An adaptive time-lapse photography embryo incubator

Abstract

This invention relates to the field of embryo culture imaging technology, specifically to an embryo culture chamber with adaptive time-difference imaging, comprising: a culture module, an image acquisition module, and a motion control module; the culture module forms a cavity for embryo culture, the image acquisition module is located inside the culture cavity or isolated outside the cavity and images are taken inside the cavity through a transparent window; the motion control module controls the imaging parameters of the image acquisition module based on a preset adaptive time-difference imaging strategy. This invention, by introducing an adaptive time-difference imaging strategy into the motion control module, dynamically adjusts the imaging parameters according to the real-time developmental status of the embryo, achieving refined monitoring of the embryo development process. Compared with existing fixed time interval and fixed multi-focal plane imaging methods, it can significantly reduce unnecessary shooting times and exposure times while ensuring complete acquisition of key information, thereby effectively reducing the potential phototoxicity risk to the embryo and improving the safety of embryo culture.

Description

Technical Field

[0001] This invention relates to the field of embryo culture imaging technology, and more specifically to an embryo culture chamber for adaptive time-difference photography. Background Technology

[0002] The photography module of the time-lapse incubator can continuously photograph the developmental process of multiple embryos within the incubator, acquiring key developmental information such as embryo morphology, blastomere division and expansion. This assists embryologists in assessing embryo quality and improving the accuracy of embryo selection. Numerous studies have demonstrated that time-lapse photography technology can effectively improve the success rate of assisted reproductive technologies.

[0003] Current time-lapse incubators typically use fixed shooting intervals, acquiring multiple focal length images with each shot. While this method is simple to operate, it has significant drawbacks: First, the fixed interval makes it difficult to capture rapid changes, such as the brief details of spontaneous embryonic collapse or cell division, which may be missed. Second, the shooting interval cannot be shortened indefinitely, mainly due to limitations in camera system speed, phototoxicity, and data volume. The camera system must sequentially complete embryo positioning, focus adjustment, exposure, and image storage; each shot is time-consuming, and the more embryos there are, the longer the cycle time. Frequent shooting also increases the risk of light damage to cells, including damage to proteins, DNA, and mitochondria, thus affecting embryonic development safety. Third, shorter shooting intervals generate massive amounts of image data, increasing the storage and processing burden. Simultaneously, the relatively stable morphology and position of embryos for most of the time leads to a large amount of redundant information, increasing the workload of image interpretation and long-term storage costs. Summary of the Invention

[0004] (a) Purpose of the invention The purpose of this invention is to provide an embryo incubator with adaptive time-difference imaging. Through an adaptive time-difference imaging strategy, the shooting time and number of images are dynamically adjusted to achieve continuous monitoring of embryo development. Compared to traditional fixed-interval multi-focal-plane imaging, this method reduces phototoxicity, image redundancy, and storage pressure, while simultaneously capturing rapidly changing key developmental events, improving the accuracy of embryo quality assessment and the incubator's imaging efficiency.

[0005] (II) Technical Solution To address the above problems, the present invention provides an embryo incubator for adaptive time-difference photography, comprising: The module consists of a cultivation module, an image acquisition module, and a motion control module. The culture module forms a cavity for embryo culture, and the image acquisition module is located inside the culture cavity or isolated outside the cavity and performs imaging inside the cavity through a transparent window. The motion control module is connected to the image acquisition module; The motion control module controls the imaging parameters of the image acquisition module based on a preset adaptive time difference imaging strategy. The image acquisition module acquires images based on the imaging parameters.

[0006] In another aspect of the present invention, preferably, the preset adaptive time difference imaging strategy includes: Determine the first focal length position of the embryo, which is the optimal focal length position for the embryo to be in focus; Based on the determined first focal length position and the first imaging strategy or the second imaging strategy, imaging parameters are determined, including the imaging time interval and the imaging focal length position.

[0007] In another aspect of the present invention, preferably, the first imaging strategy includes: Based on a first preset time interval, acquire a first image and a second image of the embryo; The difference between the first image and the second image is obtained using a preset image processing algorithm; Based on the degree of difference, the imaging parameters are determined.

[0008] In another aspect of the present invention, preferably, determining the imaging parameters based on the difference includes: When the difference is greater than a preset difference threshold, the imaging time interval is adjusted from the first preset time interval to the second preset time interval, and the image acquisition module is controlled to image the embryo at multiple different focal length positions. When the difference is less than or equal to the preset difference threshold, the imaging time interval is maintained or restored to the first preset time interval, and the image acquisition module is controlled to image the embryo at the first focal length position.

