Biochip correction method, gene sequencing system and computer readable storage medium

Abstract

The invention provides a biological chip correction method, which is used for correcting the angle and position of a biological chip, the plane shape of the biological chip is rectangular, and the biological chip is provided with a first angle and a first edge connected with the first angle; the biochip correction method comprises the following steps: shooting a first image of the first angle of the biochip; acquiring a first angle offset of the biochip relative to a preset reference line according to the first image; and driving the biochip to rotate around an axis on the plane where the biochip is located, so that the first edge tends to approach the reference line to compensate the first angle offset. The invention further provides a gene sequencing system and a nonvolatile computer readable storage medium. According to the biochip correction method, the gene sequencing system and the nonvolatile computer readable storage medium, the sequencing flux can be improved, and the system cost can be reduced.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and particularly to a method for correcting a biochip, a gene sequencing system, and a non-volatile computer-readable storage medium. Background Art

[0002] A gene sequencing system is used to detect the base sequence information of biological samples on a biochip. During the detection process, a camera is required to take pictures of the biochip.

[0003] In order to obtain accurate base sequence information, it is necessary to start shooting from a specified position on the biochip and ensure that the center of the objective field of view in the gene sequencing system is aligned with the center of the position to be photographed on the biochip. The size of the object image in a single field of view on the biochip is at the millimeter level or even the micron level. Therefore, there may be a misalignment between the gene sequencing system and the biochip. Before detection, it is necessary to correct the position and angle of the biochip to avoid sequencing failure caused by misalignment.

[0004] The existing calibration method needs to first collect a fluorescence image of a biochip, and then identify the position information of the pre-labeled biological sample in the fluorescence image for deviation calculation. Since the spacing between biological samples on the sequencing biochip is at the nanometer level, this places extremely high requirements on the imaging system. Therefore, when using this imaging system for calibration, on the one hand, it takes up the sequencing time and reduces the sequencing throughput, and on the other hand, it increases the cost of the equipment. Summary of the Invention

[0005] The first aspect of this application provides a method for correcting a biochip, which is used to correct the angle and position of the biochip. The planar shape of the biochip is rectangular, having a first corner and a first side connecting the first corner;

[0006] The method for correcting the biochip includes:

[0007] Taking a first image of the first corner of the biochip;

[0008] Obtaining a first angle offset of the biochip relative to a preset reference line according to the first image;

[0009] Driving the biochip to rotate around an axis in its plane so that the first side tends to approach the reference line to compensate for the first angle offset.

[0010] The second aspect of this application provides a gene sequencing system, including:

[0011] A mobile platform for carrying a biochip. The planar shape of the biochip is rectangular, having a first corner and a first side connecting the first corner;

[0012] A camera, located on one side of the mobile platform where the biochip is carried; and

[0013] A controller, electrically connected to the mobile platform and the camera respectively. A computer program is stored on the controller. When the computer program is executed by a processor, the gene sequencing system implements the biochip calibration method as described above.

[0014] The third aspect of this application provides a non - volatile computer - readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the biochip calibration method as described above is implemented.

[0015] For the above - mentioned biochip calibration method, gene sequencing system and non - volatile computer - readable storage medium, by utilizing the rectangular planar structure of the biochip, taking the first image of the first corner, obtaining the first angular offset between the first side and a preset reference line, the angular offset of the biochip can be obtained. By driving the biochip to rotate in its plane, making the first side close to the reference line, the first angular offset can be compensated, making the angle of the biochip tend to the ideal angle. In the above calibration method, it is only necessary to take the first image including the area where the first corner is located. Compared with the prior art of taking and identifying pre - labeled biological samples, the requirements for the resolution of the camera and the magnification of the objective lens for taking the first image in the embodiments of this application are lower, and fluorescence excitation is not required during the taking process. Therefore, on the one hand, it does not occupy the sequencing time, which is beneficial to improving the sequencing throughput of the system. On the other hand, by using a camera with lower resolution and an objective lens with lower magnification, it is beneficial to reduce the system cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the gene sequencing system according to the embodiment of this application.

[0017] Figure 2 is Figure 1 a schematic diagram of the auxiliary optical path structure in

[0018] Figure 3 It is a schematic flow chart of the steps of the biochip calibration method according to the embodiment of this application.

[0019] Figure 4 It is a schematic planar structure diagram of the biochip before angle calibration.

