阅读说明：本技术 细胞操作机器人的控制方法、装置、设备和存储介质 (Cell handling robot control method, cell handling robot control device, cell handling robot apparatus, and storage medium ) 是由 邓新宇 刘友桃 陈亮 宋五星 陈静山 梁国龙 于 2021-09-06 设计创作，主要内容包括：本申请涉及生物技术领域,提供了一种细胞操作机器人的控制方法、装置、设备和存储介质。本申请能够提高细胞操作效率。该方法包括：获取用户指示细胞操作机器人执行的细胞操作任务,获取该用户在该细胞操作任务下的操作习惯信息,根据该操作习惯信息确定适用于该细胞操作任务的移动轨迹和角度,然后控制细胞操作机器人按照该移动轨迹将吸取管移动至目标位置以及控制该细胞操作机器人使吸取管到达目标位置时与预设平面形成前述角度。(The application relates to the technical field of biology, and provides a cell manipulation robot control method, a cell manipulation robot control device, cell manipulation robot equipment and a storage medium. The application can improve the cell operation efficiency. The method comprises the following steps: the method comprises the steps of obtaining a cell operation task which is executed by a cell operation robot and instructed by a user, obtaining operation habit information of the user under the cell operation task, determining a moving track and an angle which are suitable for the cell operation task according to the operation habit information, controlling the cell operation robot to move an suction tube to a target position according to the moving track, and controlling the cell operation robot to enable the suction tube to form the angle with a preset plane when the suction tube reaches the target position.)

1. A method for controlling a cell handling robot, the method comprising:

acquiring a cell operation task executed by a cell operation robot instructed by a user;

acquiring operation habit information of the user under the cell operation task;

determining a moving track and an angle suitable for the cell operation task according to the operation habit information;

and controlling the cell operation robot to move the suction tube to a target position according to the moving track, and controlling the cell operation robot to enable the suction tube to form the angle with a preset plane when reaching the target position.

2. The method according to claim 1, wherein the acquiring operation habit information of the user under the cell operation task comprises:

acquiring operation information of the user for the cell operation task in a historical period;

and obtaining the operation habit information according to the statistics of the operation information.

3. The method of claim 2, wherein the cell manipulation task comprises a pipetting operation; the operation information comprises liquid taking operation position information used for controlling the cell operation robot to move the suction tube to the corresponding liquid taking position, and liquid taking operation angle information used for controlling the cell operation robot to enable the suction tube to form a corresponding angle with the preset plane when the suction tube reaches the corresponding liquid taking position;

the obtaining the operation habit information according to the statistics of the operation information includes:

according to the liquid taking operation position information and the liquid taking operation angle information, determining a high-frequency liquid taking position meeting the liquid taking operation position frequency condition and a high-frequency liquid taking angle meeting the liquid taking operation angle frequency condition under the high-frequency liquid taking position;

and obtaining the operation habit information according to the high-frequency liquid taking position and the high-frequency liquid taking angle.

4. The method of claim 2, wherein the cell manipulation task comprises a fluid placement operation; the operation information comprises liquid placing operation position information used for controlling the cell operation robot to move the suction tube to the corresponding liquid placing position, and liquid placing operation angle information used for controlling the cell operation robot to enable the suction tube to form a corresponding angle with the preset plane when the suction tube reaches the corresponding liquid placing position;

the obtaining the operation habit information according to the statistics of the operation information includes:

according to the liquid placing operation position information and the liquid placing operation angle information, determining a high-frequency liquid placing position meeting the liquid placing operation position frequency condition and a high-frequency liquid placing angle meeting the liquid placing operation angle frequency condition under the high-frequency liquid placing position;

and obtaining the operation habit information according to the high-frequency liquid placing position and the high-frequency liquid placing angle.