[0009] In another aspect of the present invention, preferably, the second imaging strategy includes: Acquire multifocal plane images of the embryo at multiple focal length positions; Using a preset image model, the current developmental event of the embryo is determined based on the multi-focal plane image; Using a preset time series model and the current developmental events of the embryo, the next developmental event and the corresponding developmental time point of the embryo are determined; Between the current moment and the predicted developmental time point, the embryo is periodically imaged based on a first time window to acquire monitoring images; Based on the monitored images, developmental events are monitored, and imaging parameters are determined.

[0010] In another aspect of the present invention, preferably, the step of monitoring developmental events and determining imaging parameters based on the monitored images includes: Based on a preset event analysis algorithm and the monitoring images, it is determined whether the embryo has entered the next developmental event; If the embryo has already entered the embryonic stage, the imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions. If no entry is made, a time point determination is performed to obtain the time point determination result; Based on the time point determination results, the imaging parameters are determined.

[0011] In another aspect of the present invention, preferably, determining the imaging parameters based on the time point determination result includes: If the predicted developmental time point has been reached, the imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions. If the developmental time point has not yet been reached, based on the preset event analysis algorithm and the monitoring image, it is determined whether the next developmental event has ended, and the judgment result of the next developmental event is obtained. Based on the results of the next developmental event assessment, the imaging parameters are determined.

[0012] In another aspect of the present invention, preferably, determining the imaging parameters based on the result of the next developmental event includes: If development has ended, the imaging time interval is maintained at the first time window, and the image acquisition module is controlled to image the embryo at the first focal length position; If development has not yet ended, the imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions.

[0013] In another aspect of the present invention, preferably, the imaging parameters further include: a supplementary focal plane; The supplementary focal plane is determined based on a preset focal plane strategy and embryonic development events.

[0014] In another aspect of the present invention, preferably, the preset focal plane strategy includes: Based on the developmental stage of the embryo, the supplementary focal plane is adaptively determined using a target recognition algorithm; In the prokaryotic stage, the location of the prokaryotic occurrence is detected by a target recognition algorithm, and the focal plane containing a clear image of the prokaryotic is identified as the supplementary focal plane. During the embryonic splitting stage, a target recognition algorithm is used to identify clear blastomeres, and the focal plane containing the clear blastomeres is determined as the supplementary focal plane. During the blastocyst stage, a target recognition algorithm is used to identify clear cellular structures within the zona pellucida and to determine the focal plane containing clear trophoblast cells or inner cell masses as the supplementary focal plane.

[0015] (III) Beneficial Effects The above-described technical solution of the present invention has the following beneficial technical effects: This invention introduces an adaptive time-difference imaging strategy into the motion control module, dynamically adjusting imaging parameters based on the real-time developmental status of the embryo to achieve precise monitoring of the embryonic development process. Compared with existing fixed time interval and fixed multi-focal plane imaging methods, this significantly reduces unnecessary shooting times and exposure times while ensuring complete acquisition of key information. This effectively reduces the potential phototoxicity risk to the embryo caused by light exposure and improves the safety of embryo culture. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention; Figure 2 This is a schematic diagram of the first imaging strategy process according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the second imaging strategy process according to an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0018] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] The invention will now be described in more detail with reference to the accompanying drawings. In the various drawings, the same elements are indicated by similar reference numerals. For clarity, the various parts in the drawings are not drawn to scale.

[0022] Example 1 An embryo incubator with adaptive time-difference photography, Figure 1 A schematic diagram of the overall structure of an embodiment of the present invention is shown, as follows. Figure 1 As shown, it includes: The module consists of a cultivation module, an image acquisition module, and a motion control module. The culture module forms a cavity for embryo culture. The culture module is used to form a relatively closed embryo culture cavity. The culture cavity can provide suitable environmental conditions for in vitro embryo culture, including temperature, gas composition and humidity, so as to ensure the normal development of the embryo during the culture process.