[0020] Figure 5 It is a schematic diagram of the first image taken in step S1.

[0021] Figure 6 It is a schematic planar structure diagram of the biochip after step S4.

[0022] Figure 7Schematic diagram of the third image of the biochip taken in a modified embodiment of the present application.

[0023] Figure 8 Schematic diagram of a planar structure of the biochip in an embodiment of the present application after step S7.

[0024] Figure 9 Schematic diagram of a planar structure of the biochip in an embodiment of the present application after step S10.

[0025] Description of main component symbols

[0026] Gene sequencing system 10

[0027] Main optical path structure 11

[0028] Auxiliary optical path structures 12, 13

[0029] Image acquisition optical path 121

[0030] Moving platform 122

[0031] Controller 123

[0032] Biochips 20, 30

[0033] First angle A1

[0034] Second angle A2

[0035] Reference line L0

[0036] First side L1

[0037] Second side L2

[0038] Third side L3

[0039] First direction X

[0040] Second direction Y

[0041] First intersection point a

[0042] Second intersection point b

[0043] Third intersection point c

[0044] Detected vertex position M

[0045] Ideal vertex position N

[0046] First angular offset α

[0047] Second angular offset β

[0048] Linear offset d

[0049] Steps S1, S2, S3, S4, S5, S6, S7, S8, S9, S10

[0051] The following specific embodiments will further illustrate the present application in conjunction with the above-mentioned drawings. Specific embodiments

[0052] The present application provides a method for calibrating a biochip, which is applied to an optical system for calibrating the angle and position of the biochip. The surface of the biochip is used to carry biological samples (such as cells, nucleic acids, etc.). The optical system is used to capture an image of the biological sample (i.e., capture an image of the surface of the biochip carrying the biological sample), and obtain information about the biological sample based on the image. The optical system can be, for example, a wide-field imaging system, a microscopic imaging system, a gene sequencing system based on fluorescence imaging, etc. In the embodiments of the present application, the method for calibrating the biochip is exemplified by being applied to a gene sequencing system based on fluorescence imaging.

[0053] Please refer to Figure 1 , in the embodiments of the present application, the gene sequencing system 10 includes a main optical path structure 11, a first auxiliary optical path structure 12, a second auxiliary optical path structure 13, a first moving platform 14, and a second moving platform 15. The first moving platform 14 and the second moving platform 15 are located on the same plane. The surfaces of the first moving platform 14 and the second moving platform 15 are respectively used to carry a biochip (not shown in the figure), and the surface of each biochip facing away from the first moving platform 14 or the second moving platform 15 is used to carry a biological sample. In this embodiment, the biological sample is a nucleic acid sample (DNA or RNA). The main optical path structure 11, the first auxiliary optical path structure 12, and the second auxiliary optical path structure 13 are located on the side of the first moving platform 14 and the second moving platform 15 where the biochips are carried.

[0054] The main optical path structure 11 is used to emit excitation light to scan the surface of the biochip carrying the biological sample. Fluorescent groups are combined on the biological sample, and the excitation light excites the fluorescent groups to generate fluorescence. The main optical path structure 11 is also used to collect the fluorescence to generate a fluorescence image of the biological sample, thereby obtaining the base sequence information of the biological sample. The above process is called the sequencing process.

[0055] The first auxiliary optical path structure 12 and the second auxiliary optical path structure 13 have basically the same structure and function, and the first moving platform 14 and the second moving platform 15 have basically the same structure and function. The first auxiliary optical path structure 12 and the first moving platform 14 cooperate to calibrate the position and angle of the biochip on the first moving platform 14, and the second auxiliary optical path structure 13 and the second moving platform 15 cooperate to calibrate the position and angle of the biochip on the second moving platform 15.

[0056] Please refer to Figure 2, taking the first auxiliary optical path structure 12 and the first moving platform 14 as an example. The first auxiliary optical path structure 12 includes an objective lens 121, a camera 122, and a controller 123. The first moving platform 14 is used to drive the biochip 20 to synchronously displace. The objective lens 121 is used to focus the illumination light onto the biochip 20 to illuminate the field of view and is also used to collect images. The camera 122 is used to capture images of the biochip 20. The controller 123 is electrically connected to the first moving platform 14 and the camera 122 respectively, and is used to drive the displacement of the first moving platform 14, control the camera 122 to capture images, and perform data analysis on the images captured by the camera 122.

