A well plate alignment algorithm based on standard well positioning

Abstract

The application provides a well plate alignment algorithm based on standard hole positioning, relates to the technical field of precision machinery and the technical field of automatic experimental equipment, and through manual alignment of four standard holes on a well plate sample disc, rotation angles and moving distances of the standard holes are recorded, a Jacobi matrix is used to solve a nonlinear equation set to obtain system parameters and a length of a transverse shaft, and based on a geometric parameter model and a rotation angle model and a moving distance model, rotation angles and moving distances of all well positions are calculated, high-efficiency and accurate well plate alignment is realized, the well plate alignment algorithm is suitable for different specifications of well plates, and equipment installation requirements are reduced. The application solves the poor adaptability of the existing well plate alignment method to different specifications of well plates.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of precision machinery and the technical field of automated experimental equipment, in particular to a well plate alignment algorithm based on standard hole positioning. BACKGROUND

[0002] In the fields of biological experiments, chemical analysis and high-throughput screening, micro-well plates such as 96-well plates or 40-well plates are widely used for sample processing and detection. The conventional well plate alignment method requires the operator to manually align each well position and record the corresponding rotation angle and movement distance of each well position to ensure that the well positions of the sample disc are accurately aligned with the positions of the sample needle. This method has the following disadvantages: 1) the operation is complicated, it takes a long time to manually align each well position one by one, the operation is complex, and the efficiency is low, especially in high-throughput experiments; 2) error accumulation, manual alignment is prone to human operation errors, affecting the alignment accuracy; 3) poor consistency, each alignment is based on the subjective judgment of the operator, it is difficult to ensure the consistency of the alignment of each well position, which may have a certain impact on the final experimental results; 4) high installation requirements, the traditional automatic sample loading equipment has high requirements for the installation accuracy of the sample disc on the tray and the docking accuracy with the detection equipment, increasing the complexity of equipment installation and debugging.

[0003] In the prior art, some automatic alignment systems achieve well plate alignment through mechanical calibration or image recognition technology, but these methods usually require additional hardware support and have poor adaptability to different well plate specifications. SUMMARY

[0004] In view of the above deficiencies in the prior art, the well plate alignment algorithm based on standard hole positioning provided by the present application solves the problem of poor adaptability of existing well plate alignment methods to different well plate specifications, and achieves efficient, accurate and highly versatile well plate alignment.

[0005] In order to achieve the above-mentioned purpose of the application, the technical solution adopted by the present application is as follows: a well plate alignment algorithm based on standard hole positioning, comprising:

[0006] S1: obtaining the geometric parameters of the well plate sample disc;

[0007] S2: manually aligning four standard holes on the well plate sample disc, recording the rotation angle and movement distance, constructing a nonlinear equation system, and solving it using the Jacobian matrix to obtain the system parameters and the length of the horizontal displacement axis;

[0008] S3: based on the length of the horizontal displacement axis, the system parameters and the geometric parameters, using a rotation angle model and a movement distance model to calculate the rotation angle and movement distance of each well position on the well plate sample disc;

[0009] S4: According to the rotation angle and the moving distance of each hole position on the hole plate sample disc, each hole position is moved to the sample needle position to obtain a hole plate alignment result, and the hole plate alignment is completed.

[0010] The present application has the following advantages: the present application provides a hole plate alignment algorithm based on standard hole positioning, the geometric parameters and standard hole data of the hole plate sample disc are processed by using a rotation angle model to obtain the rotation angle of the standard hole, an equation group is constructed to obtain the system parameters and the corresponding horizontal displacement axis length, the rotation angle and the moving distance of each hole position on the hole plate sample disc are calculated to move each hole position to the sample needle position to obtain a hole plate alignment result, and the hole plate alignment is completed. By manually aligning only 4 standard holes, the rotation angle and the moving distance of the remaining hole positions are automatically calculated by the algorithm, the operation time is shortened to 1 / 10 (for a 40-hole plate) or 1 / 24 (for a 96-hole plate) of the traditional method, the alignment accuracy consistency is improved, and the error is reduced to 1 / 5 of the traditional manual alignment. The algorithm is based on geometric parameters and is suitable for 96-hole plates, 40-hole plates and other specifications, does not require complex image recognition equipment, reduces system cost, compensates for installation deviation, significantly reduces the precision requirements of sample disc installation and equipment docking, and has the advantages of high efficiency, high precision and strong universality.

