CN1635157A - Biological tissue micro array chip automatic preparation instrument and control method thereof - Google Patents
Biological tissue micro array chip automatic preparation instrument and control method thereof Download PDFInfo
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- CN1635157A CN1635157A CN 200410073180 CN200410073180A CN1635157A CN 1635157 A CN1635157 A CN 1635157A CN 200410073180 CN200410073180 CN 200410073180 CN 200410073180 A CN200410073180 A CN 200410073180A CN 1635157 A CN1635157 A CN 1635157A
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Abstract
An automatic preparation instrument for biotissue micro array chip comprises an X-Y workbench system, wherein a receptor wax lump holder and a donor wax lump holder are fixed on the upper end surface of the Y-axis slide, a turntable and a Z-axis slide are arranged on one side of the X-axis slide, a T-type holder is fixed on the Z-axis slide, each slide and the turntable are respectively connected with the AC servo motors, and the X-axis slide, Y-axis slide, Z-axis slide are equipped with grating rulers, each servo motor and grafting ruler communication interface are connected with a computer by a four-axis linkage movement control card, and a blank wax lump perforating device, a CCD image collector connected with the image collecting card of the computer, and a tissue wax lump filling device and an electric magnet are respectively fixed on the T-type holder. The invention employs automatic control and automatic image optimization method to automatically seek the optimal tissue digging point on the donor wax lump. And the invention employs the machine vision feedback to automatically control digging the tissue core needed to be filled, and automatically fill the digged tissue core into the receptor array holes.
Description
Technical field
The invention belongs to the experiment material apparatus for preparation that use in the biologic medical field, particularly a kind of automatic preparation instrument of biological tissue micro array chip and control method thereof.
Background technology
" organization chip " comes from noun " tissue chip ", be meant at fixing a large amount of, the addressable small tissue samples in matrix (slide glass) surface, be used for high throughput testing different tissues DNA, RNA and the equimolecular changing conditions of protein, be commonly referred to as micro-array tissue (tissue microarray, TMA), owing to have microminiaturized and characteristics such as automatization, and each micro-array tissue can both obtain mass data, so the organization chip that is otherwise known as.
Biological tissue micro array chip is that biological tissue's difference of different sources is fitly implanted in the barren matrixes (as paraffin mass) according to ranks, the formative tissue microarray obtains can be used for biological tissue's array sheet that microscopic examination is analyzed through the slicing machine section then.The essence of chip analysis is that the little tissue array chip of biology is carried out combination or reaction under the same conditions, the reaction result isotope method, the chemiluminescence method, chemoluminescence method or enzyme linked immunosorbent assay show, use accurate scanner or CCD camera technique record then, analyze by computer software, comprehensively become readable IC total information.
The biological tissue micro array chip preparing instrument is used to finish the generation of matrix array hole, the sampling of biological tissue and array landfill.Relatively more commonly used is the manual organization chip preparing instrument that U.S. Beecher company produces at present, and model is Manual Tissue Arrayer I or Manual Tissue Arrayer II, and this quasi-instrument adopts manual operations fully.The structure of this instrument mainly contains support, donor and acceptor wax block chucking locating device, horizontal X-Y traverser, needle set transfer equipment, movement in vertical direction guide rail.This device is owing to adopt manual operations fully, so working efficiency is lower, operator's workload is big and loaded down with trivial details; Adopt manual regulation to come control chip to make precision, be subject to operator's the Physiological Psychology state and the influence of skill level, useless sheet rate is higher.
Summary of the invention
The object of the present invention is to provide a kind of can effectively increasing work efficiency, reduce repeated workload, raising system location and chip manufacture precision, the biological tissue micro array chip automatic preparation instrument and the control method thereof of the useless sheet ratio of reduction.
