Microinjection needle quality detection method and system

Abstract

The invention discloses a micro-injection needle quality detection method and system, and belongs to the technical field of micro-injection needle detection. According to the micro-injection needle quality detection method, a low-power edge searching model, a tail end movement model, a vertical judgment model and an image fitting model are constructed, and a straight line part of a micro-injection needle is searched, so that the micro-injection needle can be adjusted to a focusing clear state through movement, and the micro-injection needle can be ensured to move to the central position of a visual field; the bending angle of the micro-injection needle is obtained, and the position of the micro-injection needle is adjusted, so that a magnification image capable of clearly representing local key features is obtained; according to the microinjection needle quality detection method, the microinjection needle appearance data is obtained through magnification image fitting, and the quality detection of the microinjection needle is completed, so that the marker of the microinjection needle and the bending structure of the needle tip can be accurately captured, the microinjection needle quality detection method is suitable for detecting the inner diameter of transparent substances such as the microinjection needle, and the detection quality of the microinjection needle is effectively improved.

Description

Technical Field

[0001] The invention relates to a microinjection needle quality detection method and system, belonging to the technical field of microinjection needle detection. Background Art

[0002] With the continuous progress of medicine, in vitro fertilization assisted reproductive technology has become the hope for infertile couples to give birth to the next generation. The in vitro fertilization microinjection needle is a key part of the microinjection system. The quality and diameter of the injection needle are important factors affecting the quality of the embryo. The injection needle with a suitable inner diameter and bevel angle can minimize the damage to the embryo. However, the existing technology has many problems and defects in actual operation.

[0003] First, in the production process of microinjection needles, there are strict and specific requirements for the parameters of the needle tip. At the same time, in order to ensure the stability of the results, the parameters of the same batch must be kept consistent. However, the existing production process involves a series of complex operation steps such as pretreatment, needle pulling, needle breaking, needle grinding, and needle bending, involving a large number of production equipment and difficult operation.

[0004] Secondly, the production of microinjection needles still relies on operators manually operating equipment for production. This places extremely high demands on the operator's proficiency and the stability of the instrument, resulting in a low pass rate for microinjection needles during the production process and increasing the workload of quality inspection. In addition, since the quality inspection process has not yet been equipped with dedicated inspection equipment, production equipment is usually used to complete the quality inspection of the corresponding process, which further affects production efficiency.

[0005] Therefore, it is urgent to develop a microinjection needle automatic inspection system suitable for the current production process to optimize the quality inspection process, reduce labor intensity and improve work efficiency. This will help solve many problems existing in the existing technology and promote the further development of in vitro fertilization assisted reproductive technology.

[0006] Furthermore, the Chinese invention patent application CN201410630096.X (CN104483321A) published in 2015 discloses a system and method for automatic detection of injection needles based on machine vision, which uses machine vision to automatically detect multiple quality and technical parameters of injection needles online.

[0007] The above detection system can detect conventional injection needle tubes, but cannot be applied to the inner diameter detection of transparent materials such as microinjection needles. At the same time, since the front end of the microinjection needle has a bend of about 30°, the existing detection method cannot accurately capture the bending structure of the front end of the microinjection needle, affecting the quality detection of the microinjection needle.

[0008] Furthermore, due to the huge difference in appearance between microinjection needles (generally with an outer diameter of 0.007 mm) and conventional injection needle tubes (generally with an outer diameter of 0.18 mm), the production process of microinjection needles needs to be operated after magnification of 50 to 400X, and the higher the magnification, the smaller the depth of field. The depth of field of existing imaging systems is smaller than the diameter of microinjection needles, which further affects the quality inspection of microinjection needles.

[0009] The information disclosed in this Background Art is only for understanding the background of the inventive concept and therefore it may include information that does not constitute the prior art. Summary of the invention

[0010] In view of the above problem or one of the above problems, an object of the present invention is to provide a method and system for detecting the quality of a microinjection needle. By constructing a low-magnification edge-finding model, a terminal movement model, a vertical judgment model, and an image fitting model, the straight portion of the microinjection needle is found, so that the microinjection needle can be adjusted to a clear focus state through movement, and it is ensured that the microinjection needle can be moved to the central position of the field of view; then the bending angle of the microinjection needle is obtained, and the position of the microinjection needle is adjusted to obtain a magnification image that can clearly characterize local key features; then the magnification image is fitted to obtain the appearance data of the microinjection needle, and the quality inspection of the microinjection needle is completed, thereby being able to accurately capture the marker (straight portion) of the microinjection needle and the bending structure of the needle tip, which is suitable for detecting the inner diameter of transparent materials such as microinjection needles, and effectively improving the inspection quality of the microinjection needle.

[0011] In response to the above problem or one of the above problems, the second object of the present invention is to provide a microinjection needle quality detection method and system. By constructing a detection method suitable for microinjection needles, the biological microscope in the prior art has a large depth of field and can be operated after magnification of 50 to 400X, so that the diameter of the microinjection needle and other related parameters can be detected, which significantly improves the quality inspection efficiency, and then the automated operation of microinjection needle detection can be realized, reducing dependence on manual operation, improving production efficiency, reducing labor intensity, reducing tedious manual operations, and improving the comfort of the working environment; improving the pass rate, reducing the scrap rate, and reducing production costs.

[0012] In response to the above problem or one of the above problems, the third object of the present invention is to provide a microinjection needle quality detection method and system, which can detect various parameters of the microinjection needle with high precision to ensure quality consistency; and the entire detection process can be completed automatically, so that the detection results can be analyzed quickly and accurately, and the quality inspection process can be optimized, thereby significantly improving the production and quality inspection efficiency of microinjection needles, solving many problems in the prior art, and having significant use effect and economic benefits.