[0023] The image acquisition module is disposed within the culture chamber or isolated outside the chamber and images the embryos within the chamber through a transparent window. The image acquisition module is used to image the embryos within the culture chamber, and its placement can be selected according to actual structural requirements. In one embodiment, the image acquisition module is disposed inside the culture chamber, opposite to the embryo culture area, so that the imaging optical path directly acts on the embryo sample, thereby reducing the optical path length and external interference, and improving imaging stability and clarity. In this case, the structure and materials of the image acquisition module can adapt to the temperature, humidity, and gas environment within the culture chamber and will not adversely affect the embryo culture conditions. In another embodiment, the image acquisition module is isolated outside the culture chamber and images the embryos within the culture chamber through a transparent window disposed on the culture module. The transparent window is made of a material with good transmittance for the imaging wavelength and can form a sealed structure with the culture module to ensure the stability of the environment within the culture chamber. In this way, the image acquisition module can be isolated from the culture environment, facilitating equipment maintenance and upgrades, while avoiding interference from the imaging module to the environment within the chamber. Regardless of whether the image acquisition module is located inside or isolated outside the culture chamber, it completes the acquisition of embryo images under the control of the motion control module. Its imaging parameters can be adjusted according to the adaptive time difference imaging strategy, thereby achieving continuous and stable imaging of the embryo development process without disrupting the culture conditions.

[0024] The motion control module is connected to the image acquisition module. Based on a preset adaptive time-difference imaging strategy, the motion control module controls the imaging parameters of the image acquisition module. The motion control module is electrically or communicatively connected to the image acquisition module, and is used for unified control and management of the image acquisition module's operating state and imaging process. The motion control module can be implemented using a processor, control circuit, or embedded control system, and is capable of receiving, storing, and executing preset control programs and imaging strategies. The motion control module has a preset adaptive time-difference imaging strategy, which dynamically adjusts the imaging parameters of the image acquisition module according to the real-time developmental status of the embryo during embryo culture.

[0025] Furthermore, in this embodiment, the preset adaptive time difference imaging strategy includes: The first focal length position of the embryo is determined, which is the optimal focal length position for sharpness. Multifocal imaging is performed on the embryo when it enters the culture chamber or at a predetermined time point. Sharpness analysis is conducted on images acquired at different focal length positions to determine the focal length position that provides the sharpest image of the embryo's structure, which is then taken as the first focal length position of the embryo. This sharpness analysis can be based on contrast, edge information, gradient changes, or other evaluation indicators characterizing image sharpness to ensure that the first focal length position accurately reflects the optimal imaging state of the embryo.

[0026] Based on a determined first focal length position and either a first or second imaging strategy, imaging parameters are determined, including the imaging time interval and the imaging focal length position. The imaging focal length position includes at least the first focal length position and can be extended to one or more adjacent focal length positions as needed. The first and second imaging strategies can correspond to different embryonic developmental events, the real-time developmental state of the embryo at different imaging precisions, or the system's operational state, thereby achieving differentiated control of the imaging frequency and focal length range. Through this method, while ensuring clear imaging of key embryonic structures, the imaging time interval and focal length configuration can be flexibly adjusted according to the real-time developmental state of the actual embryo, achieving adaptive time-difference imaging. This helps reduce redundant imaging and improve overall imaging efficiency.

[0027] Furthermore, in this embodiment, Figure 2 A schematic diagram of the first imaging strategy flow according to an embodiment of the present invention is shown, as follows: Figure 2 As shown, the first imaging strategy adaptively adjusts the imaging time interval and imaging focal length configuration based on changes in the embryo at adjacent time points. Specifically, the first imaging strategy includes: Based on a first preset time interval, a first image and a second image of the embryo are acquired; the image acquisition module is controlled to continuously image the same embryo according to the first preset time interval, acquiring a first image and a second image located at two adjacent time points respectively. The first image and the second image can be images acquired at the same focal length position, or images acquired at the first focal length position of the embryo.