For achieving the above object, preparing instrument of the present invention comprises the X-Y work system of being made up of X-axis slide unit and Y-axis slide unit, be fixed with acceptor wax block frame and donor wax stone frame in the upper surface of Y-axis slide unit, one side of X-axis slide unit is provided with turntable, be fixed with Z axle slide unit on the turntable, be fixed with T type frame on the Z axle slide unit, the X-axis slide unit, the Y-axis slide unit, Z axle slide unit is connected the X-axis AC servo motor that is used to control each slide unit respectively with turntable, the Y-axis AC servo motor, Z axis AC servomotor and turntable AC servo motor, X-axis, Y-axis, Z axle slide unit is all settled the grating chi, each AC servo motor is connected with computer control unit by four-axle linked motion control card with grating chi communication interface, is fixed with blank wax stone punch tool on the T type frame respectively, the ccd image collector that is connected with the image pick-up card of computer and paraffin embedded tissues landfill device and electro-magnet.
Control method of the present invention is: at first according to original zero point of X-axis slide unit, the positive center of the positive center of X-axis slide unit and Y-axis slide unit is defined as the reference point of X-Y slide unit, the center of Z axle slide unit is placed on acceptor wax block and donor wax stone on acceptor wax block frame and the donor wax stone frame as the reference point of Z axle; Set the row, column of the acceptor wax block that needs preparation, the parameter of line space array hole, the X-Y coordinate of starter hole, by Controlling System control X-axis slide unit AC servo motor and Y-axis slide unit AC servo machinery driving X-Y slide unit system, make acceptor wax block enter the working district; By Controlling System control turntable AC servo machinery driving turntable, make blank wax stone punch tool enter the working district then, guarantee that first initial drilling point is positioned at datum; Driving Z axle slide unit then moves down by punching on the blank wax stone punch tool acceptor wax block, every dozen of intact holes, Controlling System will control X-axis platform AC servo motor and Y-axis platform AC servo motor makes X-Y platform move a line space or column pitch, so circulation is all finished until all acceptor wax block punchings; By Controlling System control turntable AC servo machinery driving turntable, make the ccd image collector enter the working district again; Controlling System will be controlled X-axis AC servo motor and Y-axis AC servo machinery driving X-Y slide unit system simultaneously, make the donor wax stone enter the knowledge place of ccd image collector; The ccd image collector is discerned the tissue of embedding in the donor wax stone automatically, definite interlacing point that will take, by Controlling System control X-axis AC servo motor and Y-axis AC servo machinery driving X-Y slide unit system, the sampling optimization that makes donor tissue is in datum then; The driving turntable rotates, and makes paraffin embedded tissues landfill device enter the working district, drives Z axle slide unit and moves down, and gathers donor tissue; The position of confirming the landfill hole as required this moment promptly is listed as and goes, otherwise system will be defaulted as since first row, the first row landfill, Controlling System is sent instruction by X-axis AC servo motor and Y-axis AC servo machinery driving X-Y platform system, makes blank array hole wax stone enter the working district and select a certain blank well to move to reference point; After the blank well of required landfill moves to reference point, Controlling System control Z axle slide unit moves down and makes paraffin embedded tissues landfill device begin operation, this operation process is that the control electro-magnet that cut-offs by the IO mouth of four-axle linked motion control card cut-offs, and will organize the wax post hole that fills in the blanks; Forward step 4 to, carry out identification, collection, landfill that the next one is organized the wax post, after whole array landfill finishes, take off the landfill wax stone of array in a organized way, promptly finish the preparation operation, moving each time of X-axis in the native system, Y-axis, Z axle slide unit, the grating chi of each slide unit as reverse feedback, constitutes closed-loop control in control, each distance that moves that all will write down, with the absolute coordinates of definite each array hole, and the position of each slide unit, to guarantee kinematic accuracy.
The present invention adopts automatization control, finishes on acceptor wax block preparation array hole automatically under the control of computer, and adopts image automatic optimal algorithm, seeks automatically from the donor wax stone and organizes best extracting point.The control automatically of utilization machine vision feedback takes the tissue core that needs landfill automatically, then automatically with the tissue core landfill that taken in the acceptor array hole.Owing to adopted automatization control, can effectively increase work efficiency, reduce repeated workload, the ratio of reducing the number of rejects and seconds.