[0057] During the sequencing process, the first moving platform 14 and the second moving platform 15 alternately move to the main optical path structure 11, so that the biochips 20 on the first moving platform 14 and the second moving platform 15 are alternately located in the field of view of the excitation light. On the one hand, the biochip 20 is often placed on the first moving platform 14 and the second moving platform 15 by a manipulator, and the operation error of the manipulator may cause the placement angle and position of the biochip 20 to deviate. On the other hand, during the sequencing process, the first moving platform 14 and the second moving platform 15 reciprocate, and the positions and angles of the first moving platform 14 and the second moving platform 15 are also prone to deviation, resulting in the deviation of the relative position and relative angle of the biochip 20 on the surfaces of the first moving platform 14 and the second moving platform 15. Therefore, before the biochip 20 is put into the sequencing process, in order to ensure the sequencing accuracy, it is necessary to align and correct the position and angle of the sequencing chip 20 through the first auxiliary optical path structure 12 and the second auxiliary optical path structure 13.

[0058] Please refer to Figure 3 , the biochip calibration method of the embodiment of the present application, the biochip calibration method includes:

[0059] Step S1, capturing a first image of the first corner of the biochip;

[0060] Step S2, obtaining a first angle offset of the biochip relative to a preset reference line according to the first image;

[0061] Step S3, driving the biochip to rotate around an axis in its plane so that the first side tends to approach the reference line to compensate for the first angle offset;

[0062] Step S4, driving the biochip to translate in a first direction, the first direction being parallel to the reference line;

[0063] Step S5, capturing a second image of the second corner of the biochip;

[0064] Step S6, obtaining a second angle offset of the biochip relative to the reference line according to the second image;

[0065] Step S7: Drive the biochip to rotate around an axis on the plane until the first side is parallel to the reference line;

[0066] Step S8: Obtain the detection vertex position of the second angle according to the second image;

[0067] Step S9: Obtain the linear offset between the detection vertex position and an ideal vertex position; and

[0068] Step S10: Drive the biochip to translate until the detection vertex position coincides with the ideal vertex position.

[0069] Please refer to Figure 4 , the planar structure (referring to the outer contour) of the biochip 20 is a rectangle, having a first angle A1, a second angle A2, a first side L1, a second side L2, and a third side L3. The first side L1 is respectively connected between the first angle A1 and the second angle A2. The second side L2 is parallel to the third side L3 and is respectively connected to both ends of the first side L1. That is, the first side L1 is perpendicularly connected to the third side L3 and forms the first angle A1 at the connection, and the first side L1 is perpendicularly connected to the second side L2 and forms the second angle A2 at the connection.

[0070] In the first auxiliary optical path structure 12, the field of view of the objective lens 121 is much smaller than the surface area of the biochip 20 (that is, Figure 4 the area of the rectangle shown). In step S1, the controller 123 controls the camera 122 to capture the first image of the biochip 20. This first image is an image including the area where the first angle A1 is located, as Figure 5 shown. Figure 5 The image presented in

[0071] includes the extension lines after the first side L1 and the third side L3 are cross-connected to more clearly observe the position of the first angle A1. The first angle A1 in step S1 can be any of the four angles of the biochip 20. Figure 4 and Figure 5 The situations shown are that there is a first angle offset α between the first side L1 and the reference line L0.

[0072] The first mobile platform 14 can be translated along the first direction X and the second direction Y. The first direction X is parallel to the reference line L0, and the second direction Y is perpendicular to the first direction X. The first mobile platform 14 can also rotate on the plane formed by the first direction X and the second direction Y (i.e., the plane where the biochip 20 is located), that is, rotate around the axis perpendicular to the biochip 20.

[0073] In step S3, the controller 123 drives the biochip 20 to rotate, so that the first side L1 moves in the direction approaching the reference line L0 to compensate for the first angular offset α, making the first side L1 tend to be parallel to the reference line L0.

[0074] As described above, the field of view of the objective lens 121 is much smaller than the surface area of the biochip 20, then Figure 5 only a small range around the first corner A1 of the biochip 20 can be captured in the shown field of view. When Figure 5 driving the sequencing chip 20 to rotate in the field of view to adjust the direction of the first side L1, Figure 5 the distance between the shown first side L1 and the end of the reference line L0 close to the first corner A1 will be smaller than the distance between the first side L1 and the end of the reference line L0 far from the first corner A1. That is, when there is still a non-zero angle but a very small angle between the first side L1 and the reference line L0, in Figure 5 the shown field of view, the first side L1 and the reference line L0 are already close to parallel (or coincident) state, while at the end far from the first corner A1 (i.e., at the end where the second corner A2 is located), it can be seen that there is still an obvious non-zero angle between the first side L1 and the reference line L0. Therefore, the biochip 20 rotates by an angle less than the first angular offset α around its axis in its plane.