5. The method of claim 2, wherein the cell manipulation task comprises a washing operation; the operation information comprises cleaning operation position information used for controlling the cell operation robot to move the suction tube to a corresponding cleaning position, and cleaning operation angle information used for controlling the cell operation robot to enable the suction tube to form a corresponding angle with the preset plane when the suction tube reaches the corresponding cleaning position;

the obtaining the operation habit information according to the statistics of the operation information includes:

according to the cleaning operation position information and the cleaning operation angle information, determining a high-frequency cleaning position meeting the cleaning operation position frequency condition and a high-frequency cleaning angle meeting the cleaning operation angle frequency condition in the high-frequency cleaning position;

and obtaining the operation habit information according to the high-frequency cleaning position and the high-frequency cleaning angle.

6. The method of claim 1, wherein the cell manipulation task comprises a fluid removal operation, a fluid placement operation, and/or a wash operation;

the acquiring of the operation habit information of the user under the cell operation task includes:

acquiring liquid taking operation position information and liquid taking operation angle information set by the user for the liquid taking operation, and/or acquiring a high-frequency liquid placing position and a high-frequency liquid placing angle set by the user for the liquid placing operation, and/or acquiring a high-frequency cleaning position and a high-frequency cleaning angle set by the user for the cleaning operation;

and obtaining the operation habit information according to the liquid taking operation position information and the liquid taking operation angle information, the high-frequency liquid placing position and the high-frequency liquid placing angle and/or the high-frequency cleaning position and the high-frequency cleaning angle.

7. The method according to any one of claims 1 to 6, wherein the determining of the movement track and the angle suitable for the cell manipulation task according to the manipulation habit information comprises:

determining a target position and an angle suitable for the cell operation task according to the operation habit information;

and obtaining a moving track suitable for the cell operation task according to the current position of the suction tube and the target position.

8. A control device for a cell handling robot, comprising:

the task acquisition module is used for acquiring a cell operation task which is executed by the cell operation robot and instructed by a user;

a habit obtaining module, configured to obtain operation habit information of the user under the cell operation task;

the habit processing module is used for determining a moving track and an angle suitable for the cell operation task according to the operation habit information;

and the robot control module is used for controlling the cell operation robot to move the suction tube to the target position according to the moving track and controlling the cell operation robot to enable the suction tube to form the angle with a preset plane when reaching the target position.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

Technical Field

The present application relates to the field of biotechnology, and in particular, to a method and an apparatus for controlling a cell manipulation robot, a computer device, and a storage medium.

Background

With the development of computer technology and control technology, a relevant user can perform cell manipulation tasks such as cell grasping, placing and cleaning with the assistance of a robot by means of a computer device, and the robot for assisting in performing the cell manipulation tasks may be referred to as a cell manipulation robot.

In the control technology of the cell operation robot provided at present, when cell operation tasks such as cell grabbing, placing, cleaning and the like are executed each time, a user is required to repeatedly and frequently adjust the cell operation robot, so that the technical problem that the cell operation efficiency is low exists in the technology.

Disclosure of Invention

In view of the above, it is necessary to provide a method and apparatus for controlling a cell handling robot, a computer device, and a storage medium.

A method of controlling a cell handling robot, the method comprising:

acquiring a cell operation task executed by a cell operation robot instructed by a user;

acquiring operation habit information of the user under the cell operation task;

determining a moving track and an angle suitable for the cell operation task according to the operation habit information;

and controlling the cell operation robot to move the suction tube to a target position according to the moving track, and controlling the cell operation robot to enable the suction tube to form the angle with a preset plane when reaching the target position.

A control device of a cell handling robot, comprising:

the task acquisition module is used for acquiring a cell operation task which is executed by the cell operation robot and instructed by a user;

a habit obtaining module, configured to obtain operation habit information of the user under the cell operation task;

the habit processing module is used for determining a moving track and an angle suitable for the cell operation task according to the operation habit information;

and the robot control module is used for controlling the cell operation robot to move the suction tube to the target position according to the moving track and controlling the cell operation robot to enable the suction tube to form the angle with a preset plane when reaching the target position.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

acquiring a cell operation task executed by a cell operation robot instructed by a user; acquiring operation habit information of the user under the cell operation task; determining a moving track and an angle suitable for the cell operation task according to the operation habit information; and controlling the cell operation robot to move the suction tube to a target position according to the moving track, and controlling the cell operation robot to enable the suction tube to form the angle with a preset plane when reaching the target position.

