Method for correcting and capturing biological particle capturing device

Abstract

A correction and acquisition method of a biological particle acquisition device comprises the following steps: an image observation unit is arranged on an observation platform so as to face one side of an object carrying platform, and a visual field area of the image observation unit is used for shooting towards the object carrying platform; the image observation unit performs fixed-point displacement on the observation platform corresponding to a plurality of observation basic coordinates set on an observation platform coordinate system, and when the image observation unit is positioned on one observation basic coordinate, a correction point is defined in the image of the view area; a capturing part of a particle capturing tool on a capturing platform is controlled to enter the visual field area of the image observation unit; and adjusting the capturing part of the particle capturing tool to align with the correction point, and recording a captured correction coordinate of the capturing part through the terminal device.

Description

Technical Field

[0001] The present invention relates to calibration and acquisition technology of an acquisition device, and in particular to a calibration and acquisition method of a biological particle acquisition device. Background Art

[0002] With the advancement of biomedical testing technology, automatic capture devices are now commonly used in biomedical testing technology to automatically sort specific biological particles in culture dishes to improve detection accuracy.

[0003] Specifically, the automatic retrieval device includes a robotic arm that drives a capillary tube to move and sort specific biological particles in the culture dish through the capillary tube. However, in actual operation, due to tolerances between the robotic arm and the capillary tube, the relative positions of the robotic arm and the capillary tube are offset. Moreover, there are also slight errors in the relative positions of the capillary tube and the culture dish. As a result, the robotic arm cannot accurately move the capillary tube to the correct position during the sorting process, resulting in a high rate of inaccuracy in the sorting of biological particles by the automatic retrieval device.

[0004] Therefore, there is an urgent need for a calibration and capture method for a bioparticle capture device to improve the long-standing technical problems of traditional detection methods. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a calibration and capture method for a bioparticle capture device, which utilizes a multi-point calibration method to improve the accuracy of capturing bioparticles by a particle capture tool.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a calibration and capture method for a biological particle capture device, including the following steps: an image observation unit is provided on an observation platform to face one side of a carrier platform, and a field of view area of ​​the image observation unit is directed toward a carrier area of ​​the carrier platform for imaging; the image observation unit is manipulated to displace a plurality of observation basic coordinates set on the observation platform corresponding to an observation platform coordinate system, and when the image observation unit is located at one of the observation basic coordinates, a calibration point is defined from the image of the field of view area; the terminal device is positioned relative to one of the observation basic coordinates by positioning the image observation unit, and controls a particle capture tool on a capture platform to move relative to the carrier area on the other side of the carrier platform, and a capture part of the particle capture tool enters the image of the field of view area; and the capture part of the particle capture tool is adjusted to align with the calibration point, and a capture correction coordinate of the capture part corresponding to a capture platform coordinate system of the capture platform is recorded by the terminal device.

[0007] In one embodiment, the terminal device simulates an X absolute coordinate axis and a Y absolute coordinate axis in the field of view, and the X absolute coordinate axis and the Y absolute coordinate axis intersect perpendicularly at the focal center of the field of view to form the calibration point.

[0008] In one embodiment, the field of view region generated when the image observation unit is located at one observation base coordinate and the field of view region generated when the image observation unit is shifted to an adjacent observation base coordinate may partially overlap.

[0009] In one embodiment, the distance between adjacent observation base coordinates on the observation platform coordinate system is between 1 mm and 7 mm.

[0010] In one embodiment, a carrier is provided on the loading area, and a transparent bottom of the carrier faces the observation platform. A camera path of the image observation unit is through the transparent bottom through the carrier, so that the field of view area can detect and capture the capture part of the particle capture tool.

[0011] In one embodiment, the carrier plate is filled with a light-transmitting liquid, and the light of the imaging path of the image observation unit is projected from under the light-transmitting bottom of the carrier plate and penetrates the light-transmitting liquid.

[0012] In one embodiment, the image observation unit includes a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), or a combination thereof.

[0013] In one embodiment, the image observation unit uses a camera magnification of 5 to 100 times, and the image observation unit is controlled by the terminal device to move.

[0014] In one embodiment, when the terminal device records the capture correction coordinates of the capture part, it continuously controls the image observation unit to shift to the position of another observation basic coordinate on the observation platform, and the terminal device defines a corresponding another correction point in the image of the field of view area generated by the image observation unit, and controls the capture part of the particle capture tool to enter the image of the field of view area of ​​the image observation unit according to the relative position of the another observation basic coordinate, and the terminal device continuously adjusts the capture part of the particle capture tool to align with the other correction point in the field of view area generated by the image observation unit, and the terminal device correspondingly records the capture correction coordinates of the capture part.

[0015] The effect of the present invention is that the image observation unit is used to take pictures facing the carrier platform, and the image observation unit makes a fixed-point displacement on the observation platform corresponding to each of the observation basic coordinates. The terminal device defines a correction point based on the image of the field of view of the image observation unit, and controls the capture part of the particle capture tool to enter the field of view of the image observation unit and adjust it to align with the correction point to record the capture correction coordinates of the capture part. In this way, when the image observation unit takes a picture and finds biological particles at a certain position on the carrier, since the image observation unit on the observation platform and the particle capture tool on the capture platform have completed the relative position correction on the carrier platform and established the multiple capture correction coordinates on the capture platform coordinate system, the capture part can quickly reach the field of view where the image observation unit can capture images, thereby reducing the error in the relative position of the particle capture tool and the carrier, and improving the accuracy of the particle capture tool in capturing biological particles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. 1 is a flow chart of steps S1 to S4 of a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0017] Figure 2 FIG. 1 is a flow chart of steps S5 and S6 of a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0018] Figure 3 FIG. 1 is a flow chart of steps S7 to S10 of a calibration and capture method for a biological particle capture device according to a preferred embodiment of the present invention.

[0019] Figure 4 FIG. 1 is a schematic diagram of the structure of a biological particle capture device according to a preferred embodiment of the present invention.

[0020] Figure 5 FIG. 1 is a schematic diagram of the structure of the image observation unit projecting toward the carrier in a biological particle capture device according to a preferred embodiment of the present invention.

[0021] Figure 6 Schematic diagram of defining calibration points in an image of a field of view area of ​​an image observation unit in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0022] Figure 7 Schematic diagram of the fixed-point displacement of the image observation unit corresponding to each of the observation base coordinates in the calibration and acquisition method of the biological particle acquisition device according to a preferred embodiment of the present invention.

[0023] Figure 8Schematic diagram of the field of view generated when the image observation unit is located at one observation base coordinate and shifted to an adjacent observation base coordinate in a calibration and acquisition method of a biological particle acquisition device according to a preferred embodiment of the present invention.

[0024] Figure 9 Schematic diagram of the structure of the first image correction unit and the plurality of second image correction units on the loading platform in the calibration and capture method of the biological particle capture device according to a preferred embodiment of the present invention.