[0013] To achieve one of the above purposes, the first technical solution of the present invention is:

[0014] A method for detecting the quality of a microinjection needle comprises the following steps:

[0015] Step 1: Use the pre-built low-magnification edge-finding model to find the straight line part of the microinjection needle, obtain straight line data, and calculate the focus motion data based on the straight line data, so that the microinjection needle can be adjusted to a clear focus state through movement;

[0016] Step 2: Using the pre-built end movement model, the movement distance of the needle tip end is calculated according to the focus movement data, so that the microinjection needle can be moved to the center of the field of view;

[0017] Step 3, using a pre-built vertical judgment model, based on the moving distance, the bending angle of the microinjection needle is obtained, and according to the bending angle of the microinjection needle, the rotation data of the microinjection needle is calculated;

[0018] Step 4: Based on the pre-built image fitting model, one or more magnification images taken by the objective lens are obtained according to the rotation data, and the microinjection needle appearance data is fitted according to the magnification images to complete the quality inspection of the microinjection needle.

[0019] After continuous exploration and experiments, the present invention constructs a low-magnification edge-finding model, a terminal movement model, a vertical judgment model, and an image fitting model to find the straight part of the microinjection needle, so that the microinjection needle can be adjusted to a clear focus state through movement, and ensure that the microinjection needle can be moved to the central position of the field of view; then the bending angle of the microinjection needle is obtained, and the position of the microinjection needle is adjusted to obtain a magnification image that can clearly characterize local key features; then the magnification image is fitted to obtain the microinjection needle appearance data, and the quality inspection of the microinjection needle is completed, so that the marker (straight part) of the microinjection needle and the bending structure of the needle tip can be accurately captured, which is suitable for the inner diameter inspection of transparent materials such as microinjection needles, and effectively improves the inspection quality of the microinjection needle.

[0020] Furthermore, the present invention constructs a detection method suitable for microinjection needles, so that the biological microscope in the prior art has a large depth of field and can be operated after magnification of 50 to 400X, so that the diameter of the microinjection needle and other related parameters can be detected, which significantly improves the quality inspection efficiency, and then the automated operation of microinjection needle detection can be realized, the dependence on manual operation can be reduced, the production efficiency can be improved, the labor intensity can be reduced, the tedious manual operation can be reduced, and the comfort of the working environment can be improved; the qualified rate can be improved, the scrap rate can be reduced, and the production cost can be reduced.

[0021] In summary, through the multi-model visual inspection algorithm of the present invention, various parameters of microinjection needles can be detected with high precision to ensure quality consistency; and the entire inspection process can be completed automatically, so that the inspection results can be analyzed quickly and accurately, and the quality inspection process can be optimized, thereby significantly improving the production and quality inspection efficiency of microinjection needles, solving many problems in the prior art, and having significant use effects and economic benefits.

[0022] The model in this application is an object that objectively describes the morphological structure with the help of physical or virtual representation. The object is not equal to the object and is not limited to physical and virtual. It can be a data processing function, software program, processing mode, usage method, operation method, workflow, application process, electronic hardware, circuit module, processing system, system imitation or simulation object.

[0023] As the preferred technical measures:

[0024] Step 1: Use the pre-built low-magnification edge-finding model to find the straight line part of the microinjection needle, obtain straight line data, and calculate the focus motion data based on the straight line data, so that the microinjection needle can be adjusted to a focus clear state through movement. The method is as follows:

[0025] Select two areas with a distance of more than 2mm in a certain direction as characteristic focus areas;

[0026] In the characteristic focus area, the shape of the microinjection needle is found according to the image contrast and two straight lines are fitted to obtain straight line data;

[0027] Based on the straight line data, the variance of the Laplace transform is used as the evaluation criterion, and then the search range is gradually narrowed according to the Fibonacci sequence to find the best focus position;

[0028] The focus motion data is calculated based on the optimal focus position and the characteristic focus area, so that the microinjection needle is adjusted to a clear focus state through Z-direction movement.

[0029] As the preferred technical measures:

[0030] Step 2: Using the pre-built end movement model, according to the focus motion data, the movement distance of the needle tip end is calculated so that the microinjection needle can be moved to the center of the field of view. The method is as follows:

[0031] Obtaining the template parameters of the external dimensions of the microinjection needle that meet the requirements, which at least include the outer diameter, the end bending length and the end bending angle of the microinjection needle;

[0032] According to the outer diameter, the bending length and the bending angle of the microinjection needle, the needle tip movement reference point information is calculated;

[0033] According to the focusing motion data, the focusing of the microinjection needle is completed;

[0034] After focusing is completed, the image information of the microinjection needle is obtained;

[0035] According to the image information of the microinjection needle and the parameters of the outer dimension template, the end of the microinjection needle is detected and identified to obtain the position data of the end of the microinjection needle;

[0036] According to the position data of the end of the microinjection needle and the reference point information of the needle tip movement, the movement distance of the end of the needle tip is obtained, so that the microinjection needle moves to the center of the field of view.

[0037] As the preferred technical measures:

[0038] Step 3, using the pre-built vertical judgment model, based on the moving distance, the bending angle of the microinjection needle is obtained, and according to the bending angle of the microinjection needle, the method for calculating the rotation data of the microinjection needle is as follows:

[0039] Step 31, based on the moving distance, obtaining needle image information after the microinjection needle moves to the central position of the field of view;

[0040] Step 32, judging whether the bending angle of the microinjection needle is perpendicular to the optical axis of the microscope based on the needle image information,

[0041] When vertical, determine the rotation angle of the microinjection needle and execute step 35;

[0042] When it is not vertical, the rotation angle of the microinjection needle is set to 30 degrees, and step 33 is executed;

[0043] Step 33, focusing the microinjection needle based on the rotation angle, after focusing, obtaining the image information of the rotated needle, and determining whether it is over-rotated.