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

acquiring a cell operation task executed by a cell operation robot instructed by a user; acquiring operation habit information of the user under the cell operation task; determining a moving track and an angle suitable for the cell operation task according to the operation habit information; and controlling the cell operation robot to move the suction tube to a target position according to the moving track, and controlling the cell operation robot to enable the suction tube to form the angle with a preset plane when reaching the target position.

The cell operation robot control method, the cell operation robot control device, the cell operation robot control equipment and the storage medium acquire a cell operation task which is executed by a cell operation robot instructed by a user, acquire operation habit information of the user under the cell operation task, determine a moving track and an angle which are suitable for the cell operation task according to the operation habit information, and then control the cell operation robot to move the suction tube to a target position according to the moving track and control the cell operation robot to enable the suction tube to form the angle with a preset plane when the suction tube reaches the target position. This scheme can acquire the operation habit of user under the cell operation task that waits to carry out at present automatically, thereby confirm the removal orbit and the angle that accord with user operation habit that are applicable to this cell operation task according to this operation habit, and automatic control cell operation robot removes the suction tube to the target location and forms aforementioned angle with the preset plane when making the suction tube reach the target location according to the removal orbit, the realization need not the user and repeats to cell operation robot, frequent regulation operation, improve cell operation efficiency's effect, still be favorable to reducing its operation probability of makeing mistakes.

Drawings

FIG. 1 is a diagram showing an application environment of a control method of a cell handling robot according to an embodiment;

FIG. 2 is a schematic flow chart showing a control method of the cell handling robot according to one embodiment;

FIG. 3 is a block diagram showing the structure of a control device of the cell handling robot in one embodiment;

FIG. 4 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The control method of the cell manipulation robot provided by the present application can be applied to the application environment shown in fig. 1, and the application scenario may include: a terminal 101, a shock absorption platform 102, a cell manipulation robot 103, a fine adjustment mechanism 104, a fine adjuster 105, an automatic homing device 106, an aspiration pump 107, an aspiration tube 108, an aspiration needle 109, a microscope 110, a microscope lens 111, a container box 112 and a small material box 113. Specifically, the terminal 101 may be communicatively connected to the cell handling robot 103 to control the cell handling robot 103. The terminal 101 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices. The cell handling robot 103 may employ a six-axis robot; the automatic homing device 106 may be communicatively connected to the terminal 101, and may automatically home the cell handling robot 103 under the instruction of the terminal 101; the fine adjustment mechanism 104 (an aspiration tube fine adjustment mechanism) can be arranged on a flange plate at the tail end of the cell operation robot 103; the cell sucking mechanism may generally include a sucking pump 107, a sucking tube 108 and a sucking needle 109, and the sucking tube 108 and the sucking needle 109 may be mounted on the fine adjustment mechanism 104; a container box 112 can be placed at the center position below a microscope lens 111 on the microscope 110, and cell sap can be placed in the container box 112; the trimmer 105 may include three fine adjustment handwheels that may be used to control the fine adjustment mechanism 104 to move in X, Y and the Z-axis, respectively; the small magazine 113 may have 96-hole or 60-hole specifications, and in a specific application, the small magazine 113 may be supported on the damping platform 102 by a magazine holder.

The following describes a control method of a cell handling robot provided in the present application with reference to corresponding embodiments based on the application scenario shown in fig. 1.

In one embodiment, as shown in fig. 2, a method for controlling a cell handling robot is provided, which is described by taking the method as an example applied to the terminal 101 in fig. 1, and comprises the following steps:

step S201, obtaining a cell operation task executed by a cell operation robot instructed by a user;

in this step, the terminal 101 may receive a cell manipulation task that the user instructs the cell manipulation robot 103 to perform, and the cell manipulation task may include, but is not limited to, a liquid taking operation, a liquid placing operation, and a washing operation.