[0025] Figure 10 FIG1 is a schematic diagram of a field of view image of a first image correction unit capturing a particle capture tool whose capture portion does not fall within a positioning reference point in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0026] Figure 11A Schematic diagram of a first image correction unit capturing a field of view image of a capture portion of a particle capture tool at the first imaging magnification in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0027] Figure 11B Schematic diagram of a second image correction unit capturing a field of view image of a capture portion of a particle capture tool at the second imaging magnification in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0028] Figure 11C Schematic diagram of a second image correction unit capturing a field of view image of a capture portion of a particle capture tool at the second imaging magnification in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0029] Figure 12 FIG. 1 is a schematic diagram of a structure in which a carrier plate is filled with a light-transmitting liquid in a calibration and capture method of a biological particle capture device according to another preferred embodiment of the present invention.

[0030] Figure 13 This is a schematic diagram of the relative positions of particles in the carrier plate simulated by the terminal device in the calibration and capture method of the biological particle capture device according to another preferred embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 10: Loading platform

[0033] 11a: First image correction unit

[0034] 111a: Receiver

[0035] 112a: Tail end

[0036] 11b, 11c: Second image correction unit

[0037] 111b, 111c: receiving end

[0038] 112b, 112c: tail end

[0039] 12: Loading plate

[0040] 121: Translucent bottom

[0041] 122 Translucent Liquid

[0042] 13: Mobile devices

[0043] 20: Observation Platform

[0044] 21: Control elements

[0045] 22: Image observation unit

[0046] 221, 221a, 221b: Field of view

[0047] 30: Capture Platform

[0048] 31: Robotic Arm

[0049] 32: Particle Extraction Tool

[0050] 321: Capture Department

[0051] 40: Terminal device

[0052] 41: Calibration point

[0053] 42: Virtual correction area

[0054] S1~S10: Steps

[0055] A: Observation platform coordinate system

[0056] B: Capture platform coordinate system

[0057] a1: first X-axis

[0058] a2: First Y axis

[0059] a3: First Z axis

[0060] b1: Second X-axis

[0061] b2: Second Y axis

[0062] b3: Second Z-axis

[0063] P: Positioning reference point

[0064] x: X absolute coordinate axis

[0065] x1: first X absolute coordinate axis

[0066] x2: second X absolute coordinate axis

[0067] y: Y absolute coordinate axis

[0068] y1: the first Y absolute coordinate axis

[0069] y2: Second Y absolute coordinate axis

[0070] g1: first extension axis

[0071] g2: Second extension axis

[0072] G: Particles

[0073] t1~t4: Correction of basic coordinates DETAILED DESCRIPTION

[0074] In order to explain the present invention more clearly, preferred embodiments are given below and described in detail with reference to the accompanying drawings. Figure 4 The present invention provides a calibration and capture method for a biological particle capture device, wherein the biological particle capture device includes a loading platform 10, an observation platform 20, a capture platform 30 and a terminal device 40.

[0075] The object-carrying platform 10 is provided with a first image correction unit 11a and a plurality of second image correction units 11b and 11c. The first image correction unit 11a and the plurality of second image correction units 11b and 11c respectively include a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), or a combination thereof. In this embodiment, the first image correction unit 11a and the plurality of second image correction units 11b and 11c are respectively mounted on the object-carrying platform 10 via a bracket (not shown) for photography. Figure 4, the first image correction unit 11a and the second image correction unit 11b are on the same horizontal reference plane (not shown) and are located above the loading platform 10, wherein the horizontal reference plane faces the loading platform 10, the second image correction unit 11c is photographed toward the horizontal reference plane, and the camera axis of the second image correction unit 11c is perpendicular to the camera axis of the first image correction unit 11a and the camera axis of the second image correction unit 11b. Specifically, the camera axis of the first image correction unit 11a and the camera axis of the second image correction unit 11b are equivalent to the horizontal reference plane In the X-axis and Y-axis directions, the camera axis of the second image correction unit 11c is equivalent to the Z-axis direction of the horizontal reference plane, so as to be perpendicular to the axis of the first image correction unit 11a and the axis of the second image correction unit 11b. However, the installation method is not limited to the above-mentioned position and structure, as long as the first image correction unit 11a and the multiple second image correction units 11b and 11c can be installed on the object loading platform 10, for example, in other embodiments, only at least one second image correction unit 11b and the first image correction unit 11a can be set on the horizontal reference plane.

[0076] In addition, if Figure 9 As shown, the receiving end 111a of the first image correction unit 11a and the receiving ends 111b and 111c of the multiple second image correction units 11b and 11c are arranged adjacent to each other, the tail end 112a of the first image correction unit 11a is located at the other end of the first image correction unit 11a opposite to the receiving end 111a, and the tail ends 112b and 112c of the multiple second image correction units 11b and 11c are located at the other end of the multiple second image correction units 11b and 11c opposite to the receiving ends 111b and 111c respectively, wherein the camera axis of the first image correction unit 11a passes through the receiving end 111a and the tail end 112a, the camera axes of the second image correction units 11b and 11c pass through the receiving ends 111b and 111c and the tail ends 112b and 112c respectively, and the image capture area of ​​the first image correction unit 11a overlaps with the image capture areas of the multiple second image correction units 11b and 11c.

[0077] The observation platform 20 is arranged on one side of the carrier platform 10. In this embodiment, the observation platform 20 is located below the carrier platform 10, wherein a control element 21 and an image observation unit 22 are provided on the observation platform 20, wherein the control element 21 is connected to the image observation unit 22, and the control element 21 can control the image observation unit 22 to translate relative to the carrier platform 10 or move relative to it at a predetermined angle. The image observation unit 22 on the observation platform 20 is configured to observe the biological particles on the carrier platform 10, wherein the image observation unit 22 includes a charge coupled device (CCD), a complementary metal oxide semiconductor device (CMOS) or a combination thereof.

[0078] However, the displacement relationship between the image observation unit 22 and the loading platform 10 is not limited to the above content. For example, in other embodiments, the control element 21 may be stationary, and the loading platform 10 is connected to a moving device 13 (see FIG. Figure 4 ), so that the carrying platform 10 can be driven by the moving device 13 to move relative to the image observation unit 22 in a horizontal or angular manner. Alternatively, in another embodiment, both the control element 21 and the carrying platform 10 move, that is, the carrying platform 10 and the image observation unit 22 move relative to each other in a horizontal or angular manner. The angle can be 0 degrees horizontal, 90 degrees vertical, or any other angle adjustable according to implementation requirements.

[0079] In addition, an observation platform coordinate system A is defined on the observation platform 20, and the observation platform coordinate system A includes a first X-axis direction a1, a first Y-axis direction a2, and a first Z-axis direction a3 that are perpendicular to each other. After the observation platform coordinate system A is established, the coordinates of any point in the observation platform coordinate system A can be defined as (Xa, Ya, Za). The observation platform 20 drives the image observation unit 22 with a control element 21 to drive the image observation unit 22 to move arbitrarily relative to the carrier platform 10 according to the observation platform coordinate system A within the range covered by the observation platform 20, wherein a plurality of observation basic coordinates are set on the observation platform coordinate system A, and the plurality of observation basic coordinates are the position coordinates of the image observation unit 22 that correspond to the movement of the carrier platform 10 in advance, so that the image observation unit 22 can continuously move in a fixed point to fully capture the image of the carrier platform 10.