[0044] When the rotation is excessive, execute step 34;

[0045] When the rotation is not excessive, executing step 32;

[0046] Step 34, set the reverse rotation angle to 15 degrees, and execute step 33;

[0047] Step 35, taking the rotation angle at this time as the rotation data of the microinjection needle.

[0048] As the preferred technical measures:

[0049] Focusing the microinjection needle based on the rotation angle is done as follows:

[0050] Based on the rotation angle, determine the needle display information at this time;

[0051] According to the template parameters of the microinjection needle's external dimensions, the non-beveled tip, the end curved part, and the straight part of the needle tube 1 mm away from the bend in the needle display information are selected as the characteristic focus area;

[0052] For the three characteristic focus areas, the variance of the Laplace transform is used as an evaluation criterion, and then a focus curve is established according to the Fibonacci sequence; the focus curve is a single-peak curve, and when the focus curve reaches the peak value, it is considered that the focus is clear;

[0053] Based on the focus curve, the focus search range is gradually narrowed. When the three characteristic focus areas reach the curve peak at the same time, it is considered that the three characteristic focus areas are located in the same horizontal plane and the focus is successful, so as to determine the best focus position;

[0054] According to the best focus position, complete the focusing of the microinjection needle.

[0055] As the preferred technical measures:

[0056] Step 4: Based on the pre-built image fitting model, one or more magnification images taken by the objective lens are obtained according to the rotation data, and the method of fitting the microinjection needle shape data according to the magnification images is as follows:

[0057] According to the rotation data, the position information of the microinjection needle is obtained, and the local feature size to be detected at different magnifications is set, which includes the following:

[0058] The bending distance of the end of the microinjection needle was detected under the 5X objective lens, the bending angle of the microinjection needle tube was detected under the 10X objective lens, and the inner diameter, bevel length and tip length of the microinjection needle tube were detected under the 40X objective lens;

[0059] Switch different magnification objective lenses from low to high magnification, and calibrate the objective lens switching center to ensure that the image is in the center of the field of view after the objective lens is switched, and the image brightness is uniform, so as to realize the conversion of physical size and pixels under different objective lenses and cameras;

[0060] After each switching calibration is completed, the local characteristic size of the microinjection needle is photographed to obtain one or a group of magnification images of the microinjection needle;

[0061] Corresponding fitting is performed on all the magnification images obtained by shooting to obtain the microinjection needle shape data, which at least includes the outer diameter, inner diameter and tip length.

[0062] As the preferred technical measures:

[0063] The method for calibrating the objective lens switching center is as follows:

[0064] Complete manual focus on the microinjection needle under objective lens 1 and place the needle tip in the center of the field of view. Record the current coordinate as x1 ,y 1 、z 1 ;

[0065] After switching objective lens 2, refocus the microinjection needle and place the needle tip in the center of the field of view. The coordinate is now x 2 ,y 2 、z 2 , then when objective lens 1 is switched to objective lens 2, in order to ensure that the image is still in the center of the field of view, the coordinate x under objective lens 1 is 0 ,y 0 、z 0 Transform and get the new coordinate x , ,y , 、z , , and its transformation formula is as follows:

[0066]

[0067] To achieve one of the above purposes, the second technical solution of the present invention is:

[0068] A method for detecting the quality of a microinjection needle comprises the following contents:

[0069] Find the straight part of the microinjection needle and adjust the microinjection needle to a clear focus state through Z-direction movement according to the straight part;

[0070] After focusing is completed, move the microinjection needle to the center of the field of view;

[0071] After the movement is completed, the bending angle of the microinjection needle is obtained, and according to the bending angle of the microinjection needle, the swing angle of the microinjection needle is adjusted so that the bending angle of the microinjection needle is perpendicular to the optical axis of the microscope;

[0072] After the angle adjustment is completed, a magnification image group that can characterize a local feature taken by multiple magnification objective lenses is obtained, and the detection parameters of the microinjection needle appearance are fitted according to the magnification image group to complete the quality detection of the microinjection needle.

[0073] The present invention constructs a detection method suitable for microinjection needles, which can accurately capture the markers (straight parts) of microinjection needles and the curved structure of the needle tip, and is suitable for detecting the inner diameter of transparent substances such as microinjection needles, thereby effectively improving the detection quality of microinjection needles; therefore, various parameters of microinjection needles can be detected with high precision to ensure quality consistency; and the entire detection process can be completed automatically, so that the detection results can be analyzed quickly and accurately, and the quality inspection process can be optimized, thereby significantly improving the production and quality inspection efficiency of microinjection needles, solving many problems in the prior art, and having significant use effects and economic benefits.

[0074] To achieve one of the above purposes, the third technical solution of the present invention is:

[0075] A microinjection needle quality detection system includes a biological microscope body for realizing optical imaging of the microinjection needle, an Rx drive component for realizing rotational movement of the microinjection needle, a storage device for storing one or more programs, and a processor;

[0076] The main body of the biological microscope includes a light source, an objective lens, a photoelectric conversion device and an XYZ three-dimensional stage;

[0077] When the one or more programs are executed by the processor, the processor implements a microinjection needle quality detection method as described in any one of claims 1 to 7, completes the X-axis, Y-axis, Z-axis, Rx movement of the microinjection needle and the switching of different objective lenses, ensures that the horizontal plane of the microinjection needle after bending is perpendicular to the optical axis of the microscope, so as to capture a digital image that meets the detection requirements.