[0011] Further, the expression of the system parameters is:

[0012] ;

[0013] wherein, represents the rotation angle of the first standard hole, represents the rotation angle of the second standard hole, represents the rotation angle of the third standard hole, represents the rotation angle of the fourth standard hole, represents the horizontal position of the first standard hole, represents the vertical position of the first standard hole, represents the horizontal position of the second standard hole, represents the vertical position of the second standard hole, represents the horizontal position of the third standard hole, represents the vertical position of the third standard hole, represents the horizontal position of the fourth standard hole, represents the vertical position of the fourth standard hole, represents the horizontal offset between the center of the sample disc and the rotation center of the tray, represents the vertical offset between the center of the sample disc and the rotation center of the tray, represents the distance from the sample needle to the horizontal displacement axis, represents the initial rotation angle of the sample disc.

[0014] The nonlinear equations are solved by Jacobi matrix, and the system parameters (O x 、O y 、H、A) are accurately calculated to ensure the accuracy of the calculation results, reduce the errors caused by manual operation or equipment installation deviation, and improve the hole plate alignment accuracy and consistency.

[0015] Further, the expression of the length of the transverse movement shaft is:

[0016] ;

[0017] wherein, represents the length of the transverse movement shaft, represents the lateral position of the i-th standard hole, represents the longitudinal position of the i-th standard hole, represents the movement distance of the i-th standard hole, represents the lateral offset between the center of the sample disc and the rotation center of the tray, represents the longitudinal offset between the center of the sample disc and the rotation center of the tray, represents the distance from the sample needle to the transverse movement shaft.

[0018] By accurately calculating the length of the transverse movement shaft L, combined with the rotation angle and movement distance data of the four standard holes, the algorithm can effectively compensate for the installation deviation of the sample disc on the tray, reduce the docking accuracy requirement of the automatic sample loading equipment and the detection equipment, simplify the equipment installation and debugging process, and reduce the installation cost.

[0019] Further, the expression of the rotation angle model is:

[0020] ;

[0021] wherein, represents the rotation angle of the hole position, represents the lateral position of the hole position, represents the longitudinal position of the hole position, represents the lateral offset between the center of the sample disc and the rotation center of the tray, represents the longitudinal offset between the center of the sample disc and the rotation center of the tray, represents the distance from the sample needle to the transverse movement shaft, represents the initial rotation angle of the sample disc.

[0022] Based on the rotation angle model of the geometric parameters and the system parameters, the rotation angles T of all hole positions are automatically calculated, which significantly reduces the workload of manual alignment, improves the alignment efficiency and consistency between hole positions, is suitable for different specifications of hole plates, and enhances the universality of the algorithm.

[0023] Further, the expression of the movement distance model is:

[0024] ;

[0025] wherein, represents the moving distance of the well position, represents the length of the transverse moving axis, represents the transverse position of the well position, represents the longitudinal position of the well position, represents the transverse offset between the center of the sample disc and the rotation center of the tray, represents the longitudinal offset between the center of the sample disc and the rotation center of the tray, represents the distance from the sample needle to the transverse moving axis.

[0026] The moving distance D of all well positions is calculated by the moving distance model, and the precise alignment is realized in combination with the rotation angle model, which simplifies the operation process, reduces the dependence on the skills of the operator, compensates for the installation deviation through the algorithm, reduces the accuracy requirements of the sample disc installation and equipment docking, and improves the practicability and stability of the system. BRIEF DESCRIPTION OF DRAWINGS

[0027] The present specification will be further illustrated in the manner of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent the same structures, wherein:

[0028] Figure 1 is an exemplary flowchart of a well plate alignment algorithm based on standard well positioning according to some embodiments of the present specification;

[0029] Figure 2 is an exemplary schematic diagram of a sample loading system according to some embodiments of the present specification. DETAILED DESCRIPTION

[0030] The specific embodiments of the present application are described below to facilitate the understanding of the present application for those skilled in the art, but it should be clear that the present application is not limited to the scope of the specific embodiments, and for those skilled in the art, it is obvious that various changes are within the spirit and scope of the present application defined and determined by the appended claims, and all the applications utilizing the concept of the present application are within the scope of protection.

[0031] EMBODIMENT

[0032] Figure 1 is an exemplary flowchart of a well plate alignment algorithm based on standard well positioning according to some embodiments of the present specification. As shown in Figure 1 , the flow includes the following steps. In some embodiments, the flow can be executed by a processor.

[0033] S1: Obtain the geometric parameters of the well plate sample disc.

[0034] The geometric parameters of the well plate sample disc are the position data of each well site in the well plate sample. For example, the geometric parameters of the well plate sample disc can include the lateral position of each well site, the longitudinal position of each well site, and the angle of each well site with the x-axis in a micro-well plate such as a 96-well plate or a 40-well plate.

[0035] In some embodiments, the processor can obtain the geometric parameters of the well plate sample disc by sampling the well plate sample disc.

[0036] Based on the geometric parameters of the well plate, it is suitable for different specifications of the well plate (such as 96-well plate, 40-well plate, etc.)