Step S202, acquiring operation habit information of a user under a cell operation task;

different users have operation habits on the same or different cell operation tasks, and the cell operation robot 103 is controlled to execute the corresponding cell operation tasks in a mode conforming to the operation habits of the users, so that the operation error probability is reduced to a certain extent, and the operation efficiency is improved. In this step, after determining the cell operation task that the user instructs the cell operation robot 103 to perform, the terminal 101 further obtains operation habit information of the user under the cell operation task, where the operation habit information may be obtained by the terminal 101 according to statistics of operation information of the user under the cell operation task in the past, or may be actively set by the user for each cell operation task.

Step S203, determining a moving track and an angle suitable for a cell operation task according to the operation habit information;

in this step, after the terminal 101 obtains the operation habit information of the user in the cell operation task, the movement trajectory and angle, which are suitable for the cell operation task and conform to the operation habit of the user, are further determined according to the operation habit information. Wherein, the movement track refers to a track that the cell operation robot 103 moves the suction tube 108 from the current position to the target position, the target position can be directly obtained from the operation habit information, and the target position can be understood as a position where the user is accustomed to moving the suction tube 108 when the cell operation robot 103 executes the cell operation task; the angle refers to an angle formed by the suction pipe 108 reaching the target position with a preset plane, which may include a horizontal plane and a vertical plane, and accordingly, may include angles formed with the horizontal plane and the vertical plane, respectively.

And step S204, controlling the cell operation robot to move the suction tube to the target position according to the movement track, and controlling the cell operation robot to enable the suction tube to form the angle with the preset plane when reaching the target position.

In this step, after the terminal 101 obtains the movement track and the angle, it may send a corresponding control instruction to the cell handling robot 103 to instruct the cell handling robot 103 to move the aspiration tube 103 from the current position to the target position according to the movement track, and in addition to the position movement, control the cell handling robot 103 to make the aspiration tube 130 form the angle with the preset plane when reaching the target position, so that the cell handling robot 103 automatically moves the aspiration tube 103 to the target position meeting the operation task requirement and conforming to the operation habit of the user, and the angle of the aspiration tube 103 is also automatically adjusted to the angle meeting the operation task requirement and conforming to the operation habit of the user. Therefore, after the position is reached and the angle is adjusted, the user can directly operate the cell operation robot 103 to execute a specific cell operation task, for example, the cell operation robot 103 is controlled to perform operation tasks such as liquid taking, liquid placing or cleaning based on the target position and angle, and frequent repeated position and angle adjustment is not required to be performed every time a task is executed, so that the operation efficiency is improved.

In the method for controlling the cell manipulation robot, the terminal 101 acquires a cell manipulation task instructed by a user to be executed by the cell manipulation robot 103, the terminal 101 acquires operation habit information of the user in the cell manipulation task, the terminal 101 determines a movement track and an angle suitable for the cell manipulation task according to the operation habit information, and then the terminal 101 controls the cell manipulation robot 103 to move the aspiration tube 108 to a target position according to the movement track and controls the cell manipulation robot 103 to make the aspiration tube 108 form the angle with a preset plane when reaching the target position. According to the scheme, the operation habit of the user under the cell operation task to be executed at present can be automatically acquired, so that the movement track and the angle which are suitable for the cell operation task and accord with the operation habit of the user are determined according to the operation habit, the cell operation robot 103 is automatically controlled to move the suction tube 108 to the target position according to the movement track, and the suction tube 108 forms the angle with the preset plane when reaching the target position, repeated and frequent adjustment operation on the cell operation robot 103 by the user is not needed, the cell operation efficiency is improved, and the operation error probability is favorably reduced.

In some embodiments, the acquiring of the operation habit information of the user under the cell operation task in step S202 may include: acquiring operation information of a user for a cell operation task in a historical period; and obtaining operation habit information according to the statistics of the operation information.