[0080] The capture platform 30 is disposed on the other side of the carrier platform 10 opposite to the observation platform 20. In this embodiment, the capture platform 30 is located above the carrier platform 10, wherein a robotic arm 31 and a particle capture tool 32 are disposed on the capture platform 30, wherein the robotic arm 31 and the aforementioned manipulation element 21 can be defined as including any mechanism device that can move in any direction in a space, such as Figure 4 As shown, the robotic arm 31 can drive the particle capture tool 32 to translate, move vertically, or move at an angle relative to the carrier platform 10, but the present invention is not limited thereto. In one embodiment, the robotic arm 31 remains stationary, while the carrier platform 10 translates, moves vertically, or moves at an angle relative to the particle capture tool 32. In another embodiment, both the first robotic arm 31 and the carrier platform 10 move, that is, the carrier platform 10 and the particle capture tool 32 translate, move vertically, or move at an angle relative to each other. The angle can be 0 degrees horizontal, 90 degrees vertical, or any other angle adjustable according to implementation requirements.

[0081] In addition, a capture platform coordinate system B is defined on the capture platform 30, and the capture platform coordinate system B includes a second X-axis direction b1, a second Y-axis direction b2, and a second Z-axis direction b3 that are perpendicular to each other, and any point in the capture platform coordinate system B is represented as (Xb, Yb, Zb). The robotic arm 31 on the capture platform 30 is driven by a driving device (not shown in the figure), and the driving device can be a power element such as an electric motor or a pneumatic cylinder. Thereby, the particle capture tool 32 can be controlled by the robotic arm 31 to be able to move arbitrarily relative to the carrier platform 10 according to the capture platform coordinate system B within the range covered by the capture platform 30.

[0082] The terminal device 40 is electrically connected to the robotic arm 31 of the capture platform 30 and the control element 21 of the observation platform 20, respectively. The terminal device 40 can control the movement of the robotic arm 31 and the control element 21, respectively. The terminal device 40 is also electrically connected to the first image correction unit 11a, the multiple second image correction units 11b, 11c, and the image observation unit 22, respectively, to obtain image signals and perform analysis.

[0083] Therefore, based on the above hardware architecture, the calibration and capture method of the bio-particle capture device will be further described below, including the following steps:

[0084] Step S1, such as Figure 1 、 Figure 4 and Figure 5As shown, the image observation unit 22 on the observation platform 20 is facing a loading area of ​​the loading platform 10. In this embodiment, a carrier plate 12 is placed on the loading area, and the carrier plate 12 can be used to carry biological particles. The aforementioned biological particles can include but are not limited to cells, cell clusters, bacteria, fungi, exosomes or liposomes, wherein the cells can include but are not limited to stem cells, cancer cells, germ cells, somatic cells, nerve cells, blood cells, circulating tumor cells, red blood cells, white blood cells, and nucleated red blood cells; a field of view 221 of the image observation unit 22 faces the loading area of ​​the loading platform 10 for imaging, wherein the carrier plate 12 has a light-transmitting bottom 121 facing the observation platform 20. Because the loading area of ​​the loading platform 10 and the light-transmitting bottom 121 of the carrier plate 12 have a light-transmitting function, a camera path of the image observation unit 22 penetrates the loading platform 10 through the light-transmitting bottom 121 of the carrier plate 12.

[0085] Furthermore, the imaging magnification used by the image observation unit 22 can be between 5x and 100x. The imaging magnification can be adjusted as needed. In this embodiment, a 10x objective lens is used. This high magnification allows for precise imaging and detection of the field of view of the transparent bottom 121 of the carrier 12. In other embodiments, the carrier 12 may be filled with a transparent liquid 122. The imaging path light of the image observation unit 22 is projected from below the transparent bottom 121 of the carrier 12 and penetrates the transparent liquid 122, thereby simulating the actual situation of culture medium in the carrier 12.

[0086] In step S2, the terminal device 40 controls the control element 21 of the observation platform 20 to drive the image observation unit 22 to move according to the multiple observation basic coordinates pre-set on the observation platform coordinate system A, so that the image observation unit 22 is displaced at a fixed point at the position corresponding to the multiple observation basic coordinates on the observation platform 20, and the image observation unit 22 is directed toward the transparent bottom 121 of the carrier 12 to capture an image. The image observation unit 22 transmits the image of the carrier 12 to the terminal device 40. In this embodiment, the distance between adjacent observation basic coordinates set on the observation platform coordinate system A is between 1 mm and 7 mm, wherein the distance between adjacent observation basic coordinates basically includes the distance between the X-axis coordinate value, the Y-axis coordinate value, and the distance between adjacent observation basic coordinates. The distance between the coordinate values ​​or the distance between the Z-axis coordinate values, wherein when the observation platform 20 causes the mechanism to deflect during mechanical operation, causing the observation platform 20 to be non-horizontal, the distance between the Z-axis coordinate values ​​must be considered when setting adjacent observation base coordinates on the observation platform coordinate system A. In this embodiment, the distance between adjacent observation base coordinates on the observation platform coordinate system A is set to 1 mm. Assuming that one of the observation base coordinates on the observation platform coordinate system A is (1,1,0), the adjacent observation base coordinates can be (2,1,0) or (1,2,0). The distance between adjacent observation base coordinates set on the observation platform coordinate system A is used for positioning and calibration and can be adjusted as needed. It does not constitute a limitation of the present invention. However, the smaller the distance between adjacent observation base coordinates, the more time it takes to calibrate. In another embodiment, the distance between adjacent observation base coordinates can also be 3 mm to achieve the purpose of completing the calibration operation more quickly.

[0087] To further explain, Figure 5 and Figure 6 As shown, when the image observation unit 22 moves to one of the observation base coordinates, a calibration point 41 is defined from the image of the field of view area 221, wherein the terminal device 40 first simulates an X absolute coordinate axis x and a Y absolute coordinate axis y in the field of view area 221, and the X absolute coordinate axis x and the Y absolute coordinate axis y intersect vertically at the focal center position of the field of view area 221 to form the calibration point 41.

[0088] In addition, the field of view area 221 generated by the image observation unit 22 being located at one of the observation base coordinates and the field of view area 221 generated by the image observation unit 22 being shifted to the adjacent observation base coordinates may partially overlap; for a brief explanation, please refer to Figure 7 and Figure 8, assuming that the image observation unit 22 is positioned at the position where the observation basic coordinates are (1,1,0), and the image observation unit 22 corresponds to the field of view area 221a generated by the loading platform 10, when the image observation unit 22 moves to the position where the observation basic coordinates are (2,1,0), the image observation unit 22 corresponds to the field of view area 221b generated by the loading platform, and at this time, the field of view area 221a and the field of view area 221b may be partially overlapped.

