking the situation in reality where granulosa cells sometimes adhere to impurities such as blood clots and epithelial tissue.

[0133] The cumulus coronoidea complex (CUC) replica in this invention has a simple structure but a high degree of similarity to the real CUC. Using the CUC replica instead of the real CUC for oocyte retrieval facilitates the simulation and adjustment of oocyte retrieval equipment without relying on a small amount of CUC material for adjustment, thus reducing the material costs of equipment setup.

[0134] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0135] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for collecting eggs using a replica of the cumulus coronae complex, characterized in that, include, Step S1: Set up the third eyepiece, image acquisition device, and central control module on the microscope; Step S2: Based on the image signal fed back by the image acquisition device, the central control module divides the egg collection dish into several areas according to the light transmittance to determine the specific location of the cumulus coronoid complex replica. In step S3, the central control module divides the egg retrieval process into a transfer stage and an egg retrieval stage, and controls the egg retrieval process in the two stages separately. Step S4: After the egg retrieval process is completed, the robotic arm, controlled by the central control module, places the cumulus coronoid complex replica into a double-well dish. In step S3, during the transfer phase, the central control module determines the position coordinates of the egg-collecting device based on the position feedback from the image acquisition device. Based on the safe egg-collecting distance set within the central control module, it calculates the actual distance between the egg-collecting device and the imitation coronal cumulus complex, compares it with the safe egg-collecting distance, and determines the operating status of the robotic arm connected to the egg-collecting device. During the egg-collecting phase, the central control module is equipped with an egg-collecting track and a standard egg-collecting track. The egg-collecting track is divided into several points with equal movement distances, which are set as observation points. A specific comparative analysis is performed on these observation points to determine whether the robotic arm operation program and the installation position of the egg-collecting device are appropriate, and the detection results are displayed on the third eyepiece.

2. The method for collecting eggs using the cumulus coronae complex replica according to claim 1, characterized in that, In step S2, the light transmittance of each substance in the oocyte collection dish is recorded, and the dish is divided into several regions based on the light transmittance. The central control module is set with light transmittance acquisition values. For any region, the light transmittance is compared with the light transmittance acquisition values ​​to determine whether the substance in this region of the oocyte collection dish is a replica of the cumulus ovalis complex. For any substance, If the transmittance is greater than or equal to the transmittance acquisition value, the central control module determines that the substance is a replica of the cumulus ovipositor complex and marks the replica of the cumulus ovipositor complex with a green box. If the transmittance is less than the transmittance acquisition value, the central control module determines that the substance is a blood clot or epithelial tissue.

3. The method for collecting eggs using the cumulus coronae complex replica according to claim 2, characterized in that, In step S2, the central control module performs overall identification and determines the intermediate shape and size of the pseudocromion complex imitation marked with a green box in the image acquisition device. The central control module stores standard identification images of the pseudocromion complex imitation, the standard identification rate of the pseudocromion complex imitation, and the standard diameter range of the central sphere of the pseudocromion complex imitation. The central control module calculates the identification rate of the pseudocromion complex imitation based on the standard identification images and determines the intermediate shape and size of the pseudocromion complex imitation to determine whether the pseudocromion complex imitation marked with a green box is a pseudocromion complex imitation. For any replica of the pseudo-ovoid cumulus complex marked with a green box If the recognition rate is greater than or equal to the standard recognition rate, and its center is circular, and the diameter range of the center falls within the standard diameter range, then the central control module determines that the pseudo-crown tumulus complex is a pseudo-crown tumulus complex, and at the same time changes the green frame to a red frame. If any of the recognition rate, center shape, or center diameter range is not met, the central control module determines that the replica of the cumulus ovalis complex is a blood clot or epithelial tissue.

4. The method for collecting eggs using the cumulus coronae complex replica according to claim 3, characterized in that, The egg-collecting device is equipped with a light-emitting element. The image acquisition device transmits the position information of the light-emitting element to the central control module, and the central control module locates the egg-collecting device based on the position of the light-emitting element. The central control module calculates the actual distance between the position of the egg-collecting device and the position of the imitation coronal cumulus complex. The central control module is equipped with a safe egg-collecting distance and an egg-collecting origin point for the egg-collecting device. Based on the comparison between the actual distance and the safe egg-collecting distance, the central control module adjusts the operation of the robotic arm. If the actual distance is less than or equal to the safe egg-collecting distance, the central control module controls the robotic arm to decelerate and drives the egg-collecting device to the egg-collecting origin. The central control module then controls the robotic arm to run along the egg-collecting track.

