CN111500426A - A micro-operated suction device for sorting porcine oocytes in mixed solution - Google Patents

Abstract

The invention provides a micro-operation suction device for sorting pig oocytes in a mixed solution, which includes a support mechanism, a power mechanism, a suction mechanism, a needle moving mechanism, a culture dish moving mechanism and a vision system. The support mechanism is fixed on two On the maintenance platform, the power mechanism is driven by external force to provide suction power for the suction mechanism; the suction mechanism uses the syringe piston principle to suction cells; the needle moving mechanism is set to move up and down to adjust the position of the needle; the vision system includes Vision lens and image processing module, the vision lens is set to move up and down to adjust the position, take pictures of pig egg cells and culture solution in the petri dish, and then analyze and process by the image processing module; the petri dish moving mechanism is set to be rotatable. In order to realize the random switching between the needle and the lens position of the petri dish, the control system controls the two-dimensional operation platform to translate and find the pig oocyte according to the visual information fed back by the image processing module, and suck it through the needle.

Description

A micro-operated suction device for sorting porcine oocytes in mixed solution

technical field

The invention belongs to the technical field of micro-operation, and particularly relates to a suction device for sorting pig oocytes in a mixed solution.

Background technique

With the development of science and technology, scientific research and clinical applications in life sciences and other fields tend to be miniaturized and refined, and the micro-manipulation technology of cells is the technical guarantee to promote this development trend. Whether scientific research and clinical applications related to genetic engineering, cloning technology, biomedical research and development can achieve breakthrough progress is also closely related to the micro-manipulation technology of cells.

At present, cell micromanipulation technology still relies on manual manual operation, which requires a high degree of human experience. In the process of manual micro-manipulation of pig oocyte sorting, the operator not only needs to concentrate for a long time, but also requires the operator to precisely control the speed and number of cells to be sucked. To cause damage, the relevant staff must have rich operating experience and high operating accuracy, otherwise it may affect the activity of porcine oocytes.

In conclusion, how to provide a micro-manipulation suction device to reduce the damage caused by the manual micro-manipulation of pig oocyte sorting process and reduce the dependence on manual operation has become an urgent problem to be solved.

SUMMARY OF THE INVENTION

In order to overcome a series of defects existing in the prior art, the purpose of the present invention is to address the above problems and provide a micro-operation suction device for sorting pig oocytes in a mixed solution, which is characterized in that it includes a support mechanism and a power mechanism. , suction mechanism, needle moving mechanism, petri dish moving mechanism and vision system, the power mechanism is driven by external force to provide suction power for the suction mechanism; the suction mechanism adopts the principle of syringe piston for cell suction; needle moving mechanism Set to move up and down to adjust the position of the needle 7; the vision system includes a vision lens 21 and an image processing module, and the vision lens 21 is set to move up and down to adjust the position, take pictures of the pig egg cells and the culture solution in the culture dish 25, and then process the image by the image processing module. The module performs analysis and processing; the petri dish moving mechanism is set to be rotatable and movable, so that the petri dish can be freely switched between the needle and the lens position.

Further, the support mechanism includes a base 1 and a bracket 2 , the base 1 is fixed on the two-dimensional operation platform, and the support 2 is fixed on the base 1 .

Further, the needle moving mechanism includes a micro-head bracket 3, a micro-head 4, a needle-mounting clip 6 and a needle 7, the micro-head bracket 3 is fixed on the bracket 2, and the micro-head 4 is fixed on the bottom of the micro-head bracket 3, The lower end of the differential head 4 is fixed with a needle head mounting clip 6 , and a needle head 7 is mounted on the needle head mounting clip 6 . The differential head 4 moves up and down in the vertical direction, and drives the needle head 7 to move up and down.

Further, the power mechanism includes a bracket connector 8, a bearing 9, a bearing seat 10, a handle 11, a gear 12 and a rack 13. The bracket connector 8 is fixed on the bracket 2 by screws, and the bearing seat 10 is connected to the bracket connector. 8, a bearing 9 is placed on the bearing seat 10, and both ends of the bearing 9 are respectively connected with a handle 11 and a gear 12, and the gear 12 and the rack 13 form a meshing transmission.

Further, the suction mechanism includes a syringe connector 5 , a needle 7 , a push rod 14 , a syringe 15 , a hose 16 and a rubber cap. The syringe connector 5 is connected to the differential head 4 , and the syringe connector 5 is A syringe 15 is fixed, and the syringe 15 is connected with the needle 7 on the needle mounting clip 6 through a hose 16. The syringe 15 is slidably connected with a push rod 14 whose lower part is sleeved with a rubber cap. The upper part of the push rod 14 is slidably connected. A rack 13 is connected, and the handle 11 is driven by an external force to drive the push rod 14 to move up and down, so as to provide the push rod 14 with power for suction or discharge.