[0089] In step S3, the terminal device 40 is positioned at a relative position of one of the observation base coordinates based on the image observation unit 22, and controls the particle capture tool 32 on the capture platform 30 to move above the carrier platform 10 and relative to the carrier area, so that the capture part 321 of the particle capture tool 32 is displaced on the disk surface of the carrier 12, and the capture part 321 of the particle capture tool 32 enters the image of the field of view 221 of the image observation unit 22, thereby the image observation unit 22 can detect the relative position of the capture part 321 of the particle capture tool 32 in the field of view 221. It should be noted that the capture portion 321 of the particle capture tool 32 can move regularly along a moving path on the disk surface of the carrier 12, such as: the moving path of the particle capture tool 32 can be moving from the inside to the outside with a fixed center of the carrier 12; it can also move back and forth repeatedly from left to right on the disk surface of the carrier 12; or the moving path of the particle capture tool 32 can be adjusted to move randomly along a non-repetitive trajectory, so that the capture portion 321 of the particle capture tool 32 eventually enters the image of the field of view 221 of the image observation unit 22. In another embodiment, the moving position or angle of the capture portion 321 of the particle capture tool 32 can also be adjusted manually so that the capture portion 321 of the particle capture tool 32 enters the image of the field of view 221 of the image observation unit 22.

[0090] Step S4, when the image observation unit 22 detects that the capture part 321 of the particle capture tool 32 enters the field of view area 221, the terminal device 40 adjusts the capture part 321 of the particle capture tool 32 to align with the calibration point 41 in the field of view area 221, and the image observation unit 22 judges that the capture part 321 of the particle capture tool 32 is indeed aligned with the calibration point 41, and records a capture calibration coordinate of the capture part 321 of the particle capture tool 32 located in the capture platform coordinate system B of the capture platform 30 through the terminal device 40; in other words, when the terminal device 40 records the capture calibration coordinate of the capture part 321 of the particle capture tool 32, the image observation unit 22 is continuously controlled. The image observation unit 22 is shifted to the position of another observation basic coordinate on the observation platform 20, and the terminal device 40 defines a corresponding another correction point 41 in the image of the field of view 221 generated by the image observation unit 22, and controls the capture part 321 of the particle capture tool 32 to enter the image of the field of view 221 of the image observation unit 22 according to the relative position of the another observation basic coordinate, and the terminal device 40 continues to adjust the capture part 321 of the particle capture tool 32 to align with the another correction point 41 in the field of view 221 generated by the image observation unit 22, and the terminal device 40 records the capture correction coordinates of the capture part 321 of the particle capture tool 32.

[0091] Therefore, when the image observation unit 22 detects biological particles at a certain position on the carrier 12, since the image observation unit 22 on the observation platform 20 and the particle capture tool 32 on the capture platform 30 have completed relative position calibration on the carrier 10, and the plurality of capture calibration coordinates have been established and recorded on the capture platform coordinate system B, the capture unit 321 can be quickly brought to the field of view 221 where the image observation unit 22 can capture images. However, after the particle capture tool 32 is replaced due to operational requirements, the angles of the particle capture tool 32 and the robot arm 31 may not always be the same when the particle capture tool 32 is connected to the robot arm 31, or the robot may not be in the same position at all times. The error caused by the mechanism deviation during the operation or due to the shaking of the hardware causes a difference between the position where the particle capture tool 32 reaches the pre-set capture correction coordinate and the position where the image observation unit 22 moves to the corresponding capture correction coordinate, but the difference is still within the field of view area 221 where the image observation unit 22 can capture images. Therefore, in this embodiment, the correction method of steps S1 to S4 is used again to achieve position correction between the particle capture tool 32 and the image observation unit 22, reduce the error in the relative position of the particle capture tool 32 and the carrier 12, and improve the accuracy of the particle capture tool 32 in capturing biological particles.

[0092] More specifically, the image observation unit 22 monitors the capture portion 321 from above, and the terminal device 40 determines the relative position of the capture portion 321 and the calibration point 41 in the field of view 221 based on the image captured by the image observation unit 22. The terminal device 40 adjusts the position of the capture portion 321 on the carrier 12 by controlling the robotic arm 31, so that the axis of the capture portion 321 is aligned with the calibration point 41 to calibrate the position of the particle capture tool 32, wherein the calibration method of the capture portion 321 is as follows: , is to control the capture portion 321 to move along the second X-axis direction b1 of the capture platform coordinate system B and along the second Y-axis direction b2 of the capture platform coordinate system B, so that the axis or tip of the capture portion 321 is aligned with the calibration point 41; in other embodiments, when the capture portion 321 is non-polygonal (such as circular or spherical, etc.), the center axis of the capture portion 321 is aligned with the calibration point 41, and at this time the focus of the image observation unit 22 falls on the disk surface of the carrier 12, that is, the side away from the transparent bottom 121 of the carrier 12.

[0093] In one embodiment, the focus of the image observation unit 22 can be fine-tuned to be away from the disk surface of the carrier 12, or the focus of the image observation unit 22 can be just on the disk surface of the carrier 12, and the robotic arm 31 drives the capture portion 321 to repeatedly move along the second Z-axis direction b3 of the capture platform coordinate system B according to the control of the terminal device 40; when the edge sharpness of the capture portion 321 monitored by the image observation unit 22 from above reaches the highest, the terminal device 40 determines that the capture portion 321 falls on the focus of the image observation unit 22, and the terminal device 40 defines the time at which the capture portion 321 falls. The coordinate position of the capture part 321 on the second Z-axis direction b3 of the capture platform coordinate system B is the correction position of the capture part 321 relative to the image observation unit 22; when the capture part 321 actually falls on the correction point 41, the terminal device 40 defines the coordinate position of the capture part 321 on the second X-axis direction b1 and the second Y-axis direction b2 of the capture platform coordinate system B at this time as the correction position of the capture part 321 relative to the correction point 41, and finally the correction information of the capture part 321 located in the capture platform coordinate system B is recorded by the terminal device 40.

[0094] Specifically, the present invention controls the image observation unit 22 to perform fixed-point displacements on the observation platform 20 corresponding to each of the observation base coordinates in a predetermined sequence. Subsequently, the terminal device 40 controls the capture portion 321 of the particle capture tool 32 to move and align with the position of the calibration point 41 in the image of the field of view 221 based on the relative position of the image observation unit 22 at one of the observation base coordinates, thereby recording the positional correspondence between the observation platform coordinate system A and the capture platform coordinate system B. Furthermore, the relative coordinate z of each calibration point 41 to which the capture portion 321 of the particle capture tool 32 is moved by the robot arm 31 is recorded. In this way, by calculating the relative coordinate z of the calibration point 41 and the capture portion 321 of the particle capture tool 32 relative to the capture platform coordinate system B, the absolute position of the calibration point 41 and the relative coordinate required for the corresponding movement of the particle capture tool 32 can be obtained.