[0078] The present invention constructs a detection method suitable for microinjection needles, transforms the biological microscope in the prior art, makes it have a large depth of field, can be operated after magnification of 50-400X, so that the diameter of the microinjection needle and other related parameters can be detected, and the quality inspection efficiency is significantly improved. Then, the automated operation of microinjection needle detection can be realized, the dependence on manual operation can be reduced, the production efficiency can be improved, the labor intensity can be reduced, the tedious manual operation can be reduced, and the comfort of the working environment can be improved; the qualified rate can be improved, the scrap rate can be reduced, and the production cost can be reduced.

[0079] As the preferred technical measures:

[0080] The XYZ three-axis stage includes an X-axis motion component and a Y-axis motion component that can move in a horizontal plane, and a Z-axis motion component that drives the X-axis motion component and the Y-axis motion component;

[0081] The X-axis motion assembly, the Y-axis motion assembly, and the Z-axis motion assembly respectively include a motor and a ball screw structure;

[0082] Or / and, the XYZ three-axis stage is connected to the Rx driving assembly via the top floor;

[0083] The upper end of the top floor is equipped with an Rx drive assembly, and the lower end is equipped with an XYZ three-axis stage;

[0084] or / and, the Rx drive assembly includes a base, a rotary motor, two pulleys, a handle, a pressure wheel and a torsion spring;

[0085] The rotary motor drives the two pulleys to rotate synchronously. The needle holder or microinjection needle is located on the two rotating wheels and is positioned by the pressure wheel on the handle; the handle rotates at a limited angle on the base and is kept in a compressed state by default under the action of the torsion spring.

[0086] Compared with the prior art solutions, the present invention has the following beneficial effects:

[0087] After continuous exploration and experiments, the present invention constructs a low-magnification edge-finding model, a terminal movement model, a vertical judgment model, and an image fitting model to find the straight part of the microinjection needle, so that the microinjection needle can be adjusted to a clear focus state through movement, and ensure that the microinjection needle can be moved to the central position of the field of view; then the bending angle of the microinjection needle is obtained, and the position of the microinjection needle is adjusted to obtain a magnification image that can clearly characterize local key features; then the magnification image is fitted to obtain the microinjection needle appearance data, and the quality inspection of the microinjection needle is completed, so that the marker (straight part) of the microinjection needle and the bending structure of the needle tip can be accurately captured, which is suitable for the inner diameter inspection of transparent materials such as microinjection needles, and effectively improves the inspection quality of the microinjection needle.

[0088] Furthermore, the present invention constructs a detection method suitable for microinjection needles, so that the biological microscope in the prior art has a large depth of field and can be operated after magnification of 50 to 400X, so that the diameter of the microinjection needle and other related parameters can be detected, which significantly improves the quality inspection efficiency, and then the automated operation of microinjection needle detection can be realized, the dependence on manual operation can be reduced, the production efficiency can be improved, the labor intensity can be reduced, the tedious manual operation can be reduced, and the comfort of the working environment can be improved; the qualified rate can be improved, the scrap rate can be reduced, and the production cost can be reduced.

[0089] In summary, through the multi-model visual inspection algorithm of the present invention, various parameters of microinjection needles can be detected with high precision to ensure quality consistency; and the entire inspection process can be completed automatically, so that the inspection results can be analyzed quickly and accurately, and the quality inspection process can be optimized, thereby significantly improving the production and quality inspection efficiency of microinjection needles, solving many problems in the prior art, and having significant use effects and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1 A schematic diagram of a process of the microinjection needle quality detection method of the present invention;

[0091] Figure 2 A schematic diagram of the structure of the microinjection needle of the present invention;

[0092] Figure 3 A schematic diagram of the structure of the microinjection needle of the present invention and an enlarged needle tip portion;

[0093] Figure 4 Schematic diagram of the overall structure of the microinjection needle quality detection system of the present invention (controller is not shown);

[0094] Figure 5A partial structural schematic diagram of a microinjection needle quality detection system of the present invention;

[0095] Figure 6 A schematic diagram of the structure of the Rx driving component of the present invention;

[0096] Figure 7 The present invention is a schematic structural diagram of a microinjection needle holder. DETAILED DESCRIPTION

[0097] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0098] On the contrary, the present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the following detailed description of the present invention. Those skilled in the art can fully understand the present invention without the description of these details.

[0099] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention pertains. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0100] like Figure 1 As shown, the first specific embodiment of the microinjection needle quality detection method of the present invention is:

[0101] A method for detecting the quality of a microinjection needle comprises the following steps:

[0102] Step 1: Use the pre-built low-magnification edge-finding model to find the straight line part of the microinjection needle, obtain straight line data, and calculate the focus motion data based on the straight line data, so that the injection needle can be adjusted to a clear focus state through movement;

[0103] Step 2: Using the pre-built end movement model, the movement distance of the needle tip end is calculated according to the focus movement data, so that the injection needle can be moved to the center of the field of view;

[0104] Step 3, using a pre-built vertical judgment model, based on the moving distance, the bending angle of the microinjection needle is obtained, and according to the bending angle of the microinjection needle, the rotation data of the microinjection needle is calculated;

[0105] Step 4: Based on the pre-built image fitting model, one or more magnification images taken by the objective lens are obtained according to the rotation data, and the microinjection needle appearance data is fitted according to the magnification images to complete the quality inspection of the microinjection needle.