Description of drawings
Fig. 1 is an one-piece construction synoptic diagram of the present invention;
Fig. 2 is the structural representation of Controlling System of the present invention;
Fig. 3 is the software flow pattern of Controlling System of the present invention;
Fig. 4 is a software operation surface chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing structural principle of the present invention and principle of work are described in further detail.
Referring to Fig. 1,2, the present invention includes by the X-axis AC servo motor, the X-Y platform system that the X-axis slide unit 4 of Y-axis AC Servo Motor Control and Y-axis slide unit 1 are formed, be fixed with acceptor wax block frame 2 and donor wax stone frame 3 in the upper surface of Y-axis slide unit 1, one side of X-axis slide unit 4 is provided with the turntable AC servo motor of turntable 5 and control turntable 5, be fixed with the Z axis AC servomotor of Z axle slide unit 8 and control Z axle slide unit 8 on the turntable 5, X-axis, Y-axis, Z axle slide unit is all settled the grating chi, each AC servo motor is connected with computer control unit 12 by four-axle linked motion control card 13 with grating chi communication interface, and on Z axle slide unit 8, also be fixed with T type frame 9, be fixed with blank wax stone punch tool 10 on the T type frame 9 respectively, the ccd image collector 11 that is connected with the image pick-up card 14 of computer and paraffin embedded tissues landfill device 6 and electro-magnet 7.Performer when electro-magnet 7 is used for landfill, ccd image collector 11 are mainly used in and obtain tissue image automatically, realize the automatic identification of image and the automatic location of tissue by Controlling System.
Referring to Fig. 3,4, metering-in control system operation interface of the present invention, 1) the click system reducing.System will demarcate automatically, according to the original zero point of slide unit, the positive center of the positive center of X-axis slide unit 4 and Y-axis slide unit 1 will be defined as the reference point of X-Y slide unit, and Z axle slide unit center is as the reference point of Z axle; 2) in operation interface, import the parameter that needs the preparation array hole: the X-Y coordinate of row, column, line space, starter hole; By Controlling System control X-axis slide unit AC servo motor and Y-axis slide unit AC servo machinery driving X-Y slide unit system, make acceptor wax block enter the working district; By Controlling System control turntable AC servo machinery driving turntable 5, make blank wax stone punch tool 10 enter the working district then, guarantee that first initial drilling point is positioned at datum; 3) after system guarantees that first initial drilling point is positioned at reference point, drive Z axle slide unit 8, on acceptor wax block, punch; Every dozen of intact holes allow the X-Y platform system move a line space or column pitch automatically, and so circulation is all finished until all acceptor wax block array holes; 4) allow Controlling System drive turntable 5 automatically, make ccd image collector 11 enter the working district; Controlling System will be controlled X-axis AC servo motor and Y-axis AC servo machinery driving X-Y platform system simultaneously, make the donor wax stone enter the knowledge place of ccd image collector 11; 5) ccd image collector 11 is discerned the tissue of embedding in the donor wax stone automatically, clicks the interlacing point that will take on computer screen.Controlling System drives the X-Y platform system makes sampling optimization in datum; Drive turntable 5, make donor wax stone punching landfill device enter the working district, drive 8 times mobile paraffin embedded tissues landfill devices 6 that make of Z shaft platform and gather donor tissue; 6) can import the position (confirming row and row) that needs the landfill hole this moment in the Controlling System interface, if do not import, Controlling System is thought since first row, the first row landfill.Send instruction by Controlling System and drive the X-Y platform system this moment, makes acceptor wax block enter the working district and select a certain blank well to move to reference point; 7) after the acceptor wax block blank well of required landfill moves to reference point, Controlling System control Z shaft platform AC servo motor moves down the Z shaft platform, operation by paraffin embedded tissues landfill device 6, this operation process is that the control electro-magnet 7 that cut-offs by the IO mouth of four-axle linked motion control card 13 cut-offs, with the donor wax stone hole that fills in the blanks; 8) forward step 4 to, carry out identification, collection, landfill that the next one is organized the wax post.After whole array landfill finishes, take off the landfill wax stone of array in a organized way, promptly finish the preparation operation, moving each time of X-axis in the native system, Y-axis, Z axle slide unit, the grating chi of each slide unit as reverse feedback, constitutes closed-loop control in control, each distance that moves that all will write down, with the absolute coordinates of definite each array hole, and the position of each slide unit, to guarantee kinematic accuracy.