[0095] See also Figure 2 、 Figure 4 and Figure 9 Further describing the details of step S5, the imaging focus of the first image correction unit 11a on the loading platform 10 overlaps with the imaging focus of the plurality of second image correction units 11b and 11c to form a positioning reference point P. In this embodiment, the first image correction unit 11a receives image signals using a first imaging magnification, while the plurality of second image correction units 11b and 11c each receive image signals using a second imaging magnification. More specifically, the relationship between the first image correction unit 11a and the plurality of second image correction units 11b and 11c is described. The first imaging magnification set for the first image correction unit 11a is smaller than the second imaging magnifications set for the plurality of second image correction units 11b and 11c. The first imaging magnification used by the first image correction unit 11a is between 1.5 and 5 times, while the second imaging magnifications used by the second image correction units 11b and 11c are between 5 and 20 times.

[0096] In this embodiment, the first image correction unit 11a uses a first camera magnification of 2x, while the second image correction units 11b and 11c use a second camera magnification of 10x. The purpose of using a smaller first camera magnification for the first image correction unit 11a than the second camera magnifications for the second image correction units 11b and 11c is to allow the first image correction unit 11a to capture a larger image area during the initial image capture process. It should be noted that the first, second, and third image correction units 11a, 11b, and 11c can each adjust their camera magnifications based on user needs. That is, the first, second, and third image correction units 11a, 11b, and 11c are not necessarily limited to the aforementioned camera magnifications.

[0097] Step S6, see Figure 2 and 4 , the robotic arm 31 controls the particle capture tool 32 to move relative to the first image correction unit 11a and the multiple second image correction units 11b, 11c, and drives the capture part 321 of the particle capture tool 32 to enter the capture image area of ​​the first image correction unit 11a and the capture image areas of each of the second image correction units 11b, 11c. In this embodiment, the robotic arm 31 on the capture platform 30 is driven by the driving device (not shown in the figure), which can drive the robotic arm 31 to drive the particle capture tool 32 to move arbitrarily relative to the first image correction unit 11a and the multiple second image correction units 11b, 11c according to the capture platform coordinate system B within the range covered by the capture platform 30.

[0098] During the actual operation of the particle capture tool 32, the particle capture tool is controlled to move to a position coordinate preset in the capture platform coordinate system. This position coordinate presets the capture portion of the particle capture tool to correspond to the positioning reference point P where the camera focus of the first image correction unit 11a overlaps with the camera focus of the multiple second image correction units 11b and 11c. However, in other embodiments, if the mechanism position is offset due to human factors or machine shaking, resulting in the particle capture tool 32 being unable to be parallel to the second Z-axis direction b3 of the capture platform coordinate system B, or other conditions may occur that cause the capture platform 30 to be unable to maintain a horizontal level, the axial direction of the particle capture tool 32 will be unable to be perpendicular to the second X-axis direction b1 and the second Y-axis direction b2 of the capture platform coordinate system B, so that the capture portion 321 will not fall exactly on the positioning reference point P. As a result, the capture platform 30 drives the corresponding relationship between the position coordinates of the particle capture tool 32 and the actual position of the capture part 321 to be offset. When the particle capture tool 32 shifts to the position coordinates and the capture part 321 is offset from the positioning reference point P, the terminal device 40 can read the offset distance between the positioning reference point P and the capture part 321 in the images of the first image correction unit 11a and the multiple second image correction units 11b, 11c, and calculate the offset distance into an offset compensation value, so that the terminal device 40 can adjust the position coordinates of the particle capture tool 32 according to the offset compensation value. In another embodiment, the terminal device 40 controls the robotic arm 31 to move the particle capture tool 32 so that the capture part 321 of the particle capture tool 32 is aligned with the positioning reference point P.

[0099] For an example, see Figure 10 When the first image correction unit 11a detects that the capture part 321 of the particle capture tool 32 and the positioning reference point P are offset in the capture image area, the terminal device 40 calculates the offset distance between the capture part 321 and the positioning reference point P according to the image captured by the first image correction unit 11a, and uses the calculation result as the offset compensation value of the particle capture tool 32 in the X-axis direction of the capture platform coordinate system B; in other words, when the second image correction units 11b and 11c detect that the capture part 321 of the particle capture tool 32 and the positioning reference point P are offset in the capture image area, the terminal device 40 also calculates the offset distance corresponding to the images captured by the second image correction units 11b and 11c as the offset compensation value of the particle capture tool 32 in the Y-axis and Z-axis directions of the capture platform coordinate system B.

[0100] However, in other embodiments, the particle capture tool 32 may be image-calibrated by the first image correction unit and the plurality of second image correction units, so that the capture portion 321 of the particle capture tool is positioned at the positioning reference point P. Figure 4 and Figures 11A to 11C The calibration of the capture platform coordinate system B and the actual position of the capture portion 321 is to first control the capture portion 321 of the particle capture tool 32 to enter the capture image area of ​​the first camera magnification set by the first image correction unit 11a, and preliminarily capture the image of the capture portion 321 of the particle capture tool 32 with a larger field of view, and then adjust the capture portion 321 of the particle capture tool 32 to align with the camera focus of the first image correction unit 11a by moving the robot arm 31, and make the bottom edge image of the capture portion 321 be located in the field of view of the capture image area of ​​the first image correction unit 11a. The capture portion 321 of the particle capture tool 32 is then controlled to enter the capture image area of ​​the second camera magnification set by each of the second image correction units 11b and 11c. The capture portion 321 of the particle capture tool 32 is captured in detail using the multiple second image correction units 11b and 11c at the second camera magnification. The capture portion 321 is then adjusted by the robotic arm 31 to align with the camera focus of each of the second image correction units 11b and 11c, so that the bottom edge of the capture portion 321 is located at the center of the field of view of the capture image area of ​​each of the second image correction units 11b and 11c. Because the first camera magnification of the first image correction unit 11a is smaller than the second camera magnifications of the multiple second image correction units 11b and 11c, the first image correction unit 11a has a wider field of view during image capture. Therefore, by first using the first image correction unit 11a to capture images for calibration, the image to be calibrated remains within the field of view even when significant errors are introduced by human factors or mechanical displacement. Conversely, because the fields of view of the multiple second image correction units 11b and 11c are smaller, if these units 11b and 11c are used first as the basis for calibration, the image to be calibrated may exceed the field of view, making accurate calibration impossible. Therefore, initial calibration using the first image correction unit 11a is performed before capturing images for calibration using the multiple second image correction units 11b and 11c. This ensures that the captured object to be calibrated remains within the field of view of the captured images.