[0037] S2: By manually aligning the four standard wells on the well plate sample disc, record the rotation angle and movement distance, construct a nonlinear equation system, and solve it using the Jacobian matrix to obtain the system parameters and the length of the horizontal translation axis.

[0038] The rotation angle of the standard well is the rotation angle of the standard well relative to the position of the sample needle.

[0039] In some embodiments, the processor can align the four standard wells on the sample disc manually, and record the rotation angle and movement distance of each standard well.

[0040] Only four standard wells need to be manually aligned, and the alignment parameters of all well sites can be calculated by an algorithm, reducing the manual operation time.

[0041] The system parameters are the motion position related parameters after the automatic sample loading device and the detection device are fixed. For example, the system parameters can include O x , O y , H, and A. For specific reference, see the explanation of the same parameters below.

[0042] In some embodiments, as shown in Figure 2 , the structure of the well plate sample loading system includes a sample disc, a sample needle, a horizontal translation axis, and a rotation center. The sample disc is distributed with a plurality of well sites (represented by purple circles), and the distance H from the sample needle to the horizontal translation axis, the offset O x , O y of the sample disc from the rotation center, the length L of the horizontal translation axis, and the initial rotation angle A of the sample disc are labeled. The small red circle represents the center point of the sample disc, and the blue small circle beside the small red circle represents the rotation center point of the tray.

[0043] In some embodiments, the expression of the system parameters can be:

[0044] ;

[0045] wherein, represents the rotation angle of the first standard hole, represents the rotation angle of the second standard hole, represents the rotation angle of the third standard hole, represents the rotation angle of the fourth standard hole, represents the lateral position of the first standard hole, represents the longitudinal position of the first standard hole, represents the lateral position of the second standard hole, represents the longitudinal position of the second standard hole, represents the lateral position of the third standard hole, represents the longitudinal position of the third standard hole, represents the lateral position of the fourth standard hole, represents the longitudinal position of the fourth standard hole, represents the lateral offset between the center of the sample disc and the rotation center of the tray, represents the longitudinal offset between the center of the sample disc and the rotation center of the tray, represents the distance between the sample needle and the traverse axis, represents the initial rotation angle of the sample disc.

[0046] In some embodiments, the processor can solve the equation set iteratively using the Jacobi matrix to obtain the accurate values of the system parameters O x , O y , H and A.

[0047] The traverse axis refers to a straight line that passes through the rotation center of the tray and is parallel to the direction of motion of the tray.

[0048] The traverse axis length refers to the length from the point on the traverse axis closest to the sample needle to the zero point of the traverse axis.

[0049] In some embodiments, based on the system parameters O x , O y , H and A obtained by solving the equation set, the expression of the traverse axis length can be:

[0050] ;

[0051] wherein, represents the traverse axis length, represents the lateral position of the i-th standard hole, represents the longitudinal position of the i-th standard hole, represents the movement distance of the i-th standard hole, represents the lateral offset between the center of the sample disc and the rotation center of the tray, represents the longitudinal offset between the center of the sample disc and the rotation center of the tray, represents the distance between the sample needle and the traverse axis.

[0052] S3: Based on the lateral shift axis length of each standard hole, the system parameters and the geometric parameters, the rotation angle model and the moving distance model are used for calculation to obtain the rotation angle and the moving distance of each hole position on the hole plate sample disc, respectively.

[0053] The rotation angle model is a mathematical model for calculating the rotation angle of the hole position.

[0054] In some embodiments, the expression of the rotation angle model can be:

[0055] ;

[0056] wherein, represents the rotation angle of the hole position, represents the lateral position of the hole position, represents the longitudinal position of the hole position, represents the lateral offset of the center of the sample disc from the rotation center of the tray, represents the longitudinal offset of the center of the sample disc from the rotation center of the tray, represents the distance from the sample needle to the lateral shift axis, represents the initial rotation angle of the sample disc.

[0057] The moving distance model is a mathematical model for calculating the moving distance of the hole position.

[0058] In some embodiments, the expression of the moving distance model can be:

[0059] ;

[0060] wherein, represents the moving distance of the hole position, represents the lateral shift axis length, represents the lateral position of the hole position, represents the longitudinal position of the hole position, represents the lateral offset of the center of the sample disc from the rotation center of the tray, represents the longitudinal offset of the center of the sample disc from the rotation center of the tray, represents the distance from the sample needle to the lateral shift axis.

[0061] The rotation angle of the hole position is the rotation angle required by each hole position relative to the sample needle position.

[0062] The moving distance of the hole position is the moving distance required by each hole position relative to the sample needle position.

[0063] By compensating for the installation deviation through the algorithm, the installation precision requirement of the sample disc on the tray and the docking precision requirement of the automatic sample loading equipment and the detection equipment are reduced.

[0064] S4: According to the rotation angle and the moving distance of each hole position on the hole plate sample disc, each hole position is moved to the sample needle position to obtain the hole plate alignment result, and the hole plate alignment is completed.