The present invention effectively raises the efficient of biological tissue micro array chip processing, has reduced the professional skill requirement to operator.
To beat array hole is example, the manual preparation instrument is owing to all need to manually locate and regulate to each punch position, so inefficiency, make a call to 10 * 10 the skilled operator of array hole and approximately need time spent 40-60 minute, use the instrument of the present invention's exploitation only to need disposable line of input columns of operator and spacing data, remaining work can be finished in 1-2 minute by machine.
For the sample of tissue process, the manual preparation instrument needs the operator manually to seek the tissue location of wax stone, and the higher skill of operational requirement during sampling, otherwise extracts failure easily.Use the present invention can be by the ccd image collector, after point is got the position that is organized in the wax stone on screen with mouse, and the definite automatically tissue location that need take of computer, instrument is finished tissue extraction automatically in high quality.
The most significant advantage applies of the present invention is to taking a sample tissue in the backfilling process of array emptying aperture.Manual appliance requires operator carefully is adjusted to sampling probe each emptying aperture top of array hole, and this process need is regulated repeatedly and could be guaranteed the backfill quality, thus waste time and energy, also very high to operator's requirement, there is carelessness just to go out waste product easily slightly.Use operator of the present invention only need click backfill button with mouse, system will be automatically will organize accurate backfill according to ranks of formulating number or default sequence, improve tens times of efficient even tens times, guarantee the backfill quality simultaneously.
Claims (2)
1, biological tissue micro array chip automatic preparation instrument, comprise the X-Y work system of forming by X-axis slide unit [4] and Y-axis slide unit [1], be fixed with acceptor wax block frame [2] and donor wax stone frame [3] in the upper surface of Y-axis slide unit [1], one side of X-axis slide unit [4] is provided with turntable [5], be fixed with Z axle slide unit [8] on the turntable [5], be fixed with T type frame [9] on the Z axle slide unit [8], it is characterized in that: X-axis slide unit [4], Y-axis slide unit [1], Z axle slide unit [8] and turntable [5] are connected with the X-axis AC servo motor that is used to control each slide unit respectively, the Y-axis AC servo motor, Z axis AC servomotor and turntable AC servo motor, X-axis, Y-axis, Z axle slide unit is all settled the grating chi, each AC servo motor is connected with computer control unit [12] by four-axle linked motion control card [13] with grating chi communication interface, is fixed with blank wax stone punch tool [10] on the T type frame [9] respectively, the ccd image collector [11] that is connected with the image pick-up card [14] of computer and paraffin embedded tissues landfill device [6] and electro-magnet [7].
2, a kind of control method based on the described biological tissue micro array chip automatic preparation instrument of claim 1 is characterized in that:
1) at first according to original zero point of X-axis slide unit [4], the positive center of the positive center of X-axis slide unit [4] and Y-axis slide unit [1] is defined as the reference point of X-Y slide unit, the center of Z axle slide unit [8] is placed on acceptor wax block and donor wax stone on acceptor wax block frame [2] and the donor wax stone frame [3] as the reference point of Z axle;
2) set the row, column of the acceptor wax block that needs preparation, the parameter of line space array hole, the X-Y coordinate of starter hole, by Controlling System control X-axis slide unit AC servo motor and Y-axis slide unit AC servo machinery driving X-Y slide unit system, make acceptor wax block enter the working district; By Controlling System control turntable AC servo machinery driving turntable [5], make blank wax stone punch tool [10] enter the working district then, guarantee that first initial drilling point is positioned at datum;
3) driving Z axle slide unit [8] then moves down by punching on blank wax stone punch tool [11] acceptor wax block, every dozen of intact holes, Controlling System will control X-axis platform AC servo motor and Y-axis platform AC servo motor makes X-Y platform move a line space or column pitch, so circulation is all finished until all acceptor wax block punchings;