[0106] The second specific embodiment of the microinjection needle quality detection method of the present invention:

[0107] A method for detecting the quality of a microinjection needle comprises the following contents:

[0108] Find the straight part of the microinjection needle and adjust the injection needle to a clear focus state through Z-direction movement according to the straight part;

[0109] After focusing is completed, move the injection needle to the center of the field of view;

[0110] After the movement is completed, the bending angle of the microinjection needle is obtained, and according to the bending angle of the microinjection needle, the swing angle of the microinjection needle is adjusted so that the bending angle of the microinjection needle is perpendicular to the optical axis of the microscope;

[0111] After the angle adjustment is completed, a magnification image group that can characterize a local feature taken by multiple magnification objective lenses is obtained, and the detection parameters of the microinjection needle appearance are fitted according to the magnification image group to complete the quality detection of the microinjection needle.

[0112] In this embodiment, the detection parameters of the microinjection needle shape include the inner diameter of the needle tip, the length of the needle tip bevel, the length of the tip, etc., which can be seen in Figure 2 and Figure 3 .

[0113] like Figure 4 , Figure 5 , Figure 6 As shown, the first specific embodiment of the microinjection needle quality detection system of the present invention:

[0114] A microinjection needle quality detection system includes a biological microscope body for realizing optical imaging of the microinjection needle, an Rx drive component for realizing rotational movement of the injection needle, a storage device for storing one or more programs, and a processor;

[0115] The main body of the biological microscope includes a light source, an objective lens, a photoelectric conversion device and an XYZ three-dimensional stage;

[0116] When the one or more programs are executed by the processor, the processor implements the above-mentioned microinjection needle quality detection method, completes the X-axis, Y-axis, Z-axis, Rx movement of the microinjection needle and the switching of different objective lenses, ensures that the horizontal plane of the microinjection needle after bending is perpendicular to the optical axis of the microscope, so as to capture a digital image that meets the detection requirements.

[0117] In this embodiment: the XYZ three-axis stage includes an X-axis motion component and a Y-axis motion component that can move in a horizontal plane, and a Z-axis motion component that drives the X-axis motion component and the Y-axis motion component;

[0118] The X-axis motion assembly, the Y-axis motion assembly, and the Z-axis motion assembly respectively include a motor and a ball screw structure;

[0119] The XYZ three-axis stage 100 is connected to the Rx driving assembly 200 via the top floor 101;

[0120] The upper end of the top floor is equipped with an Rx drive assembly, and the lower end is equipped with an XYZ three-axis stage;

[0121] The Rx drive assembly includes a base 4, a rotary motor 5, two pulleys 7, a handle 6, a pressure wheel 3 and a torsion spring;

[0122] The rotary motor drives the two pulleys to rotate synchronously. The needle holder or microinjection needle is located on the two rotating wheels 2 and is positioned by the pressure wheel 3 on the handle. The handle rotates at a limited angle on the base and is kept in a compressed state by default under the action of the torsion spring.

[0123] In this embodiment, the needle holder 1 for the microinjection needle includes an inner tube 13 , a nut 11 , a needle holder cap 12 , a rubber sleeve 14 , and a needle holder tube 15 .

[0124] The rubber sleeve is inserted into the needle holding tube, and the inner tube is fixed to the needle holding cap by a nut and can move slightly axially. The opening of the inner tube close to the needle holding tube is an inclined surface. When the needle holding cap is screwed onto the needle holding tube, the needle holding cap squeezes the inner tube and squeezes the rubber sleeve through the inclined surface of the inner tube to deform, so that the inside of the rubber sleeve clamps the microinjection needle. See Figure 7 .

[0125] A specific embodiment of the microinjection needle quality detection method and system of the present invention is as follows:

[0126] The microinjection needle quality detection method and system of the present invention are applied to construct an automatic microinjection needle quality detection system, which is composed of hardware and related software. The hardware includes a microscopic imaging system and a motion device; the related software includes an imaging calibration module, a detection parameter setting module, a motion control and shooting module, and an algorithm module.

[0127] In this embodiment, the microscopic imaging system realizes optical imaging of the microinjection needle, including a light source, an objective lens, a photoelectric conversion device (such as a CMOS camera), etc. This part adopts a common biological microscope configuration.

[0128] In this embodiment, the motion device realizes the X, Y, Z, and Rx motions of the microinjection needle and the switching of different objective lenses under the control of the system, ensuring that the system can capture digital images that meet the detection requirements. The main difference between this part and the common XYZ electric microscope is that the rotational motion for the injection needle Rx is added to ensure that the horizontal plane of the microinjection needle after bending is perpendicular to the optical axis of the microscope.

[0129] The X-axis motion, Y-axis motion, and Z-axis motion can be realized using the existing stage, which is controlled by the motor and the focus knob, and drives the stage to move in the Z direction after deceleration. The stage has the XY motion function of the horizontal plane, and the motor drives the lead screw to rotate to drive the top floor of the stage to move. The Rx drive assembly is located on the top floor, and the motor drives the two pulleys to rotate synchronously. The needle holder or microinjection needle is located on the two rotating wheels and is positioned by the pressure wheel on the handle.

[0130] The handle rotates at a limited angle on the base and is kept in a compressed state by default under the action of the torsion spring. The method for determining whether the horizontal plane of the microinjection needle after bending is perpendicular to the optical axis of the microscope is as follows:

[0131] An Rx rotation algorithm model was constructed, and a template of the microinjection needle dimensions that met the requirements was stored. The needle tip (non-bevel), the end bend, and the straight line portion of the needle tube 1 mm away from the bend were selected as feature focus areas.