[0075] Therefore, in this embodiment, the adjustment process in step S3 is regarded as the "coarse adjustment" of the angle of the biochip 20. And in the subsequent adjustment process, the biochip 20 is further "fine-tuned".

[0076] Please refer to Figure 4 again. In step S4, the controller 123 drives the first mobile platform 14 to drive the biochip 20 to translate in the first direction X, so that the switching second corner A2 is located within the field of view of the objective lens 122. In step S5, the camera 120 takes a second image of the biochip 20, and the second image includes the range where the second corner A2 is located.

[0077] In this embodiment, the controller 123 drives the first mobile platform 14 to drive the biochip 20 to translate in the first direction X by a distance equal to the length of the first side L1 to ensure that the camera 120 can capture the second corner A2. In other embodiments, the controller 123 can also drive the first mobile platform 14 to drive the biochip 20 to translate other distances in the first direction X, as long as the second image captured by the camera 120 includes the second corner A2.

[0078] In this embodiment, step S6 specifically includes: obtaining the distance between the first intersection point and the second intersection point according to the second image, and calculating the second angle offset based on the trigonometric function according to the distance and the length of the first side.

[0079] Please refer to Figure 6 , the first side L1 and the second side L2 have a first intersection point a at the second angle A2, the reference line L0 and the second side L2 have a second intersection point b, and the reference line L0 and the first side L1 have a third intersection point c. The line segments connecting the intersection points a, b, and c form a triangle. The distance between the first intersection point a and the third intersection point c is the length of the first side L1, which is also the side length of the biochip 20 and is a known value. The distance between the first intersection point a and the second intersection point b can be obtained according to the second image. Then, in step S6, the second angle offset β between the first side L1 and the reference line L0 can be obtained based on the trigonometric function. The second angle offset β obtained based on the trigonometric function is more accurate than the first angle offset α obtained according to the first image.

[0080] In step S7, the controller 123 controls the first moving platform 14 to synchronously drive the biochip 20 to rotate in its plane until the first side L1 is parallel or coincident with the reference line L0 under the second image field of view.

[0081] In this embodiment, the first angle offset is greater than the second angle offset, so that "coarse adjustment" is first achieved through step S3, and then "fine adjustment" is achieved through step S7.

[0082] Please refer to Figure 7 , in a modified embodiment of the present application, the fluorescent groups carried by the biological samples on the biochip 30 can be fixedly arranged on the biochip 30 according to a preset rule. Through special design and processing, there are no fluorescent groups at certain positions on the biochip 30. After the biological samples are excited, the positions with fluorescent groups emit light, and the positions without fluorescent groups do not emit light, so that multiple non-luminous trajectory lines 301 and multiple trajectory lines 302 appear. The multiple trajectory lines 301 are parallel and spaced apart in the first direction X, and the multiple trajectory lines 302 are parallel and spaced apart in the second direction Y. The multiple trajectory lines 301 and the multiple trajectory lines 302 intersect to form multiple blocks.

[0083] In this modified embodiment, the biochip calibration method further includes, after step S7: taking a third image of the central region of the biochip 30; obtaining a third angle offset of the multiple trajectory lines 301 relative to the reference line L0 according to the third image; driving the biochip 30 to rotate about an axis in its plane so that the multiple trajectory lines 301 tend to be parallel to the reference line L0 to compensate for the third angle offset.

[0084] In this modified embodiment, the central region of the biochip 30 is the region excluding the outer contour of the biochip 30. A plurality of trace lines 301 are parallel to Figure 6 the first side L1 shown. After adjusting the sequencing chip based on the angular relationship between the sides and corners of the sequencing chip and the reference line L0 in the above steps S1 - S7, in this modified embodiment, the sequencing chip is further adjusted based on the angular relationship between the trace lines 301 on the sequencing chip and the reference line L0.

[0085] That is, in this modified embodiment, "coarse adjustment" is first achieved through step S3, then "first fine adjustment" is achieved through step S7, and then "second fine adjustment" is achieved through the above steps for compensating the third angular offset.