Further, a same vertical positioning column is fixedly connected to the same side of the needle head mounting clip 6 and the syringe connecting member 5 .

Further, the vision system further includes a lens support 23, the lens support 23 is fixed on the support 2, the vision lens 21 is connected to the lens support 23, and the lens support 23 adjusts the height and position of the vision lens 21 through a knob.

Further, the movement mechanism of the petri dish is arranged in the following manner: a rotary platform 20 is provided below the support 2, a petri dish 25 containing pig oocytes and their culture liquid is provided on the rotary platform 20, and the rotary platform 20 is installed On the steering gear 17, the steering gear 17 is fixed on the steering gear bracket 18 by screws, and the steering gear bracket 18 is fixed on the steering gear support 19. Through the rotation of the rotating platform 20, the culture dish 25 is slowly moved to the position of the visual lens 21. Directly below or directly below needle 7.

Further, the image processing module adopts VS2015+OpenCV software to process the image captured by the vision lens 21 of the petri dish 25, and obtains the position of the pig oocyte in the petri dish 25 and feeds it back to the control system;

According to the visual information fed back by the image processing module, the control system controls the two-dimensional operation platform to move in the plane and find the pig oocyte, and then suck the pig oocyte through the needle 7 .

Further, by moving the needle 7 up and down in the vertical direction, the porcine oocytes are sucked intermittently.

Compared with the prior art, the present invention provides a micro-operation suction device for sorting porcine oocytes in a mixed solution, which has the following beneficial effects:

1) The invention reduces the degree of dependence on labor, and the operation efficiency is improved;

2) The invention adds a visual lens and an image processing module to identify cells well, reduce operation time and relieve artificial visual fatigue;

3) The invention has compact mechanical structure, low part processing cost, high space utilization rate and strong operability;

4) The invention uses screw connection, which is convenient for assembly and disassembly and the replacement of some parts;

5) The micro-operation object of the invention can be replaced at any time according to actual needs, and has wide adaptability.

Description of drawings

1 is an overall schematic diagram of a micro-operation suction device for sorting pig oocytes in a mixed solution according to the present invention;

2 is a front view of a micro-operation suction device for sorting pig oocytes in a mixed solution according to the present invention;

3 is a top view of a needle mounting clip of a micro-manipulation suction device for sorting porcine oocytes in a mixed solution according to the present invention;

4 is an overall schematic diagram of a needle mounting clip of a micro-operation suction device for sorting porcine oocytes in a mixed solution according to the present invention;

5 is a schematic diagram of the connection structure of a gear and a rack of a micro-operation suction device for sorting porcine oocytes in a mixed solution according to the present invention;

The reference numbers in the figure are:

1- base, 2- bracket, 3- micro head bracket, 4- micro head, 5- barrel connector, 6- pin head mounting clip, 7- pin head, 8- bracket connector, 9- bearing, 10- bearing seat , 11-Handle, 12-Gear, 13-Rack, 14-Push rod, 15-Syringe, 16-Hose, 17-Servo, 18-Servo bracket, 19-Servo bracket, 20-Rotate Platform, 21-Vision Lens, 23-Lens Holder, 25-Petri Dish.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions. The described embodiments are some, but not all, of the embodiments of the present invention.

Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The embodiments and directional words described below with reference to the accompanying drawings are all exemplary, and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

In one broad embodiment of the present invention, a micromanipulation suction device for sorting porcine oocytes in a mixed solution includes a support mechanism, a power mechanism, a suction mechanism, a needle movement mechanism, a petri dish movement mechanism, and a vision system. Among them, the support mechanism is used for fixing the power mechanism, the needle moving mechanism and the vision system; the power mechanism is fixed on the support mechanism, and is driven by external force to provide the suction mechanism with suction power; the suction mechanism is fixed on the power mechanism , using the syringe piston principle to achieve the cell suction function; the needle moving mechanism is also fixed on the support mechanism, and is set to an adjustable mode of up and down movement to adjust the position of the needle 7; the culture dish moving mechanism is set to be rotatable. In order to realize the random switching of the position of the needle 7 and the vision lens 21 of the culture dish 25; the vision system is also fixed on the support mechanism, including the vision lens 21 and the image processing module, and the vision lens 21 is set to move up and down. Adjustable mode , which is used to take pictures of the egg cells and the culture solution in the culture dish 25, and then the image processing module performs analysis and processing.