In this embodiment, the terminal 101 may obtain the operation habit information of the user according to the statistics of the operation information of the user under the cell operation task in the past. In this embodiment, the terminal 101 may obtain operation information of the user for the cell operation task in a historical time period, where the historical time period may be a recent time period, such as about 1 month, about 3 months, and the like, and the habit of the user may change with factors such as the operation skill and proficiency of the user, and obtaining the recent operation information is beneficial to determining the operation habit accurately, so as to be beneficial to automatically controlling the cell operation robot 103 to operate in a manner according with the habit. After obtaining the operation information of the user for the cell operation task in the historical period, the terminal 101 further obtains the operation habit information of the user in the cell operation task according to the statistics of the operation information. The operation information may specifically be that the cell manipulation robot 103 is controlled to move the aspiration tube 108 to a certain position or certain positions and adjust the aspiration tube 108 to a certain angle or certain angles when the cell manipulation task is executed, and the statistics may specifically be that frequency statistics is performed on the certain positions and the certain angles to which the movement is performed.

The following specifically describes, by way of example, a specific manner of acquiring information on manipulation habits in the case where the cell manipulation task is a liquid taking operation, a liquid placing operation, and a washing operation, respectively.

In one embodiment, the cell manipulation task comprises a pipetting operation; the operation information includes liquid taking operation position information for controlling the cell operation robot 103 to move the aspiration tube 108 to a corresponding liquid taking position, and liquid taking operation angle information for controlling the cell operation robot 103 to make the aspiration tube 108 form a corresponding angle with a preset plane when reaching the corresponding liquid taking position; and, in the above embodiment, obtaining the operation habit information according to the statistics of the operation information specifically includes:

according to the liquid taking operation position information and the liquid taking operation angle information, determining a high-frequency liquid taking position meeting the liquid taking operation position frequency condition and a high-frequency liquid taking angle meeting the liquid taking operation angle frequency condition at the high-frequency liquid taking position; and obtaining operation habit information according to the high-frequency liquid taking position and the high-frequency liquid taking angle.

In this embodiment, how to obtain the operation habit information of the user according to the statistics of the operation information is mainly performed when the cell operation task includes a liquid extraction operation. Specifically, for the cell operation task of the liquid taking operation, the operation information may include liquid taking operation position information and liquid taking operation angle information, which may be used to respectively represent which liquid taking position (corresponding to the aforementioned corresponding liquid taking position) the cell operation robot 103 is controlled to move the suction tube 108 to when the user performs the liquid taking operation task in the past, and which liquid taking angle (corresponding to the aforementioned corresponding angle) the cell operation robot 103 forms with the preset plane when the suction tube 108 reaches the corresponding liquid taking position. Based on the liquid taking operation position information and the liquid taking operation angle information, the terminal 101 can perform frequency statistics on the corresponding liquid taking position and the corresponding liquid taking angle, and determine a high-frequency liquid taking position meeting the frequency condition of the liquid taking operation position and a high-frequency liquid taking angle meeting the frequency condition of the liquid taking operation angle at the high-frequency liquid taking position; the frequency condition of the liquid taking operation position may be the highest frequency used by the user in all the counted liquid taking positions, and the frequency condition of the liquid taking operation angle may be the highest frequency used by the user at the liquid taking position (referred to as a high-frequency liquid taking position) satisfying the frequency condition of the liquid taking operation position (referred to as a high-frequency liquid taking angle). After the high-frequency liquid taking position and the high-frequency liquid taking angle are obtained through statistics, the terminal 101 may use the high-frequency liquid taking position and the high-frequency liquid taking angle as operation habit information.