[0065] The hole plate alignment result is the alignment result of the hole position moving to the sample needle position.

[0066] In some embodiments, the processor can control the sample loading system to accurately move each hole position to the sample needle position according to the rotation angle of the hole position and the moving distance of the hole position, and complete the alignment.

[0067] The sample disc installation deviation can be compensated, and the installation precision requirement of the sample disc on the tray and the docking precision requirement of the automatic sample loading equipment and the detection equipment can be reduced.

[0068] In some embodiments of the present specification, a hole plate alignment algorithm based on standard hole positioning is provided, the geometric parameters of the hole plate sample disc and the standard hole data are processed by using a rotation angle model to obtain the rotation angle of the standard hole, an equation group is constructed to obtain the system parameters and the corresponding horizontal moving shaft length, the rotation angle and the moving distance of each hole position on the hole plate sample disc are obtained by calculation, each hole position is moved to the sample needle position to obtain the hole plate alignment result, and the hole plate alignment is completed. By manually aligning only 4 standard holes, the rotation angle and the moving distance of the remaining hole positions are automatically calculated by using the algorithm, the operation time is shortened to 1 / 10 (for a 40-hole plate) or 1 / 24 (for a 96-hole plate) of the traditional method, the alignment accuracy consistency is improved, and the error is reduced to 1 / 5 of the traditional manual alignment. The algorithm is based on geometric parameters and is suitable for various specifications such as 96-hole plates and 40-hole plates, does not require complex image recognition equipment, reduces the system cost, compensates for the installation deviation, significantly reduces the precision requirements of the sample disc installation and equipment docking, and has the advantages of high efficiency, high precision, and strong universality.

Claims

1. A well plate alignment algorithm based on standard well positioning, characterized in that, The method comprises the following steps: S1: acquiring geometric parameters of a hole plate sample disc; S2: recording rotation angles and moving distances of four standard holes on the hole plate sample disc by manually aligning the four standard holes, constructing a nonlinear equation group, and solving the nonlinear equation group by using a Jacobi matrix to obtain system parameters and a horizontal moving shaft length; S3: based on the horizontal moving shaft length, the system parameters, and the geometric parameters, performing calculation by using a rotation angle model and a moving distance model to obtain rotation angles and moving distances of each hole position on the hole plate sample disc respectively; the rotation angle model is a mathematical model for calculating hole position rotation angles, and the moving distance model is a mathematical model for calculating hole position moving distances; an expression of the rotation angle model is: ； wherein, represents the rotational angle of the hole site, represents the lateral position of the hole site, represents the longitudinal position of the hole site, represents the lateral offset of the center of the sample disc from the rotational center of the tray, represents the longitudinal offset of the center of the sample disc from the rotational center of the tray, represents the distance of the sample needle to the traverse axis, represents the initial rotational angle of the sample disc; an expression of the moving distance model is: ； wherein, represents the moving distance of the hole site, represents the length of the traverse axis, represents the lateral position of the hole site, represents the longitudinal position of the hole site, represents the lateral offset of the center of the sample disc from the rotation center of the tray, represents the longitudinal offset of the center of the sample disc from the rotation center of the tray, represents the distance of the sample needle to the traverse axis; S4: moving each hole position to a sample needle position according to the rotation angles and the moving distances of each hole position on the hole plate sample disc to obtain a hole plate alignment result and complete hole plate alignment.

2. The standard well-based positioning well plate alignment algorithm of claim 1, wherein, an expression of the system parameters is: ； wherein represents a rotation angle of the first standard hole, represents a rotation angle of the second standard hole, represents a rotation angle of the third standard hole, represents a rotation angle of the fourth standard hole, represents a lateral position of the first standard hole, represents a longitudinal position of the first standard hole, represents a lateral position of the second standard hole, represents a longitudinal position of the second standard hole, represents a lateral position of the third standard hole, represents a longitudinal position of the third standard hole, represents a lateral position of the fourth standard hole, represents a longitudinal position of the fourth standard hole, represents a lateral offset of the center of the sample disc from the rotation center of the tray, represents a longitudinal offset of the center of the sample disc from the rotation center of the tray, represents a distance of the sample needle to the lateral translation axis, represents an initial rotation angle of the sample disc.

3. The standard well-based positioning well plate alignment algorithm of claim 1, wherein, an expression of the horizontal moving shaft length is: ； wherein, represents the lateral shift axis length, represents the lateral position of the i-th standard well, represents the longitudinal position of the i-th standard well, represents the shift distance of the i-th standard well, represents the lateral offset of the center of the sample disc from the rotation center of the tray, represents the longitudinal offset of the center of the sample disc from the rotation center of the tray, represents the distance of the sample needle to the lateral shift axis.

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