[0028] Using a preset image processing algorithm, the difference between the first image and the second image is obtained. The difference can be calculated based on pixel changes, structural similarity, regional contrast changes, or other indicators used to characterize the degree of image change. This is used to determine whether the embryo is in a state of rapid change within the current time period. Depending on the specific content of the difference, different preset image processing algorithms can be determined. For example, a pixel-level difference algorithm can be used to perform difference operations on the first and second images at corresponding pixel positions, calculate the change range of pixel grayscale or brightness values, and statistically analyze the difference results to characterize the overall degree of change of the embryo at adjacent time points. A structural similarity algorithm can be used to calculate the similarity between the first and second images in brightness, contrast, and structural information, obtain a structural similarity index, and use it as the inverse quantification result of the difference to determine whether the embryo's morphological structure has undergone significant changes. Alternatively, an edge or contour change analysis algorithm can be used to perform edge detection or contour extraction on the two images respectively, comparing changes in the embryo's contour, blastomere boundaries, or internal structural edges to reflect developmental events such as embryonic division and morphological rearrangement. Alternatively, optical flow or motion estimation algorithms can be used to quantify local or overall embryonic motion changes by estimating pixel motion vectors between the first and second images, thus identifying dynamic processes such as cell division, collapse, or expansion. Feature point matching algorithms can also be employed, extracting key feature points from two images and matching them. Based on changes in the location, number, or distribution of feature points, the difference is calculated to reflect changes in the embryo's internal structure or morphology. Alternatively, deep learning-based change detection algorithms can be used, utilizing a trained neural network model to extract features and determine changes in the input first and second images, outputting a difference score or change rating reflecting the degree of embryonic change. By employing any one or more of these image processing algorithms, quantitative assessments of embryonic developmental changes at adjacent time points can be achieved, providing a basis for adaptively adjusting imaging time intervals and focal length configurations.

[0029] Based on the difference, imaging parameters are determined, including: When the difference is greater than a preset difference threshold, it indicates that the embryo has undergone significant morphological or structural changes during that time period. The imaging time interval is then adjusted from the first preset time interval to the second preset time interval, and the image acquisition module is controlled to image the embryo at multiple different focal length positions. The second preset time interval is less than the first preset time interval to obtain richer spatial and temporal information.

[0030] When the difference is less than or equal to the preset difference threshold, the imaging time interval is maintained or restored to the first preset time interval, and the image acquisition module is controlled to image the embryo at the first focal length position. Because the embryo is in a relatively stable state, unnecessary shooting and exposure are reduced. The first imaging strategy can achieve differentiated imaging control according to the embryo's developmental state, effectively reducing image redundancy and light burden while ensuring the acquisition of key developmental information. The difference judgment is performed once every imaging time interval. If the difference is maintained, the imaging time interval is always the first preset time interval; if it is restored, the previous imaging time interval is the second preset time interval, and the difference is not significant, it is restored to the first preset time interval.

[0031] Furthermore, in this embodiment, Figure 3 A schematic diagram of the second imaging strategy flow according to an embodiment of the present invention is shown, as follows: Figure 3 As shown, the second imaging strategy is used to predict developmental progress and set imaging parameters accordingly during key stages of embryonic development. The specific second imaging strategy includes: Multifocal plane images of the embryo at multiple focal lengths are acquired, covering different spatial layers of the embryo. These multifocal plane images reflect the morphological and structural information of the embryo at different depths, providing a data foundation for subsequent developmental event identification.

[0032] Using a preset image model, the current developmental event of the embryo is determined based on the multi-focal plane image; the image model can be constructed based on rules, feature extraction methods or machine learning models, and is used to identify the typical morphological features of the embryo at different developmental events.

[0033] Using a preset time series model and the current developmental events of the embryo, the next developmental event and the corresponding developmental time point of the embryo are determined. The time series model can be constructed based on historical embryonic development data or statistical patterns to characterize the temporal evolution relationship between different developmental events.

[0034] Between the current moment and the predicted developmental time point, the embryo is periodically imaged based on a first time window to acquire monitoring images; Based on the monitored images, developmental events are monitored. One monitoring image is acquired for each first time window, and developmental events are monitored for each acquired image. Monitoring embryonic developmental events helps identify developmental transitions, structural changes, or other key developmental events, thereby providing a basis for subsequent imaging strategy adjustments and embryonic development assessment.

[0035] Furthermore, in this embodiment, the step of monitoring developmental events based on the monitored images to determine whether a developmental event transition has occurred in the embryo, and dynamically adjusting the imaging parameters accordingly, includes: Based on a preset event analysis algorithm and the monitoring images, it is determined whether the embryo has entered the next developmental event. The event analysis algorithm can identify key events reflecting the transition of developmental events based on embryo morphological characteristics, structural change characteristics, or image temporal change characteristics.

[0036] If the embryo has entered the stage, it indicates that the embryo is undergoing important developmental changes. The imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions to improve the imaging time resolution. Simultaneously imaging the embryo at multiple different focal length positions allows for the acquisition of more complete spatial structural information, facilitating accurate recording of developmental events.