[0101] Regarding the calibration of the above-mentioned capture platform coordinate system B and the actual position of the capture unit 321, the following further details are provided. Figure 11AAs shown, the first image correction unit 11a is used to capture an image at the first camera magnification, and the robot arm 31 is moved so that the bottom edge of the capture portion 321 is located at the center of the field of view of the image capture area of ​​the first image correction unit 11a, and the edge sharpness of the capture portion 321 is maximized to complete the X-axis correction of the capture platform coordinate system B. Figure 11B As shown, the second image correction unit 11b captures the capture portion 321 of the particle capture tool 32 in detail at a second camera magnification, and controls the robotic arm 31 to drive the lower edge side surface of the capture portion 321 to be located at the center of the field of view of the capture area of ​​the second image correction unit 11b, and to maximize the edge sharpness of the capture portion 321 to complete the Y-axis correction of the capture platform coordinate system B; then, as shown Figure 11C As shown, the second image correction unit 11c is used to capture the capture part 321 of the particle capture tool 32 in detail with a second camera magnification, and the robot arm 31 is controlled to drive the top view of the capture part 321 to be located at the center of the field of view of the capture image area of ​​the second image correction unit 11c, and the edge sharpness of the capture part 321 is maximized to complete the Z-axis correction of the capture platform coordinate system B. This embodiment is only an example, and the correction order of the second image correction unit 11b and the second image correction unit 11c is the same. By utilizing the design of different camera magnifications of the first image correction unit 11a and the multiple second image correction units 11b and 11c, the capture part 321 of the particle capture tool 32 can be quickly and accurately corrected to the positioning reference point P. Among them, the capture part 321 is presented as follows Figure 11A The tip shown may be a rounded end, a spherical end, or a shape in which the cross section near the end is smaller than (or equal to) the cross section far from the end.

[0102] In short, the robotic arm 31 drives the capture part 321 to move, so that the capture part 321 first falls into the camera focus of the first image correction unit 11a, so that the image of the capture part 321 captured by the first image correction unit 11a is centered and the edge sharpness of the image of the capture part 321 reaches the maximum, that is, the coordinate position of the capture part 321 in the capture platform coordinate system B is recorded, and the obtained coordinate position information of the capture part 321 in the capture platform coordinate system B is transmitted to the terminal device 40 for storage, and the initial alignment correction of the capture platform coordinate system B and the actual position of the capture part 321 is completed through the focusing of the capture part 321.

[0103] Next, the second image correction unit 11b is used to capture the image of the capture portion 321 in detail. The robotic arm 31 is used to move the capture portion 321 so that the capture portion 321 falls into the camera focus of the second image correction unit 11b. This ensures that the image of the capture portion 321 captured by the second image correction unit 11b is centered and the edge sharpness of the image of the capture portion 321 is maximized.

[0104] Then, the second image correction unit 11c is used to capture the image of the capture part 321 in detail, and the robotic arm 31 is also used to drive the capture part 321 to move so that the capture part 321 falls into the camera focus of the second image correction unit 11c, so that the image of the capture part 321 captured by the second image correction unit 11c is centered and the edge sharpness of the image of the capture part 321 reaches the maximum, that is, the coordinate position of the capture part 321 in the second X-axis direction b1, the second Y-axis direction b2 and the second Z-axis direction b3 of the capture platform coordinate system B is recorded, and the obtained coordinate position information of the capture part 321 in the second X-axis direction b1, the second Y-axis direction b2 and the second Z-axis direction b3 of the capture platform coordinate system B is transmitted to the terminal device 40 for storage. Through the detailed focusing of the capture part 321, the correction of the capture platform coordinate system B and the actual position of the capture part 321 is completed to achieve the purpose of platform correction.

[0105] Therefore, if the biological particle capture device causes the carrier platform 10 or the capture platform 30 to be misaligned due to installation or other factors, the return alignment correction can be completed at any time by correcting the capture platform coordinate system B and the actual position of the capture part 321 of this embodiment; furthermore, when the particle capture tool 32 is replaced, the correction method of the capture platform coordinate system B and the actual position of the capture part 321 of this embodiment will prevent the capture platform coordinate system B and the actual position of the capture part 321 from not corresponding to each other due to different coarseness of the selected materials or tolerances during mass production of the materials, thereby affecting the particle capture function; in this embodiment, the terminal device 40 can also record the particle capture tool 32 moving in the capture platform coordinate system B toward the second X-axis b1 by a first space vector, toward the second Y-axis b2 by a second space vector, and toward the second Z-axis b3 by a third space vector.

[0106] To explain briefly, in one embodiment, the capture platform coordinate system B is driven by the robotic arm 31 to move the capture portion 321 of the particle capture tool 32 to the area where the first image correction unit 11a and the multiple second image correction units 11b and 11c can capture images. In other words, the capture portion 321 falls on the positioning reference point P, which can calibrate the relative position of the robotic arm 31 and the particle capture tool 32.

[0107] In other embodiments, the steps S5 and S6 can be adjusted to before the aforementioned step S1 as needed, and the positional relationship between the capture portion 321 of the particle capture tool 32 and the positioning reference points P of the multiple first image correction units 11a and the multiple second image correction units 11b and 11c can be adjusted first, and then the positional relationship between the capture portion 321 of the particle capture tool 32 and the image observation unit 22 can be calibrated.

[0108] See also Figure 3 、 Figure 12 and Figure 13 , further describing the details of step S7, when the image observation unit 22 actually finds a particle G in the carrier 12, the terminal device 40 first captures a plurality of observation base coordinates previously recorded in the observation platform coordinate system A corresponding to the surroundings of the particle G, and relatively calculates the position of the correction point 41 recorded in each of the observation base coordinates of the image observation unit 22, so that the terminal device 40 obtains a plurality of correction base coordinates t1 to t4 around the particle G on the carrier 12.

[0109] Step S8: The terminal device 40 simulates a virtual calibration area in the field of view of the image observation unit according to the plurality of calibration basic coordinates t1-t4, and the position of the particle falls within the virtual calibration area accordingly. Figure 13More specifically, a first X-absolute coordinate axis x1, a second X-absolute coordinate axis x2, a first Y-absolute coordinate axis y1, and a second Y-absolute coordinate axis y2 are simulated in the field of view 221 of the image observation unit 22 to enclose a virtual calibration area 42, and the position of the particle G correspondingly falls within the virtual calibration area 42. The plurality of calibration base coordinates are respectively located at corners of the virtual calibration area. The plurality of calibration base coordinates include a first calibration base coordinate t1, a second calibration base coordinate t2, a third calibration base coordinate t3, and a fourth calibration base coordinate t4. The first calibration base coordinate t1 corresponds to the intersection of the first X-absolute coordinate axis x1 and the first Y-absolute coordinate axis y1, the second calibration base coordinate t2 corresponds to the intersection of the second X-absolute coordinate axis x2 and the first Y-absolute coordinate axis y1, the third calibration base coordinate t3 corresponds to the intersection of the first X-absolute coordinate axis x1 and the second Y-absolute coordinate axis y2, and the fourth calibration base coordinate t4 corresponds to the intersection of the second X-absolute coordinate axis x2 and the second Y-absolute coordinate axis y2.

[0110] In step S9, the terminal device 40 generates a first extension axis g1 and a second extension axis g2 based on the simulation at the position of the particle G. The first extension axis g1 intersects perpendicularly with the first X-absolute coordinate axis x1 in the virtual calibration area 42 to obtain a first X-axis intersection coordinate, and the first extension axis g1 intersects perpendicularly with the second X-absolute coordinate axis x2 in the virtual calibration area 42 to obtain a second X-axis intersection coordinate; the second extension axis g2 intersects perpendicularly with the first Y-absolute coordinate axis y1 in the virtual calibration area 42 to obtain a first Y-axis intersection coordinate, and the second extension axis g2 intersects perpendicularly with the second Y-absolute coordinate axis y2 in the virtual calibration area 42 to obtain a second Y-axis intersection coordinate.

