Detection And Exception Handling Of Micro-operation State Based On Industrial Microscope

The micromanipulation technology is widely used in cell injection,nuclear transplantation and other experiments.In the space station to carry out cell micromanipulation experiments,it is of great significance to reveal the development of cell life,medical technology,genetic inheritance and other research.However,the special working environment of the space station puts forward higher requirements for the portability and stability of the micro-operating system and the autonomy of the micro-operation.In order to realize the safe and independent cell microoperation experiment,based on the industrial microscope microoperation system designed for the space station,this thesis designs and implementates a set of autonomous microoperation state detection methods for cell microinjection experiment.Specific research contents include:First,a series of target detection algorithms are designed and implementated for the visual detection of targets such as micropipettes and cells during micromanipulation.In this thesis,according to the characteristics of uneven brightness of microscopic images,a nonlinear spatial filtering algorithm is designed to compensate for uneven brightness of the image and highlight the foreground target.In the aspect of micropipettes detection,designed a rapid detection method of micropipette in a simple background,used to determine whether the micropipette exist in the field of vision during the initialization of microoperations,and then a micropipette detection and localization methods based on the relationship between convex hull and contour are designed to achieve the target segmentation of cell adhesion.In terms of cell detection,cell detection and localization methods based on cell contour histogram are designed to achieve accurate detection of cells at multiple magnification rates.Secondly,for the process of fully autonomous cell microinjection,state detection and exception handling methods are designed.This thesis implements the key state detection in cell microinjection,including the detection of the focus state of the holding pipette and the injection pipette at different magnifications,the detection of the state of cell holding and releasing,and the detection of the state of the evacuation injection pipette from the cell.On this basis,in order to ensure the safe and stable micromanipulation experiment on the space station,the corresponding diagnosis treatment was carried out for the camera exception during the experiment,the failure of injection pipette evacuation and the broken pipette in cell operation.Bubbles are injected from the injection pipette during operation,and the brightness of the system environment changes to deal with,etc.,to improve the system's independent performance.Finally,the effectiveness of the method in this thesis is verified through experiments.The target detection algorithm proposed in this thesis is used to verify the detection and positioning of micropipettes and cells under various magnifications.In the autonomous micro-operation experiment,the state detection and abnormal state processing experiments were carried out for the important operations in the cell microoperation experiment,which verified the effectiveness of the micro-operation state detection and exception handling to achieve safe and autonomous micro operation experiments.