In one embodiment, the cell manipulation task comprises a fluid placement operation; the operation information includes liquid-setting operation position information for controlling the cell handling robot 103 to move the aspiration tube 108 to a corresponding liquid-setting position, and liquid-setting operation angle information for controlling the cell handling robot 103 to make the aspiration tube 108 form a corresponding angle with a preset plane when reaching the corresponding liquid-setting position; and, in the above embodiment, obtaining the operation habit information according to the statistics of the operation information specifically includes:

determining a high-frequency liquid placing level meeting the frequency condition of the liquid placing operation position and a high-frequency liquid placing angle meeting the frequency condition of the liquid placing operation angle under the high-frequency liquid placing level according to the information of the liquid placing operation position and the information of the liquid placing operation angle; and obtaining operation habit information according to the high-frequency liquid placing position and the high-frequency liquid placing angle.

In this embodiment, when the cell manipulation task includes a liquid placement manipulation, how to obtain the manipulation habit information of the user based on the statistics of the manipulation information is described. Similar to the liquid taking operation, for the cell operation task of the liquid placing operation, the operation information may include liquid placing operation position information and liquid placing operation angle information, which may respectively represent which liquid placing position or positions the cell operation robot 103 is controlled to move the aspiration tube 108 to when the user has performed the liquid placing operation task in the past (i.e., the aforementioned corresponding liquid placing positions), and which liquid placing angle or angles the aspiration tube 108 forms with the preset plane when the cell operation robot 103 is controlled to reach the corresponding liquid placing positions (corresponding to the aforementioned corresponding angles). Based on the liquid-placing operation position information and the liquid-placing operation angle information, the terminal 101 may perform frequency statistics on the corresponding liquid-placing position and the corresponding liquid-placing angle, and determine a high-frequency liquid-placing position satisfying the frequency condition of the liquid-placing operation position and a high-frequency liquid-placing angle satisfying the frequency condition of the liquid-placing operation angle under the high-frequency liquid-placing position; the frequency condition of the liquid-placing operation positions can be the highest frequency used by the user in all the counted liquid-placing positions, and the frequency condition of the liquid-placing operation angles can be the highest frequency used by the user on the liquid-placing positions (called high-frequency liquid-placing positions) meeting the frequency condition of the liquid-placing operation positions (called high-frequency liquid-placing angles). After the high-frequency liquid-placing position and the high-frequency liquid-placing angle are obtained through statistics, the terminal 101 may also use the high-frequency liquid-placing position and the high-frequency liquid-placing angle as operation habit information.

In one embodiment, the cell manipulation task comprises a washing operation; the operation information includes washing operation position information for controlling the cell handling robot 103 to move the aspiration tube 108 to a corresponding washing position, and washing operation angle information for controlling the cell handling robot 103 to make the aspiration tube 108 form a corresponding angle with a preset plane when reaching the corresponding washing position; and, in the above embodiment, obtaining the operation habit information according to the statistics of the operation information specifically includes:

according to the cleaning operation position information and the cleaning operation angle information, determining a high-frequency cleaning position meeting the cleaning operation position frequency condition and a high-frequency cleaning angle meeting the cleaning operation angle frequency condition in the high-frequency cleaning position; and obtaining operation habit information according to the high-frequency cleaning position and the high-frequency cleaning angle.

In this embodiment, when the cell manipulation task includes a washing operation, how to obtain the operation habit information of the user based on the statistics of the operation information is performed. Similar to the liquid taking operation and the liquid placing operation, for the cell manipulation task of the washing operation, the manipulation information may include washing manipulation position information and washing manipulation angle information, which may respectively represent which washing position or positions the cell manipulation robot 103 is controlled to move the aspiration tube 108 to when the user has performed the washing manipulation task in the past (i.e., the aforementioned corresponding washing position), and which washing angle or angles the aspiration tube 108 forms with the preset plane when the cell manipulation robot 103 is controlled to reach the corresponding washing position (corresponding to the aforementioned corresponding angles). Based on the cleaning operation position information and the cleaning operation angle information, the terminal 101 may perform frequency statistics on the corresponding cleaning position and cleaning angle, and determine a high-frequency cleaning position satisfying the frequency condition of the cleaning operation position and a high-frequency cleaning angle satisfying the frequency condition of the cleaning operation angle at the high-frequency cleaning position; the cleaning operation position frequency condition may be the highest frequency used by the user in all the cleaning positions counted, and the cleaning operation angle frequency condition may be the highest frequency used by the user (referred to as a high-frequency cleaning angle) at the cleaning position (referred to as a high-frequency cleaning position) satisfying the cleaning operation position frequency condition. After the high-frequency cleaning position and the high-frequency cleaning angle are obtained statistically, the terminal 101 may also use the high-frequency cleaning position and the high-frequency cleaning angle as the operation habit information.