[0132] The variance of the Laplace transform is used as the evaluation criterion, and then the search range is gradually narrowed according to the Fibonacci sequence to find the best focus position. The focus curve is a single-peak curve, and the focus is considered to be clear when the curve reaches the peak.

[0133] After the Rx axis rotates a fixed angle each time, the stage is focused in the Z direction. When the three characteristic focus areas reach the peak of the curve at the same time, it is considered that the three areas are located in the same horizontal plane and the focus is successful. Otherwise, the Rx rotation continues and the Z direction movement focusing is repeated.

[0134] If over-rotation occurs during the rotation process, reverse rotation by half of the aforementioned adjustment angle is performed to retest.

[0135] In this embodiment, the calibration module realizes the conversion of physical size and pixel under different objective lenses and cameras, and ensures that the image is in the center of the field of view and the image brightness is uniform after the objective lens is switched; the principle of objective lens switching center calibration is as follows:

[0136] Complete manual focus on the microinjection needle under objective lens 1 and place the needle tip in the center of the field of view. Record the current coordinate as x 1 ,y 1 、z 1 ; After switching objective lens 2, refocus the microinjection needle and place the needle tip in the center of the field of view. The coordinate is now x2 ,y 2 、z 2 , then when objective lens 1 is switched to objective lens 2, in order to ensure that the image is still in the center of the field of view, the system needs to calculate the coordinate x under objective lens 1 0 ,y 0 、z 0 To transform:

[0137]

[0138] In this embodiment, the detection parameter setting module is used to set the key dimensions that need to be detected at different magnifications. Since the key detection parameters of the microinjection needle appearance include the inner diameter of the needle tip, the length of the needle tip bevel, the length of the tip, etc., the setting relationship is as follows:

[0139] The end bending distance is detected under the 5X objective lens, the bending angle of the needle tube is detected under the 10X objective lens, and the inner diameter, bevel length, tip length, etc. of the needle tube are detected under the 40X objective lens; at the same time, the image annotation needs to be set.

[0140] Typical microinjection needle testing parameters are shown in the following table:

[0141]

[0142] In this embodiment, the motion control and shooting module controls the corresponding motor movement according to the detection needs and processes to achieve the capture and storage of the inspection image. The stage X / Y / Z / Rx monitors the rotation angle and position of the DC motor in real time through the encoder PID to achieve precise closed-loop control.

[0143] In this embodiment, the algorithm module realizes automatic alignment and focusing of the microinjection needle under high and low power microscopes, and automatically measures and marks key inspection parameters.

[0144] A specific embodiment of the present invention for detection:

[0145] The specific detection process includes the following steps:

[0146] Step 2.1, system calibration, includes the following:

[0147] Use a micrometer to calibrate the system to ensure that the measurement values ​​under different objective lenses are accurate and the center of the objective lenses are consistent; adjust the exposure values ​​of different magnification lenses to ensure consistent image effects; calibrate the system focal plane. If the optical device is not changed, this operation only needs to be performed once and there is no need to perform it later.

[0148] Step 2.2, parameter setting, includes the following:

[0149] Set the objective lens and detection parameters to be used for this test, set the automatic measurement and annotation requirements, and set the image saving name and location, etc.; parameter setting requires checking the objective lens to be used for measurement, usually including 5X, 10X, 40X (can be replaced with 50X), and then select the measurement items for different magnifications and set the qualified range parameters. Automatic measurement and annotation requirements include but are not limited to the following: 1) Whether to display the measurement area; 2) Whether to display the measurement starting point and connection line; 3) Whether to display the measurement value in the measurement area; 4) Whether to display the shooting time, etc.

[0150] Step 2.3, install the microinjection needle to be tested on the needle holder. If the microinjection needle has been produced by the previous system and is already on the needle holder, proceed to the next step; the system also supports direct clamping of microinjection needles. If the microinjection needle is clamped directly, the calibration parameters and parameter settings are slightly different; since the microinjection needle is relatively fragile, it is generally recommended to transfer it through the needle holder.

[0151] Step 2.4, install the needle holder on the system stage, ensure that the pressure wheel is in reliable contact and the needle holder is loaded in place.

[0152] Step 2.5, operate the software and start the test.

[0153] Step 2.6, under the control of the software, the stage moves in the XY plane according to the previous calibration parameters, and the low-power microscope (usually 5X) automatically finds the straight part of the microinjection needle and focuses on it; when the system is properly calibrated, the microinjection needle is in a blurred focus state in the field of view, and is adjusted to a clear focus state through Z-direction movement.

[0154] The low-magnification edge-finding algorithm stores the microinjection needle shape size template that meets the requirements (the outer diameter of the microinjection needle is 1±0.03mm), and selects two areas with a distance of more than 2mm in the X direction as the characteristic focus areas. In the above focus areas, the microinjection needle shape is found according to the image contrast and two straight lines are fitted. The stage moves the microinjection needle to the center of the Y-direction field of view, which includes the following:

[0155] Step 2.6.1, if the focus fails, an error message will be displayed. If the focus is successful, the stage will move toward the end of the microinjection needle (usually in the X-direction), and at the same time, the microinjection needle end will be compared with the software built-in microinjection needle end template to detect the microinjection needle end. When the end part is identified, the position 0.8 mm away from the end of the needle tip (this value is calculated by the end bending length and the end bending angle) is moved to the center of the field of view. If the end of the microinjection needle is not detected, an error message will be displayed.