[0086] The aforementioned steps S1 - S7 are used to adjust the angle of the biochip 20. Steps S8 - S10 are used to adjust the position of the biochip 20.

[0087] Please refer to Figure 8 , in this embodiment, in order to make the biochip 20 be transferred to below the main optical path structure (refer to Figure 1 ), when the starting position of the objective lens in the main optical path structure is just above the appropriate position of the biochip 20 (such as Figure 8 the upper right corner position), the auxiliary optical path structure needs to adjust the position of the biochip 20.

[0088] In this embodiment, the vertex position of the currently detected second angle A2 is defined as the detected vertex position M, and the ideal vertex position is defined as the ideal vertex position N. In step S9, according to the second image, the linear offset d between the detected vertex position M and the ideal vertex position N is obtained.

[0089] Since the controller 123 is used to drive the first moving platform 14 to drive the biochip 20 to displace in the first direction X and the second direction Y, and in this embodiment, the connection line between the detected vertex position M and the ideal vertex position N is not parallel to both the first direction X and the second direction Y, therefore in step S10, the controller 123 drives the biochip 20 to translate in the first direction X and the second direction Y respectively in sequence to adjust the detected vertex position M to coincide with the ideal vertex position N.

[0090] In other embodiments of the present application, if the connection line between the detected vertex position M and the ideal vertex position N is parallel to the first direction X or the second direction Y, then in step S10, the controller 123 drives the biochip 20 to translate only in the first direction X or in the second direction Y, and the detected vertex position M can be adjusted to coincide with the ideal vertex position N. That is, in this embodiment, the biochip 20 needs to be moved as a whole from the dotted line position to the solid line position.

[0091] In other embodiments of the present application, if the detected vertex position M in the second image has already coincided with the ideal vertex position N, that is, the line offset obtained in step S9 is zero, the biochip calibration method may not include step S10.

[0092] If the detected vertex position M in the second image does not coincide with the ideal vertex position N, that is, when the line offset is not zero, it indicates that the position of the biochip 20 is offset. Then, in step S7, the controller 123 controls the first moving platform 14 to synchronously drive the biochip 20 to rotate in its plane, and the first side L1 can be adjusted to be parallel to the reference line L0 under the second image field of view. If the detected vertex position M in the second image has already coincided with the ideal vertex position N, that is, when the line offset is zero, it indicates that the biochip 20 has an angular offset but no position offset. Then, in step S7, the controller 123 controls the first moving platform 14 to synchronously drive the biochip 20 to rotate in its plane, and the first side L1 can be adjusted to coincide with the reference line L0 under the second image field of view.

[0093] Please refer to Figure 9 , after the position calibration of the biochip 20 is completed, the controller 123 drives the first moving platform 14 to synchronously drive the biochip 20 to translate, so that the biochip 20 is located in the field of view of the excitation light emitted by the main optical path structure 11, and the excitation light scans the biological sample on the surface of the biochip 20. The scanning trajectory is as shown by the dotted arrow in Figure 8 . In this embodiment, since the camera in the main optical path structure 11 is a area array camera, each single field of view F formed by the excitation light on the surface of the biochip 20 is approximately rectangular. In other embodiments of the present application, the camera in the main optical path structure 11 may be a time delay integration camera, and each single field of view formed by the excitation light on the surface of the biochip 20 is linear.

[0094] The biochip calibration method of the embodiment of the present application is applied to the above-mentioned controller 123. The above biochip calibration method utilizes the rectangular plane structure of the biochip, takes the first image of the first corner, and obtains the first angular offset between the first side and the preset reference line, so as to obtain the angular offset of the biochip. By driving the biochip to rotate in its plane through the controller, the first side is brought closer to the reference line, and the first angular offset can be compensated, so that the angle of the biochip tends to the ideal angle. In the above registration method, it is only necessary to take the first image including the area where the first corner is located. Compared with the prior art of taking and recognizing pre-labeled biological samples, the embodiment of the present application has lower requirements for the resolution of the camera in the auxiliary optical path structure and the magnification of the objective lens (it can be reduced by two times), and the fluorescence does not need to be excited during the shooting process. Therefore, on the one hand, it does not need to occupy the sequencing time, which is beneficial to improving the sequencing throughput of the system. On the other hand, by using a camera with lower resolution and an objective lens with lower magnification, it is beneficial to reduce the system cost.