5. The method for collecting eggs using the cumulus coronae complex replica according to claim 4, characterized in that, The central control module has several observation points set along the z-axis. For any observation point, a standard feed distance is set. The image acquisition device collects the actual feed distance of each observation point in real time during the egg picking process. The central control module compares the detected actual feed distance with the corresponding standard feed distance to determine the operating status of the robotic arm. If the actual feed distance is greater than the standard feed distance, the central control module determines that the robotic arm is malfunctioning. If the actual feed distance is less than the standard feed distance, the central control module determines that the robotic arm is malfunctioning.

6. The method for collecting eggs using the cumulus coronae complex replica according to claim 5, characterized in that, The central control module has a standard operating error value. For any observation point, the absolute value of the difference between the actual observation distance and the standard observation distance is calculated within the central control module. If the calculated absolute value is less than or equal to the standard operating error value, the central control module determines that the robotic arm at the observation point is operating normally and continues to determine the next observation point. If the calculated absolute value is greater than the standard operating error value, the central control module determines that the robotic arm at the observation point is not operating normally and controls the robotic arm to stop operating.

7. The method for collecting eggs using the cumulus coronae complex replica according to claim 6, characterized in that, During the egg collection process, the central control module divides the actual observation distance into several collection groups based on the total number of eggs, and then numbers each of these collection groups. For any collection group The central control module stores the number of actual observation distances of its acquisition group. The central control module is equipped with an evaluation value for the number of acquisition points and a counting module. The central control module analyzes and processes each actual observation distance in the acquisition group, calculates and measures the evaluation value, and determines the installation status of the egg-collecting device based on the comparison between the calculated evaluation value and the evaluation value for the number of acquisition points. The counting module starts counting when it begins to analyze and judge the data in this acquisition group, and then resets the count to zero after all the data in this acquisition group has been completely analyzed. The counting starts again when the next acquisition group is analyzed and judged. If the calculated evaluation value equals the evaluation value of the number of collection points, the central control module will make a judgment on the installation status of the egg collection device and re-record the number of observation points.

8. The method for collecting eggs using the cumulus coronoid complex replica according to claim 7, characterized in that, During the egg collection process, the central control module records the actual feed distance of the egg collection device for each observation point in any collection group. The central control module stores a standard feed distance. It calculates the error judgment value of the egg collection device based on the actual feed distance and the standard feed distance, and judges the installation status of the egg collection device based on the error judgment value. For all observation points in any acquisition group If the error judgment values ​​of each existing egg-collecting device are equal and none of them are zero, the central control module determines that the egg-collecting device is installed incorrectly. If the error judgment values ​​of all the existing egg-collecting devices are equal and all equal to zero, then the central control module determines that the egg-collecting devices are operating normally.

9. The method for collecting eggs using the cumulus coronae complex replica according to claim 8, characterized in that, During the egg-collecting process, the central control module calculates the program judgment value for each observation point in any collection group based on the actual feed distance and standard feed distance of each observation point, and determines the program running status in the robotic arm connected to the egg-collecting device based on the value of the program judgment value. For all observation points in any acquisition group If all the existing running program judgment values ​​are equal and none of them are equal to one, then the central control module determines that the running program is incorrect. If all the existing running program judgment values ​​are equal and all equal to one, then the central control module determines that the running program is running normally.

10. A replica of the cumulus coronae complex, based on the oocyte retrieval method using the replica of the cumulus coronae complex according to any one of claims 1-9, characterized in that, A central sphere made of elastic plastic material and a transparent adhesive body made of several particles bonded together and wrapped around the central sphere. The central sphere is opaque and has a diameter of 1-2 mm. The transparent adhesive body contains blood clots and a single layer of epithelial tissue. The transparent adhesive body is adhered to the central sphere and is spherical with a diameter of 5-25 mm.

11. A replica of the cumulus coronae complex, based on the oocyte retrieval method using the replica of the cumulus coronae complex according to any one of claims 1-9, characterized in that, A central sphere made of elastic plastic material and a transparent adhesive body consisting of several particles bonded together and surrounding the central sphere. The central sphere is opaque and has a diameter of 1-2 mm. The transparent adhesive body contains blood clots and a single layer of epithelial tissue. The transparent adhesive body is internally bonded to the central sphere and has an ellipsoidal shape with a long diameter of 5-25 mm and a short diameter of 3-20 mm.

Images