[0037] If no entry is made, a time point determination is performed to obtain the time point determination result; further time point determination is performed to assess the relationship between the current moment and the predicted development time point.

[0038] Based on the time point judgment results, the imaging parameters are determined, including whether to maintain the current imaging time interval, or to make corresponding adjustments to the imaging time interval and imaging focal length configuration, so as to ensure the continuity of monitoring while avoiding unnecessary high-frequency shooting.

[0039] Furthermore, in this embodiment, determining the imaging parameters based on the time point judgment result includes: If the time point has reached the developmental time point, it indicates that the embryo is about to or is undergoing a critical developmental event. The imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions in order to accurately capture the critical developmental event.

[0040] If the developmental time point has not yet been reached, based on the preset event analysis algorithm and the monitoring image, it is determined whether the next developmental event has ended, and the determination result of the next developmental event is obtained; the event analysis algorithm may include analysis methods based on morphological features, structural changes or image sequence features, used to identify whether the changes in the embryo within the developmental event are completed.

[0041] Based on the results of the next developmental event assessment, the imaging parameters are determined.

[0042] Furthermore, in this embodiment, determining the imaging parameters based on the result of the next developmental event includes: If development has ended, it indicates that the embryo is in a relatively stable stage. The imaging time interval is maintained or restored to the first time window, and the image acquisition module is controlled to image the embryo at the first focal length position to reduce unnecessary exposure and data redundancy.

[0043] If the embryo has not yet finished developing, it means that the embryo is still in an active developmental state. The imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions to ensure that key developmental information can be continuously acquired.

[0044] By using the above-mentioned method of judging and dynamically adjusting imaging parameters, the imaging frequency and focal length can be adaptively adjusted according to the actual development of the embryo. While ensuring the complete recording of key developmental events, redundant imaging and illumination burden can be effectively reduced, thus achieving efficient and precise monitoring of the embryonic development process.

[0045] Furthermore, in this embodiment, the imaging parameters further include: a supplementary focal plane; The supplementary focal plane is determined based on a preset focal plane strategy and embryonic development events.

[0046] In another aspect of the present invention, preferably, the preset focal plane strategy includes: Based on the embryonic developmental stage, supplementary focal planes are adaptively determined using a target recognition algorithm. This algorithm may include image segmentation, edge detection, morphological analysis, or machine learning-based embryonic feature recognition methods to identify key developmental sites and determine the focal planes requiring supplementary imaging. Through these supplementary focal plane units, multiple focal planes at different heights can be selected within the embryo's three-dimensional structure, ensuring complete and clear embryonic image information is obtained at various developmental stages.

[0047] During embryonic development, due to the overlapping of blastomeres, a single image often cannot reflect all the information within the entire embryo. For example, blastomeres in different locations may only be clearly imaged at different focal lengths. Therefore, it is necessary to capture and save images at multiple focal lengths. However, capturing images at all focal lengths each time is often redundant. Therefore, a specific analysis based on the specific situation of the embryo is necessary. Specifically, in the pronuclear stage, a target recognition algorithm is used to detect the location of the pronucleus, and the focal plane containing a clear image of the pronucleus is identified as a supplementary focal plane. During the embryonic splitting stage, a target recognition algorithm is used to identify clear blastomeres, and the focal plane containing the clear blastomeres is determined as the supplementary focal plane. During the blastocyst stage, a target recognition algorithm is used to identify clear cellular structures within the zona pellucida and to determine the focal plane containing clear trophoblast cells or inner cell masses as the supplementary focal plane.

[0048] Once the supplementary focal plane is determined, subsequent shots at the same stage only need to capture the main focal plane and the supplementary focal plane, eliminating the need to mechanically capture all focal planes as in traditional methods. Compared to the traditional approach of capturing all focal planes, this effectively reduces the number of shots while preserving information of genuine interest to embryologists. This also reduces phototoxicity to the embryo and the system's storage capacity.

[0049] Furthermore, in this embodiment, the image acquisition module is calibrated based on a preset calibration time interval. The calibration includes, but is not limited to, adjusting the lens position, optical focal length, aperture size, and imaging parameters of the imaging sensor to ensure the sharpness of the acquired images and the consistency of the focal plane. The calibrated result is then updated to the first focal length position, providing accurate optical parameters for subsequent imaging. The calibration time interval can be flexibly adjusted according to the culture environment, embryo development speed, or user settings to meet the real-time developmental status of different experimental embryos.