[0156] Step 2.6.2, after the microinjection needle moves into place, the detection algorithm compares it with the stored template to preliminarily determine whether the bending angle of the microinjection needle is perpendicular to the optical axis of the microscope. If it is perpendicular, proceed to the next step. If it is not perpendicular, control the motor Rx to rotate 30° each time, and readjust the XY position and refocus to detect whether the bending angle is perpendicular to the optical axis until the bending angle of the microinjection needle is closest to perpendicular to the optical axis of the microscope. If excessive rotation is found, rotate in the opposite direction by 15°, and repeat this process until it is consistent with the template angle. During the shooting process, the z-axis needs to cooperate with the up and down movement. If Rx rotates more than 180° and still fails to detect successfully, an error will be reported;

[0157] Step 2.6.3, according to the previously set microinjection needle detection parameters, switch different magnification objective lenses from low to high magnification and refocus to shoot the required image. The algorithm calculates and fits the microinjection needle shape (outer diameter, inner diameter, tip length, etc.) through the image, and automatically marks the relevant dimensions and saves them until all measurements are completed; during the focusing and shooting process, if the clearest image with the largest contrast is not found in the first focusing, refocus after focusing the stroke and speed. If the focusing still fails, an error is reported;

[0158] Step 2.7, after the measurement, the system automatically returns to the initialization state, and the test results are displayed on the screen. After the manual confirmation test is completed, the needle holder is removed and the microinjection needle is classified according to the results.

[0159] An embodiment of a device applying the method of the present invention:

[0160] An electronic device comprising:

[0161] one or more processors;

[0162] A storage device for storing one or more programs;

[0163] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned microinjection needle quality detection method.

[0164] A computer medium embodiment using the method of the present invention:

[0165] A computer-readable storage medium stores a computer program, which implements the above-mentioned microinjection needle quality detection method when executed by a processor.

[0166] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, and computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) containing computer-usable program codes.

[0167] The present application is described by flowcharts or / and block diagrams of the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each process or / and block in the flowchart or / and block diagram and the combination of the processes or / and blocks in the flowchart or / and block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart or / and block diagram. Figure 1 Process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0168] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 Process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0169] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 Process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field can still modify or replace the specific implementation methods of the present invention with equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for detecting the quality of a microinjection needle, characterized in that: The following steps are involved: Step 1: Use the pre-built low-magnification edge-finding model to find the straight line part of the microinjection needle, obtain straight line data, and calculate the focus motion data based on the straight line data, so that the microinjection needle can be adjusted to a clear focus state through movement; Step 2: Using the pre-built end movement model, the movement distance of the needle tip end is calculated according to the focus movement data, so that the microinjection needle can be moved to the center of the field of view; Step 3, using a pre-built vertical judgment model, based on the moving distance, the bending angle of the microinjection needle is obtained, and according to the bending angle of the microinjection needle, the rotation data of the microinjection needle is calculated; Step 4: Based on the pre-built image fitting model, one or more magnification images taken by the objective lens are obtained according to the rotation data, and the microinjection needle appearance data is fitted according to the magnification images to complete the quality inspection of the microinjection needle.

2. A microinjection needle quality detection method as claimed in claim 1, characterized in that: Step 1: Use the pre-built low-magnification edge-finding model to find the straight line part of the microinjection needle, obtain straight line data, and calculate the focus motion data based on the straight line data, so that the microinjection needle can be adjusted to a focus clear state through movement. The method is as follows: Select two areas with a distance of more than 2mm in a certain direction as characteristic focus areas; In the characteristic focus area, the shape of the microinjection needle is found according to the image contrast and two straight lines are fitted to obtain straight line data; Based on the straight line data, the variance of the Laplace transform is used as the evaluation criterion, and then the search range is gradually narrowed according to the Fibonacci sequence to find the best focus position; The focus motion data is calculated based on the optimal focus position and the characteristic focus area, so that the microinjection needle is adjusted to a clear focus state through Z-direction movement.

3. A method for detecting the quality of a microinjection needle according to claim 1, characterized in that: Step 2: Using the pre-built end movement model, according to the focus motion data, the movement distance of the needle tip end is calculated so that the microinjection needle can be moved to the center of the field of view. The method is as follows: Obtaining the template parameters of the external dimensions of the microinjection needle that meet the requirements, which at least include the outer diameter, the end bending length and the end bending angle of the microinjection needle; According to the outer diameter, the bending length and the bending angle of the microinjection needle, the needle tip movement reference point information is calculated; According to the focusing motion data, the focusing of the microinjection needle is completed; After focusing is completed, the image information of the microinjection needle is obtained; According to the image information of the microinjection needle and the parameters of the outer dimension template, the end of the microinjection needle is detected and identified to obtain the position data of the end of the microinjection needle; According to the position data of the end of the microinjection needle and the reference point information of the needle tip movement, the movement distance of the end of the needle tip is obtained, so that the microinjection needle moves to the center of the field of view.

4. A method for detecting the quality of a microinjection needle according to claim 1, characterized in that: Step 3, using the pre-built vertical judgment model, based on the moving distance, the bending angle of the microinjection needle is obtained, and according to the bending angle of the microinjection needle, the method for calculating the rotation data of the microinjection needle is as follows: Step 31, based on the moving distance, obtaining needle image information after the microinjection needle moves to the central position of the field of view; Step 32, judging whether the bending angle of the microinjection needle is perpendicular to the optical axis of the microscope based on the needle image information, When vertical, determine the rotation angle of the microinjection needle and execute step 35; When it is not vertical, the rotation angle of the microinjection needle is set to 30 degrees, and step 33 is executed; Step 33, focusing the microinjection needle based on the rotation angle, after focusing, obtaining the image information of the rotated needle, and determining whether it is over-rotated. When the rotation is excessive, execute step 34; When the rotation is not excessive, executing step 32; Step 34, set the reverse rotation angle to 15 degrees, and execute step 33; Step 35, taking the rotation angle at this time as the rotation data of the microinjection needle.