[0111] In step S10, the robot arm 31 is controlled to move the particle capture tool 32 to the position corresponding to the particle G. The terminal device 40 captures the first X-axis intersection coordinate, the second X-axis intersection coordinate, the first Y-axis intersection coordinate, and the second Y-axis intersection coordinate, and calculates a relative capture coordinate (Px, Py) corresponding to the movement of the particle capture tool 32 using a specific conditional expression. The specific conditional expression is as follows:

[0112] Px coordinate value calculation method:

[0113] ((x2-x) / (x2-x1))*Px11+((x-x1) / (x2-x1))*Px21=Px1;

[0114] ((x2-x) / (x2-x1))*Px12+((x-x1) / (x2-x1))*Px22=Px2;

[0115] ((y2-y) / (y2-y1))*Px1+((y-y1) / (y2-y1))*Px2=Px;

[0116] Py coordinate value calculation method:

[0117] ((x2-x) / (x2-x1))*Py11+((x-x1) / (x2-x1))*Py21=Py1;

[0118] ((x2-x) / (x2-x1))*Py12+((x-x1) / (x2-x1))*Py22=Py2;

[0119] ((y2-y) / (y2-y1))*Py1+((y-y1) / (y2-y1))*Py2=Py;

[0120] The meanings of the symbols in the above conditional expressions are as follows:

[0121] x1 represents the X coordinate value of the first X-axis intersection coordinate on the first X-absolute coordinate axis x1;

[0122] x2 represents the X coordinate value of the second X-axis intersection coordinate on the second X-absolute coordinate axis x2;

[0123] x represents the X-axis coordinate value of the particle in the observation platform coordinate system A;

[0124] y1 represents the Y coordinate value of the first Y-axis intersection coordinate on the first Y absolute coordinate axis y1;

[0125] y2 represents the Y coordinate value of the second Y-axis intersection coordinate on the second Y absolute coordinate axis y2;

[0126] y represents the Y-axis coordinate value of the particle in the observation platform coordinate system A;

[0127] Px11 represents an X-axis relative coordinate value z1 of the capture platform coordinate system B corresponding to the first calibration base coordinate t1;

[0128] Px12 represents an X-axis relative coordinate value z2 of the capture platform coordinate system B corresponding to the second calibration base coordinate t2;

[0129] Px21 represents an X-axis relative coordinate value z3 of the capture platform coordinate system B corresponding to the third calibration base coordinate t3;

[0130] Px22 represents an X-axis relative coordinate value z4 of the capture platform coordinate system B corresponding to the fourth calibration base coordinate t4;

[0131] Px1 represents a first X-axis relative capture coordinate of the capture platform coordinate system B corresponding to the first X-axis intersection coordinate;

[0132] Px2 represents a second X-axis relative capture coordinate of the capture platform coordinate system B corresponding to the second X-axis intersection coordinate;

[0133] Py11 represents a Y-axis relative coordinate value z1 of the capture platform coordinate system B corresponding to the first calibration base coordinate t1;

[0134] Py12 represents a Y-axis relative coordinate value z2 of the capture platform coordinate system B corresponding to the second calibration base coordinate t2;

[0135] Py21 represents a Y-axis relative coordinate value z3 of the capture platform coordinate system B corresponding to the third calibration base coordinate t3;

[0136] Py22 represents a Y-axis relative coordinate value z4 of the capture platform coordinate system B corresponding to the fourth calibration base coordinate t4;

[0137] Py1 represents a first Y-axis relative capture coordinate of the capture platform coordinate system B corresponding to the first Y-axis intersection coordinate;

[0138] Py2 represents a second Y-axis relative capture coordinate of the capture platform coordinate system B corresponding to the second Y-axis intersection coordinate;

[0139] Px represents the X coordinate value of the relative capture coordinate corresponding to the particle position;

[0140] Py represents the Y coordinate value of the relative capture coordinate corresponding to the particle position.

[0141] For example, when the image observation unit 22 detects a particle G in the virtual calibration area 42 of the carrier 12, and the values ​​of the relative coordinates z1-z4 of each calibration point 41 in the virtual calibration area 42 at the corresponding calibration base coordinates t1-t4 and the capture portion 321 relative to the capture platform coordinate system B are recorded in the terminal device 40 as shown in the following table:

[0142]

[0143]

[0144] In addition, the position of the particle G in the virtual calibration area 42 is calculated by the virtual extension line, and the coordinate value (x, y) of the carrier 12 is (16, 18). In this way, the coordinate value Px and the coordinate value Py can be calculated using the aforementioned conditional expression as follows:

[0145] Px coordinate value calculation:

[0146] Px1=((x2-x) / (x2-x1))*Px11+((x-x1) / (x2-x1))*Px21

[0147] =((20-16) / (20-10))*31+((16-10) / (20-10))*41=37;

[0148] Px2=((x2-x) / (x2-x1))*Px12+((x-x1) / (x2-x1))*Px22

[0149] =((20-16) / (20-10))*32+((16-10) / (20-10))*42=38;

[0150] Px=((y2-y) / (y2-y1))*Px1+((y-y1) / (y2-y1))*Px2

[0151] =((20-18) / (20-10))*37+((18-10) / (20-10))*38=37.8;

[0152] Px coordinate value calculation:

[0153] Py1=((x2-x) / (x2-x1))*Py11+((x-x1) / (x2-x1))*Py21

[0154] =((20-16) / (20-10))*28+((16-10) / (20-10))*29=28.6;

[0155] Py2=((x2-x) / (x2-x1))*Py12+((x-x1) / (x2-x1))*Py22

[0156] =((20-16) / (20-10))*39+((16-10) / (20-10))*40=39.6;

[0157] Py=((y2-y) / (y2-y1))*Py1+((y-y1) / (y2-y1))*Py2

[0158] =((20-18) / (20-10))*28.6+((18-10) / (20-10))*39.6=37.4;

[0159] In this way, the terminal device 40 can drive the robotic arm 31 to move the particle capture tool 32 to the relative capture coordinates (37.8, 37.4) of the capture platform coordinate system B through the (Px, Py) obtained by the above conditional expression to capture the particle G located at the corrected basic coordinates (x, y) of (16, 18).

[0160] In other words, the present invention first transmits the calibrated base coordinates t1-t4 of the carrier 12 to the terminal device 40. The terminal device 40 then uses the image observation unit 22 to capture images and obtain the corresponding relative coordinates z1-z4 of the capture platform coordinate system B. The terminal device 40 then uses the aforementioned conditional equation to perform a calibration calculation to obtain the relative capture coordinates (Px, Py) of the capture platform coordinate system B required for capturing the particle G, thereby accurately controlling the robot arm 31 to drive the particle capture tool 32 to capture the particle G. It should be noted that the example of this embodiment uses one virtual calibration area 42 and four calibration points 41 for illustration, but is not limited to this. The greater the number of virtual calibration areas 42 and corresponding calibration points 41, the more accurate the calibration result can be, but the calibration time will also be relatively longer. To ensure calibration accuracy and time cost, the number of different virtual calibration areas 42 and the spacing between the multiple virtual calibration areas 42 can be adjusted as needed during each calibration process to achieve the best calibration result.

