基于运动学模型的细胞拨动方法

doi:10.13973/j.cnki.robot.2014.0436

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引用本文:
赵启立, 崔茂盛, 孙明竹, 秦岩丁, 赵新. 基于运动学模型的细胞拨动方法[J]. 机器人, 2014, 36(4): 436-445.DOI: 10.13973/j.cnki.robot.2014.0436. ZHAO Qili, CUI Maosheng, SUN Mingzhu, QIN Yanding, ZHAO Xin. A Cell Rotation Method Based on the Kinematics Model. ROBOT, 2014, 36(4): 436-445. DOI: 10.13973/j.cnki.robot.2014.0436.

摘要

提出了一种基于运动学模型的细胞拨动方法以实现生物操作中细胞姿态的自动调整．首先对细胞拨动过程进行了运动学建模，并利用该模型对拨动幅度和拨动过程效率的关系进行了分析；然后设计了一种注射针的圆弧形的拨动轨迹以提高拨动幅度的控制精度；在以上工作基础上，运用图像处理和注射针运动控制算法最终实现了批量细胞的自动拨动流程；最后，本文利用该拨动方法进行了家猪卵母细胞的自动拨动实验．实验结果表明：使用该方法进行细胞拨动的操作成功率为90%，单个细胞平均操作时间为26.7s；细胞拨动幅度的平均控制误差为2.6°，明显小于传统手动操作方法的8.1°．本文方法可以实现生物操作中的家畜卵母细胞的姿态的准确自动调整．

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关键词 ：微操作系统, 细胞拨动, 细胞姿态调整, 核移植

Abstract：

A cell rotation method based on the kinematics model is developed to adjust cell-posture automatically in biological applications. Firstly, a kinematics model for cell rotation process is developed. Using this model, the relationship between the rotation angle (RA) and the efficiency of the rotation process is analyzed. Subsequently, a cycloidal moving trajectory of the injector is proposed to improve the control accuracy of the RA. With the integration of imaging processing methods and the injector motion control algorithms, a robotic cell rotation process for batch cells is achieved. Finally, the proposed method is applied to the robotic rotation of pig oocytes. The experimental results demonstrate that this system is able to perform the cell rotation with 90% success rate at average speed of 26.7s per cell. Moreover, the average control error of the RA in each rotation step is within 2.6°, which is significantly less than that of the manual method (8.1°). This method can be used in a precise and automatic posture-adjustment for the domestic oocytes in biological applications.

Key words： micro-operation system cell rotation cell-posture adjustment nuclear transplantation

收稿日期: 2013-10-22 录用日期: 2014-05-19

TP249

基金资助:

国家863计划资助项目（2013AA041102）；国家自然科学基金资助项目（61327802，61273341，61105107）；高等学校博士学科点专项科研基金资助项目（20110031110032）；中央高校基本科研业务费专项资金资助项目（65012081）

通讯作者: 赵新，zhaoxin@nankai.edu.cn E-mail: zhaoxin@nankai.edu.cn

作者简介: 张勤（1964-），女，博士，教授，硕士生导师．研究领域：微小机器人及应用，微机电系统．
甘裕明（1989-），男，硕士生．研究领域：微小机器人及自动化．
黄维军（1969-），女，博士，讲师．研究领域：流体流动与传热数值分析．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0436 或 https://robot.sia.cn/CN/Y2014/V36/I4/436

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