5. A method for detecting the quality of a microinjection needle as claimed in claim 4, characterized in that: Focusing the microinjection needle based on the rotation angle is done as follows: Based on the rotation angle, determine the needle display information at this time; According to the template parameters of the microinjection needle's external dimensions, the non-beveled tip, the end curved part, and the straight part of the needle tube 1 mm away from the bend in the needle display information are selected as the characteristic focus area; For the three characteristic focus areas, the variance of the Laplace transform is used as an evaluation criterion, and then a focus curve is established according to the Fibonacci sequence; the focus curve is a single-peak curve, and when the focus curve reaches the peak value, it is considered that the focus is clear; Based on the focus curve, the focus search range is gradually narrowed. When the three characteristic focus areas reach the curve peak at the same time, it is considered that the three characteristic focus areas are located in the same horizontal plane and the focus is successful, so as to determine the best focus position; According to the best focus position, complete the focusing of the microinjection needle.

6. A method for detecting the quality of a microinjection needle according to claim 1, characterized in that: Step 4: Based on the pre-built image fitting model, one or more magnification images taken by the objective lens are obtained according to the rotation data, and the method of fitting the microinjection needle shape data according to the magnification images is as follows: According to the rotation data, the position information of the microinjection needle is obtained, and the local feature size to be detected at different magnifications is set. Includes the following: The bending distance of the end of the microinjection needle was detected under the 5X objective lens, the bending angle of the microinjection needle tube was detected under the 10X objective lens, and the inner diameter, bevel length and tip length of the microinjection needle tube were detected under the 40X objective lens; Switch different magnification objective lenses from low to high magnification, and calibrate the objective lens switching center to ensure that the image is in the center of the field of view after the objective lens is switched, and the image brightness is uniform, so as to realize the conversion of physical size and pixels under different objective lenses and cameras; After each switching calibration is completed, the local characteristic size of the microinjection needle is photographed to obtain one or a group of magnification images of the microinjection needle; Corresponding fitting is performed on all the magnification images obtained by shooting to obtain the microinjection needle shape data, which at least includes the outer diameter, inner diameter and tip length.

7. A method for detecting the quality of a microinjection needle according to claim 6, characterized in that: The method for calibrating the objective lens switching center is as follows: Manually focus the microinjection needle under objective lens 1 and place the needle tip in the center of the field of view, recording the current coordinates as x1, y1, and z1; After switching objective lens 2, refocus the microinjection needle and place the needle tip in the center of the field of view. At this time, the coordinates are x2, y2, and z2. Then, when objective lens 1 is switched to objective lens 2, in order to ensure that the image is still in the center of the field of view, the coordinates x0, y0, and z0 under objective lens 1 are transformed to obtain the new coordinates x , ,y , 、z , , and its transformation formula is as follows:

8. A method for detecting the quality of a microinjection needle, characterized in that: Includes the following: Find the straight part of the microinjection needle and adjust the microinjection needle to a clear focus state through Z-direction movement according to the straight part; After focusing is completed, move the microinjection needle to the center of the field of view; After the movement is completed, the bending angle of the microinjection needle is obtained, and according to the bending angle of the microinjection needle, the swing angle of the microinjection needle is adjusted so that the bending angle of the microinjection needle is perpendicular to the optical axis of the microscope; After the angle adjustment is completed, a magnification image group that can characterize a local feature taken by multiple magnification objective lenses is obtained, and the detection parameters of the microinjection needle appearance are fitted according to the magnification image group to complete the quality detection of the microinjection needle.

9. A microinjection needle quality detection system, characterized in that: It includes a biological microscope body for realizing optical imaging of a microinjection needle, an Rx drive assembly for realizing rotational movement of the microinjection needle, a storage device for storing one or more programs, and a processor; The main body of the biological microscope includes a light source, an objective lens, a photoelectric conversion device and an XYZ three-dimensional stage; When the one or more programs are executed by the processor, the processor implements a microinjection needle quality detection method as described in any one of claims 1 to 7, completes the X-axis, Y-axis, Z-axis, Rx movement of the microinjection needle and the switching of different objective lenses, ensures that the horizontal plane of the microinjection needle after bending is perpendicular to the optical axis of the microscope, so as to capture a digital image that meets the detection requirements.

10. A microinjection needle quality detection system as claimed in claim 9, characterized in that: The XYZ three-axis stage includes an X-axis motion component and a Y-axis motion component that can move in a horizontal plane, and a Z-axis motion component that drives the X-axis motion component and the Y-axis motion component; The X-axis motion assembly, the Y-axis motion assembly, and the Z-axis motion assembly respectively include a motor and a ball screw structure; Or / and, the XYZ three-axis stage is connected to the Rx driving assembly via the top floor; The upper end of the top floor is equipped with an Rx drive assembly, and the lower end is equipped with an XYZ three-axis stage; or / and, the Rx drive assembly includes a base, a rotary motor, two pulleys, a handle, a pressure wheel and a torsion spring; The rotary motor drives the two pulleys to rotate synchronously. The needle holder or microinjection needle is located on the two rotating wheels and is positioned by the pressure wheel on the handle; the handle rotates at a limited angle on the base and is kept in a compressed state by default under the action of the torsion spring.

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