[0161] In step S10, after the particle capture tool 32 completes the particle capture operation, the robotic arm 31 moves the particle capture tool 32 to a waste collection area (not shown in the figure) for discarding, and the robotic arm 31 moves to a capture tool area (not shown in the figure) to reinstall a new particle capture tool 32, and repeats the aforementioned steps S1 to S4 for calibration. It is further explained that after the particle capture tool 32 completes the particle capture operation and the robotic arm 31 moves the particle capture tool 32 to a waste collection area (not shown in the figure) for discarding, the relative position of the observation platform coordinate system A and the capture platform coordinate system B remains unchanged, so there is no need to perform the calibration of steps S3 to S4 again.

[0162] Through the design of the present invention, the image observation unit 22 is used to take pictures facing the object carrier 10, and the image observation unit 22 makes a fixed-point displacement on the observation platform 20 corresponding to each of the observation basic coordinates. The terminal device 40 defines a calibration point 41 based on the image of the field of view 221 of the image observation unit 22, and controls the capture part 321 of the particle capture tool 32 to enter the field of view 221 of the image observation unit 22 and adjust it to align with the calibration point 41 to record the capture calibration coordinates of the capture part 321, so as to complete the relative position calibration between the image observation unit 22 on the observation platform 20 and the particle capture tool 32 on the capture platform 30, and establish the multiple capture calibration coordinates on the capture platform coordinate system B. Then, in steps S5 and S6, the first image correction unit 11a and the multiple second image correction units 11b and 11c with different camera magnifications are used to calibrate the positional relationship between the robot arm 31, the particle capture tool 32 and the carrier 12.

[0163] In step S4, the capture portion 321 of the particle capture tool 32 is repeatedly calibrated with each calibration point 41 to complete the positional relationship between the observation platform coordinate system A and the capture platform coordinate system B; in this way, when the image observation unit 22 finds biological particles at a certain position on the carrier 12, the terminal device 40 can control the robotic arm 31 to drive the particle capture tool 32 to the correct position according to the capture platform coordinate system B, and accurately capture the biological particles detected on the carrier 12.

[0164] Therefore, the method of this embodiment utilizes a multi-point correction method to reduce the relative position error between the particle capture tool 32 and the carrier 12, thereby improving the accuracy of the particle capture tool 32 in capturing biological particles. At the same time, in the design of the mechanism in this field, it is extremely difficult to ensure that the carrier platform 10 and the capture platform 30 are completely parallel, that is, there may be a certain offset angle between the carrier platform 10 and the capture platform 30, so that the capture part 321 will not fall exactly on the positioning reference point P, and thus the corresponding relationship between the position coordinates of the particle capture tool 32 driven by the capture platform 30 and the actual position of the capture part 321 will be offset. Through steps S5 and S6 of the correction method of this embodiment, the first image correction unit 11a and the multiple first image correction units 11a and 11b can be comprehensively interpreted by the terminal device 40. The offset distance between the positioning reference point P and the capture portion 321 in the images of the two image correction units 11b and 11c is calculated, and the offset distance is converted into an offset compensation value, so that the terminal device 40 can adjust the position coordinates of the particle capture tool 32 accordingly according to the offset compensation value; furthermore, if the particle capture tool 32 of the capture platform 30 is misaligned due to the transportation movement of the machine or human collision, the correction method of this embodiment can automatically correct the relationship between the observation platform 20 and the capture platform 30, eliminating the problem of re-disassembling the machine or manually adjusting the machine, thereby improving the correction efficiency.

[0165] The above descriptions are merely preferred embodiments of the present invention. Any equivalent changes made by applying the description and claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A calibration and capture method of a biological particle capture device, comprising the following steps: An image observation unit is provided on an observation platform to face one side of a loading platform, and a field of view of the image observation unit is directed toward a loading area of ​​the loading platform for taking pictures; The image observation unit performs fixed-point displacement on the observation platform corresponding to a plurality of observation basic coordinates set on an observation platform coordinate system, and when the image observation unit is positioned at one of the observation basic coordinates, a calibration point is defined from the image of the field of view area; A terminal device is configured to control a particle capture tool on a capture platform to move relative to the object loading area on the other side of the object loading platform by positioning the image observation unit at a relative position of one of the observation base coordinates, and a capture portion of the particle capture tool enters the image of the field of view area; and The capturing part of the particle capturing tool is adjusted to align with the calibration point, and a capturing calibration coordinate of the capturing part in a capturing platform coordinate system of the capturing platform is recorded by the terminal device.

2. The calibration and capture method of the biological particle capture device as described in claim 1, wherein the terminal device simulates an X absolute coordinate axis and a Y absolute coordinate axis in the field of view, and the X absolute coordinate axis and the Y absolute coordinate axis intersect vertically at the focal center position of the field of view to form the calibration point.

3. The calibration and capture method of the biological particle capture device as described in claim 1, wherein the field of view area generated by the image observation unit being located at one observation base coordinate and the field of view area generated by the image observation unit being shifted to an adjacent observation base coordinate can partially overlap.

4. The calibration and capture method of the biological particle capture device as claimed in claim 3, wherein the distance between adjacent observation base coordinates on the observation platform coordinate system is between 1 mm and 7 mm.

5. The calibration and capture method of the biological particle capture device as described in claim 1, wherein a carrier is provided on the loading area, a light-transmitting bottom of the carrier faces the observation platform, and a camera path of the image observation unit penetrates the carrier from the light-transmitting bottom.

6. The calibration and capture method of the biological particle capture device as described in claim 5, wherein the carrier is filled with a light-transmitting liquid, and the light of the camera path of the image observation unit is projected from below the light-transmitting bottom of the carrier and penetrates the light-transmitting liquid.

7. The calibration and capture method of the biological particle capture device as claimed in claim 1, wherein the image observation unit comprises a charge coupled device, a complementary metal oxide semiconductor device or a combination thereof.

8. The calibration and capture method of the biological particle capture device as claimed in claim 1, wherein the image observation unit uses a camera magnification of 5 to 100 times, and the image observation unit is moved under the control of the terminal device.

9. A calibration and capture method for a biological particle capture device as described in claim 1, wherein when the terminal device records the capture correction coordinates of the capture part, it continuously controls the image observation unit to shift to the position of another observation basic coordinate on the observation platform, the terminal device defines a corresponding other correction point in the image of the field of view area generated by the image observation unit, and controls the capture part of the particle capture tool to enter the image of the field of view area of ​​the image observation unit according to the relative position of the other observation basic coordinate, and the terminal device continuously adjusts the capture part of the particle capture tool to align with another correction point in the field of view area generated by the image observation unit, and the terminal device correspondingly records the capture correction coordinates of the capture part.

Images