[0095] The controller 123 in the embodiment of the present application includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, any steps of the above-mentioned biochip calibration method are implemented.

[0096] The embodiment of the present application also provides a non-volatile computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the biochip calibration method in any of the above embodiments are implemented.

[0097] When the biochip calibration method is implemented in the form of a computer program and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present application can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0098] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc. The processor is the control center of the gene sequencing system / gene sequencer, and uses various interfaces and lines to connect various parts of the entire gene sequencing system / gene sequencer.

[0099] The memory is used to store the computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory, and invoking the data stored in the memory, the processor implements various functions of the gene sequencing system / gene sequencer. The memory may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0100] Those of ordinary skill in the art of this technology should recognize that the above embodiments are only used to illustrate the present application, rather than to limit the present application. As long as within the scope of the substantial spirit of the present application, appropriate changes and variations made to the above embodiments fall within the scope of protection required by the present application.

Claims

1. A method for calibrating a biochip, characterized in that, For correcting the angle and position of a biochip, the planar shape of the biochip is rectangular, having a first corner and a first side connecting the first corner; The biochip correction method includes: Taking a first image of the first corner of the biochip; Obtaining a first angular offset of the biochip relative to a preset reference line according to the first image; Driving the biochip to rotate about an axis in its plane so that the first side tends to approach the reference line to compensate for the first angular offset.

2. The biochip calibration method according to claim 1, characterized in that The biochip further includes a second corner connecting the first side; After the step of compensating the first angular offset, the method further includes: Driving the biochip to translate in a first direction, the first direction being parallel to the reference line; Taking a second image of the second corner of the biochip; Obtaining a second angular offset of the biochip relative to the reference line according to the second image; Driving the biochip to rotate about an axis in the plane until the first side is parallel to the reference line.

3. The biochip calibration method according to claim 2, wherein, The step of driving the biochip to translate in the first direction includes: Driving the biochip to translate in the first direction by a distance equal to the length of the first side.

4. The biochip calibration method according to claim 2, wherein The biochip further includes a second side connecting the second corner, the first side and the second side having a first intersection point at the second corner, and the reference line and the second side having a second intersection point; The step of obtaining the second angular offset of the biochip relative to the reference line according to the second image includes: Obtaining the distance between the first intersection point and the second intersection point according to the second image, and calculating the second angular offset based on the distance and the length of the first side using trigonometric functions.

5. The biochip calibration method according to claim 2, wherein The step of driving the biochip to rotate about an axis in the plane until the first side is parallel to the reference line includes: Driving the biochip to rotate about an axis in the plane until the first side coincides with the reference line.

6. The biochip calibration method according to claim 2, wherein After the step of compensating the first angular offset, the biochip correction method further includes: Obtaining the detected vertex position of the second corner according to the second image; Obtaining the linear offset between the detected vertex position and an ideal vertex position; Driving the biochip to translate until the detected vertex position coincides with the ideal vertex position.

7. The biochip calibration method according to claim 6, wherein, When the line connecting the detected vertex position and the ideal vertex position has a non-zero and non-perpendicular angle with the first direction, the step of driving the biochip to translate includes: Successively driving the biochip to translate in the first direction and a second direction, the first direction being perpendicular to the second direction.

8. The biochip calibration method according to claim 2, wherein A biological sample carrying a fluorescent group is carried on the biochip, and when the fluorescent group is excited to generate fluorescence, the biochip shows a plurality of track lines arranged in parallel in the first direction; After the step of compensating the first angular offset, the biochip correction method further includes: Taking a third image of the biochip, the third image including at least one of the plurality of track lines; Obtain a third angular offset of the at least one trace line with respect to the reference line based on the third image; and Drive the biochip to rotate about an axis in its plane such that the at least one trace line tends to be parallel to the reference line to compensate for the third angular offset.

9. A gene sequencing system, characterized in that, Comprising: A mobile platform for carrying a biochip, the biochip having a rectangular planar shape with a first corner and a first side connecting the first corner; A camera located on the side of the mobile platform where the biochip is carried; And A controller electrically connected to the mobile platform and the camera respectively, a computer program being stored on the controller, and when the computer program is executed by a processor, the gene sequencing system implements the biochip calibration method according to any one of claims 1-8.

10. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the biochip calibration method according to any one of claims 1-8.

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