4) again by Controlling System control turntable AC servo machinery driving turntable [5], make ccd image collector [11] enter the working district; Controlling System will be controlled X-axis AC servo motor and Y-axis AC servo machinery driving X-Y slide unit system simultaneously, make the donor wax stone enter the knowledge place of ccd image collector [11];
5) ccd image collector [11] is discerned the tissue of embedding in the donor wax stone automatically, definite interlacing point that will take, by Controlling System control X-axis AC servo motor and Y-axis AC servo machinery driving X-Y slide unit system, the sampling optimization that makes donor tissue is in datum then; Drive turntable [5] and rotate, make paraffin embedded tissues landfill device [6] enter the working district, drive Z axle slide unit and move down, gather donor tissue;
6) position of confirming the landfill hole as required this moment promptly is listed as and goes, otherwise system will be defaulted as since first row, the first row landfill, Controlling System is sent instruction by X-axis AC servo motor and Y-axis AC servo machinery driving X-Y platform system, makes blank array hole wax stone enter the working district and select a certain blank well to move to reference point;
7) after the blank well of required landfill moves to reference point, Controlling System control Z axle slide unit moves down and makes paraffin embedded tissues landfill device [6] beginning operation, this operation process is that the control electro-magnet [7] that cut-offs by the IO mouth of four-axle linked motion control card [13] cut-offs, and will organize the wax post hole that fills in the blanks; Forward step 4 to, carry out identification, collection, landfill that the next one is organized the wax post, after whole array landfill finishes, take off the landfill wax stone of array in a organized way, promptly finish the preparation operation, moving each time of X-axis in the native system, Y-axis, Z axle slide unit, the grating chi of each slide unit as reverse feedback, constitutes closed-loop control in control, each distance that moves that all will write down, with the absolute coordinates of definite each array hole, and the position of each slide unit, to guarantee kinematic accuracy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100731802A CN1300339C (en) | 2004-11-08 | 2004-11-08 | Biological tissue micro array chip automatic preparation instrument and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100731802A CN1300339C (en) | 2004-11-08 | 2004-11-08 | Biological tissue micro array chip automatic preparation instrument and control method thereof |
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| CN1635157A true CN1635157A (en) | 2005-07-06 |
| CN1300339C CN1300339C (en) | 2007-02-14 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439341A (en) * | 2013-09-10 | 2013-12-11 | 电子科技大学 | Photoelectric encoder defect detection system and implementation method thereof |
| CN106769174A (en) * | 2016-11-22 | 2017-05-31 | 南京林业大学 | Plant tissue slice acceptor blank wax stone boring instrument |
| CN108414325A (en) * | 2018-06-05 | 2018-08-17 | 中南大学湘雅三医院 | A kind of organization chip coremaking system and core-making method based on image recognition positioning |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030017446A1 (en) * | 2001-07-20 | 2003-01-23 | Ardais Corporation | Instruments and methods for creating a tissue microarray |
| CN1204405C (en) * | 2001-09-13 | 2005-06-01 | 陕西超英生物医学研究开发有限公司 | Tissue microarray biochip |
| CN2611379Y (en) * | 2003-01-29 | 2004-04-14 | 陕西西大北美基因股份有限公司 | Appts. for preparing structural micro-array secondary embedded wax block |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439341A (en) * | 2013-09-10 | 2013-12-11 | 电子科技大学 | Photoelectric encoder defect detection system and implementation method thereof |
| CN103439341B (en) * | 2013-09-10 | 2015-08-19 | 电子科技大学 | Photoelectric encoder defect detection system and its implementation |
| CN106769174A (en) * | 2016-11-22 | 2017-05-31 | 南京林业大学 | Plant tissue slice acceptor blank wax stone boring instrument |
| CN106769174B (en) * | 2016-11-22 | 2018-07-13 | 南京林业大学 | Plant tissue slice receptor blank wax stone boring instrument |
| CN108414325A (en) * | 2018-06-05 | 2018-08-17 | 中南大学湘雅三医院 | A kind of organization chip coremaking system and core-making method based on image recognition positioning |
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| CN1300339C (en) | 2007-02-14 |
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