[0050] Furthermore, in this embodiment, the motion control module includes a motion unit and a control unit. The motion unit may include a stepper motor, a servo motor, a linear driver, a guide rail system, or other mechanisms capable of achieving precise three-dimensional motion, and is equipped with corresponding position detection or feedback devices, such as encoders, optical rulers, or potentiometers, for real-time monitoring and adjustment of the motion position to ensure that the image acquisition unit maintains the required accuracy and stability during movement. The motion unit drives the image acquisition unit to move along the X, Y, and Z directions or along a preset trajectory according to control commands issued by the control unit, thereby enabling rapid switching and imaging of different embryos within the culture chamber, or multi-planar imaging of the same embryo at different angles and heights. The movement process can be continuous and smooth, or intermittent movement at preset step lengths. The movement speed and step length can be dynamically adjusted according to the real-time developmental status of the imaged embryo, embryonic developmental events, and optical focal length requirements to ensure image clarity, integrity, and time efficiency. Through the motion unit, the image acquisition unit can accurately acquire images at different spatial locations, enabling multi-position, multi-planar, and dynamic monitoring of the embryo. This provides accurate image data support for subsequent developmental event assessment, morphological analysis, and intelligent analysis, while simultaneously improving the automation and intelligence level of the entire embryo incubator. Furthermore, motion control can be divided into two dimensions: embryo positioning and focusing. Embryo positioning aims to align the embryo with the microscope lens's field of view, allowing for centered imaging. Focusing controls the change in distance between the microscope objective and the embryo sample, enabling multi-focal-length imaging. Referring to task mechanisms in software engineering, after dynamically generating the next imaging task for each embryo (specific time, focal length, etc.), it is placed into a task queue according to time. The motion control algorithm needs to retrieve the foremost task from the queue at the corresponding time, determine the direction and position of movement, and execute this process.

[0051] Furthermore, this embodiment also includes an edge computing module for performing some pre-processing image tasks, such as embryo target recognition, image cropping, image format conversion, and noise preprocessing. Traditional time-lapse photography embryo incubators typically have limited processing power within their built-in computing modules and generally lack high-performance hardware accelerators such as GPUs or TPUs, resulting in performance bottlenecks when executing complex deep learning algorithms or large-scale image processing tasks. The adaptive imaging algorithm used in this embodiment requires real-time processing of acquired images, including embryo development event assessment, focal plane determination, target recognition, and other intelligent analysis tasks, demanding high computing power and hardware acceleration. To meet these requirements, this embodiment can configure hardware acceleration resources, such as GPUs or TPUs, inside the incubator or on an external server connected to the incubator to support high-performance computing requirements. Considering the power consumption, heat generation, and noise issues of GPUs / TPUs, the high-performance computing resources are configured in an external server, which interacts with the incubator via high-speed Ethernet. Specifically, after the incubator completes image acquisition, the acquired image data can be sent to an external server via a high-speed network. The deep learning service on the server performs model inference and analysis calculations, and returns the results to the incubator, enabling real-time assessment of embryonic development and dynamic adjustment of imaging parameters. In this way, one server can serve multiple incubators simultaneously, improving the system's computational resource utilization and overall efficiency.

[0052] This invention introduces an adaptive time-difference imaging strategy into the motion control module, dynamically adjusting imaging parameters based on the real-time developmental status of the embryo to achieve precise monitoring of the embryonic development process. Compared with existing fixed time interval and fixed multi-focal plane imaging methods, this invention significantly reduces unnecessary shooting times and exposure times while ensuring complete acquisition of key information. This effectively reduces the potential phototoxicity risk to the embryo caused by light exposure and improves the safety of embryo culture.

[0053] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

[0054] The above description does not provide detailed explanations of the technical aspects of each layer's patterning and etching. However, those skilled in the art should understand that various methods existing in the prior art can be used to form layers and regions of the desired shape. Furthermore, to form the same structure, those skilled in the art can also design methods that are not entirely identical to those described above.

[0055] The present invention has been described above with reference to embodiments thereof. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. The scope of the invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

[0056] Although embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and modifications can be made to the embodiments of the present invention without departing from the spirit and scope of the invention.