Preferred embodiments of the present invention will be described in detail below with reference to FIGS. 1-5.

Preferably, the support mechanism includes a base 1 and a bracket 2, the base 1 is fixed on the two-dimensional operation platform, the support 2 is fixed on the base 1, and the support mechanism remains relatively stationary with the two-dimensional operation platform.

Preferably, the needle moving mechanism includes a micro-head bracket 3, a micro-head 4, a needle-mounting clip 6 and a needle 7, the micro-head bracket 3 is fixed on the bracket 2, and the micro-head 4 is fixed on the bottom of the micro-head bracket 3, The lower end of the differential head 4 is fixed with a needle head mounting clip 6 , and a needle head 7 is mounted on the needle head mounting clip 6 . The differential head 4 moves up and down in the vertical direction, and drives the needle head 7 to move up and down.

Preferably, the power mechanism includes a bracket connector 8, a bearing 9, a bearing seat 10, a handle 11, a gear 12 and a rack 13, the bracket connector 8 is fixed on the bracket 2 by screws, and the bearing seat 10 is connected to the bracket connector 8, a bearing 9 is placed on the bearing seat 10, and both ends of the bearing 9 are respectively connected with a handle 11 and a gear 12, and the gear 12 and the rack 13 form a meshing transmission.

Preferably, the suction mechanism includes a syringe connector 5 , a needle 7 , a push rod 14 , a syringe 15 , a hose 16 and a rubber cap. The syringe connector 5 is connected to the differential head 4 through the syringe connector 5 The syringe 15 and the differential head 4 can be fixed to ensure a certain relative positional relationship between them. The syringe 15 is fixed on the syringe connector 5, and the syringe 15 and the needle 7 on the needle mounting clip 6 pass through the hose 16. Connected together, the needle cylinder 15 is slidably connected with a push rod 14 whose lower part is sleeved with a rubber cap. The upper part of the push rod 14 is connected with a rack 13. The handle 11 is driven by an external force to drive the push rod 14 to move up and down, which is a push rod. 14 provides power for suction or discharge.

Preferably, the needle mounting clip 6 is fixedly connected to the same side of the needle barrel connector 5 with the same vertical positioning column, which further ensures that the needle 7 can only move up and down in the vertical direction.

Preferably, the vision system further includes a lens support 23, the lens support 23 is fixed on the support 2, the vision lens 21 is connected to the lens support 23, and the lens support 23 adjusts the height and position of the vision lens 21 through a knob.

Preferably, the petri dish moving mechanism is arranged in the following manner: a rotating platform 20 is provided below the support 2, a petri dish 25 containing porcine oocytes and their culture liquid is set on the rotating platform 20, and the rotating platform 20 is installed On the steering gear 17, the steering gear 17 is fixed on the steering gear bracket 18 by screws, and the steering gear bracket 18 is fixed on the steering gear support 19. Through the rotation of the rotating platform 20, the culture dish 25 is slowly moved to the position of the visual lens 21. Directly below or directly below needle 7.

Preferably, the image processing module adopts VS2015+OpenCV software to process the image captured by the vision lens 21 of the petri dish 25, and obtains the position of the pig oocyte in the petri dish 25 and feeds it back to the control system;

According to the visual information fed back by the image processing module, the control system controls the two-dimensional operation platform to move in the plane and find the pig oocyte, and then suck the pig oocyte through the needle 7 .

Preferably, the porcine oocyte is intermittently sucked by moving the needle 7 up and down in the vertical direction.

When the image processing module finds the porcine oocyte that needs to be grasped, it uses the steering gear 17 to drive the rotating platform 20, slowly rotates it to the bottom of the needle 7, and positions the needle 7 above the porcine oocyte to be extracted by operating the two-dimensional platform. , use the needle 7 to screen out the required porcine oocytes. In addition, for the convenience of observation and counting, the porcine oocytes and their culture medium need to be sucked up into multiple sections in the hose 16. The solution is when the need arises. When an interruption occurs, the needle 7 is pulled out from the liquid surface, and a section of air is inhaled to achieve intermittent extraction.

Of particular note are:

First, the image processing of the present invention is based on the Visual Studio2015 software development platform and the OpenCV visual database, by configuring the environment variables, writing the image recognition program and running it to realize the recognition and positioning process of the target object;

Second, the two-dimensional operation platform, control system and unrelated parts of the present invention are the same as or can be implemented by the existing technology. The device has a reasonable design structure, is easy to use, and can meet people's needs.

Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these Modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A micro-operation suction device for sorting porcine oocytes in a mixed solution is characterized by comprising a supporting mechanism, a power mechanism, a suction mechanism, a needle head moving mechanism, a culture dish moving mechanism and a visual system, wherein the power mechanism provides power for suction for the suction mechanism through external force driving; the suction mechanism adopts the syringe piston principle to suck the cells; the needle head moving mechanism is arranged to move up and down to adjust the position of the needle head (7); the visual system comprises a visual lens (21) and an image processing module, wherein the visual lens (21) is arranged to move up and down to adjust the position, the pig egg cells and the culture solution in the culture dish (25) are photographed, and then the analysis processing is carried out by the image processing module; the culture dish moving mechanism is arranged in a rotatable moving mode so as to realize that the culture dish is switched at the positions of the needle head and the lens at will.

2. A micro-manipulated suction device according to claim 1, wherein the support mechanism comprises a base (1) and a support (2), the base (1) being fixed on a two-dimensional manipulation platform and the support (2) being fixed on the base (1).

3. The micro-operation suction device according to claim 2, wherein the needle moving mechanism comprises a differential head bracket (3), a differential head (4), a needle mounting clamp (6) and a needle (7), the differential head bracket (3) is fixed on the bracket (2), the differential head (4) is fixed at the bottom of the differential head bracket (3), the needle mounting clamp (6) is fixed at the lower end of the differential head (4), the needle (7) is mounted on the needle mounting clamp (6), and the differential head (4) moves up and down in the vertical direction and drives the needle (7) to move up and down.

4. The micro-operation suction device according to claim 2, wherein the power mechanism comprises a bracket connecting piece (8), a bearing (9), a bearing seat (10), a handle (11), a gear (12) and a rack (13), the bracket connecting piece (8) is fixed on the bracket (2) through a screw, the bearing seat (10) is connected on the bracket connecting piece (8), the bearing (9) is placed on the bearing seat (10), the two ends of the bearing (9) are respectively connected with the handle (11) and the gear (12), and the gear (12) and the rack (13) form meshing transmission.

5. The micro-operation suction device according to claim 4, wherein the suction mechanism comprises a syringe connecting piece (5), a needle (7), a push rod (14), a syringe (15), a hose (16) and a rubber cap, the syringe connecting piece (5) is connected to the differential head (4), the syringe (15) is fixed on the syringe connecting piece (5), the syringe (15) is connected with the needle (7) on the needle mounting clamp (6) through the hose (16), the push rod (14) with the lower part sleeved with the rubber cap is connected in the syringe (15) in a sliding manner, a rack (13) is connected to the upper part of the push rod (14), the handle (11) is driven by external force to drive the push rod (14) to move up and down, and power for suction or discharge is provided for the push rod (14).

6. A micro-operation suction device according to claim 5, characterized in that the same side of the needle mounting clip (6) and the syringe connecting piece (5) is fixedly connected with the same vertically arranged positioning column.

7. The micro-operation suction device according to claim 2, wherein the vision system further comprises a lens holder (23), the lens holder (23) is fixed on the holder (2), the vision lens (21) is connected to the lens holder (23), and the lens holder (23) adjusts the height and the position of the vision lens (21) through a knob.

8. The micro-manipulated pipetting device of claim 2, wherein the plate moving mechanism is configured to: a rotary platform (20) is arranged below the support (2), a culture dish (25) for containing pig oocytes and culture solution of the pig oocytes is arranged on the rotary platform (20), the rotary platform (20) is installed on a steering engine (17), the steering engine (17) is fixed on a steering engine support (18) through screws, the steering engine support (18) is fixed on a steering engine support (19), and the culture dish (25) is slowly moved to the position under the visual lens (21) or the position under the needle head (7) through rotation of the rotary platform (20).

9. The micro-manipulated suction device of claim 2,

the image processing module adopts VS2015+ OpenCV software to process images of the culture dish (25) shot by the visual lens (21), and obtains the position of the pig oocyte in the culture dish (25) and feeds the position back to the control system;

the control system controls the two-dimensional operation platform to move in a plane and find the porcine oocytes according to the visual information fed back by the image processing module, and then the porcine oocytes are sucked through the needle head (7).

10. The micromanipulation pipetting device of claim 9, wherein the porcine oocytes are intermittently pipetted by moving the needle (7) up and down in the vertical direction.

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