[0057] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An embryo incubator for adaptive time-difference photography, characterized in that, include: The module consists of a cultivation module, an image acquisition module, and a motion control module. The culture module forms a cavity for embryo culture, and the image acquisition module is located inside the culture cavity or isolated outside the cavity and performs imaging inside the cavity through a transparent window. The motion control module is connected to the image acquisition module; The motion control module controls the imaging parameters of the image acquisition module based on a preset adaptive time difference imaging strategy. The image acquisition module acquires images based on the imaging parameters.

2. The embryo incubator for adaptive time-difference photography according to claim 1, characterized in that, The preset adaptive time difference imaging strategy includes: Determine the first focal length position of the embryo, which is the optimal focal length position for the embryo to be in focus; Based on the determined first focal length position and the first imaging strategy or the second imaging strategy, imaging parameters are determined, including the imaging time interval and the imaging focal length position.

3. The embryo incubator for adaptive time-difference photography according to claim 2, characterized in that, The first imaging strategy includes: Based on a first preset time interval, acquire a first image and a second image of the embryo; The difference between the first image and the second image is obtained using a preset image processing algorithm; Based on the degree of difference, the imaging parameters are determined.

4. The embryo incubator for adaptive time-difference photography according to claim 3, characterized in that, The process of determining imaging parameters based on the difference includes: When the difference is greater than a preset difference threshold, the imaging time interval is adjusted from the first preset time interval to the second preset time interval, and the image acquisition module is controlled to image the embryo at multiple different focal length positions. When the difference is less than or equal to the preset difference threshold, the imaging time interval is maintained or restored to the first preset time interval, and the image acquisition module is controlled to image the embryo at the first focal length position.

5. The embryo culture chamber for adaptive time-difference photography according to claim 2, characterized in that, The second imaging strategy includes: Acquire multifocal plane images of the embryo at multiple focal length positions; Using a preset image model, the current developmental event of the embryo is determined based on the multi-focal plane image; Using a preset time series model and the current developmental events of the embryo, the next developmental event and the corresponding developmental time point of the embryo are determined; Between the current moment and the predicted developmental time point, the embryo is periodically imaged based on a first time window to acquire monitoring images; Based on the monitored images, developmental events are monitored, and imaging parameters are determined.

6. The embryo incubator for adaptive time-difference photography according to claim 5, characterized in that, The process of monitoring developmental events and determining imaging parameters based on the monitored images includes: Based on a preset event analysis algorithm and the monitoring images, it is determined whether the embryo has entered the next developmental event; If the embryo has already entered the embryonic stage, the imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions. If no entry is made, a time point determination is performed to obtain the time point determination result; Based on the time point determination results, the imaging parameters are determined.

7. The embryo incubator for adaptive time-difference photography according to claim 6, characterized in that, The determination of imaging parameters based on the time point judgment result includes: If the predicted developmental time point has been reached, the imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions. If the developmental time point has not yet been reached, based on the preset event analysis algorithm and the monitoring image, it is determined whether the next developmental event has ended, and the judgment result of the next developmental event is obtained. Based on the results of the next developmental event assessment, the imaging parameters are determined.

8. The embryo incubator for adaptive time-difference photography according to claim 7, characterized in that, The determination of imaging parameters based on the next developmental event includes: If development has ended, the imaging time interval is maintained at the first time window, and the image acquisition module is controlled to image the embryo at the first focal length position; If development has not yet ended, the imaging time interval is adjusted from the first time window to the second time window, and the image acquisition module is controlled to image the embryo at multiple different focal length positions.

9. The embryo incubator for adaptive time-difference photography according to claim 2, characterized in that, The imaging parameters also include: a supplementary focal plane; The supplementary focal plane is determined based on a preset focal plane strategy and embryonic development events.

10. The embryo incubator for adaptive time-difference photography according to claim 9, characterized in that, The preset focal plane strategy includes: Based on the developmental stage of the embryo, the supplementary focal plane is adaptively determined using a target recognition algorithm; In the prokaryotic stage, the location of the prokaryotic occurrence is detected by a target recognition algorithm, and the focal plane containing a clear image of the prokaryotic is identified as the supplementary focal plane. During the embryonic splitting stage, a target recognition algorithm is used to identify clear blastomeres, and the focal plane containing the clear blastomeres is determined as the supplementary focal plane. During the blastocyst stage, a target recognition algorithm is used to identify clear cellular structures within the zona pellucida and to determine the focal plane containing clear trophoblast cells or inner cell masses as the supplementary focal plane.

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