In some other embodiments, the acquiring of the operation habit information of the user under the cell operation task in step S202 may include:

acquiring liquid taking operation position information and liquid taking operation angle information set by a user for a liquid taking operation, and/or acquiring a high-frequency liquid placing position and a high-frequency liquid placing angle set by the user for a liquid placing operation, and/or acquiring a high-frequency cleaning position and a high-frequency cleaning angle set by the user for a cleaning operation; and obtaining operation habit information according to the liquid taking operation position information and the liquid taking operation angle information, the high-frequency liquid placing position and the high-frequency liquid placing angle and/or the high-frequency cleaning position and the high-frequency cleaning angle.

In this embodiment, a user may actively set operation habit information of all or part of cell operation tasks, where the cell operation tasks may include liquid taking operation, liquid placing operation, and cleaning operation, that is, the user may actively set operation habit information of one or more cell operation tasks of the liquid taking operation, the liquid placing operation, and the cleaning operation. Specifically, the terminal 101 may acquire the liquid taking operation position information and the liquid taking operation angle information set by the user for the liquid taking operation, the terminal 101 may also acquire the high-frequency liquid placing position and the high-frequency liquid placing angle set by the user for the liquid placing operation, the terminal 101 may also acquire the high-frequency cleaning position and the high-frequency cleaning angle set by the user for the cleaning operation, and then the terminal 101 may further use the liquid taking operation position information and the liquid taking operation angle information, the high-frequency liquid placing position and the high-frequency liquid placing angle, and/or the high-frequency cleaning position and the high-frequency cleaning angle as the operation habit information.

By combining the two embodiments of acquiring the operation habit information, in a specific application, if a user actively sets corresponding operation habit information for a cell operation task to be executed currently, the terminal 101 may preferentially use the operation habit information actively set by the user; if the user does not actively set corresponding operation habit information for the cell operation task to be executed currently, the terminal 101 may obtain the operation habit information obtained through statistical analysis; if the user does not actively set corresponding operation habit information for the cell operation task to be executed currently and operation information capable of being subjected to statistical analysis is not formed temporarily, the terminal 101 may actively prompt the user to actively set the operation habit information and automatically control the cell operation robot 103 to move accordingly, or the terminal 101 may also first control the cell operation robot 103 to move according to a default movement track and angle of the system and continuously record the operation information of the user, so that the user can obtain the operation habit information of the user according to the operation habit information capable of being subjected to statistical analysis after the operation information capable of being subjected to statistical analysis is formed, and the use requirement of an actual scene is met.

Regarding the movement trajectory and angle, in some embodiments, the determining, according to the operation habit information in step S203, the movement trajectory and angle suitable for the cell operation task specifically includes:

determining a target position and an angle suitable for a cell operation task according to the operation habit information; and obtaining a moving track suitable for the cell operation task according to the current position and the target position of the suction tube.

In this embodiment, the operation habit information may specifically include a target position and an angle under the cell operation task. The target position and angle are explained by specifically combining liquid taking operation, liquid placing operation and cleaning operation; for the liquid taking operation, the target position can correspond to a high-frequency liquid taking position, and the angle can correspond to a high-frequency liquid taking angle; for the liquid placing operation, the target position can correspond to a high-frequency liquid placing position, and the angle can correspond to a high-frequency liquid placing angle; for the cleaning operation, the target position may correspond to a high-frequency cleaning position, and the angle may correspond to a high-frequency cleaning angle. Then, the terminal 101 may obtain a moving track suitable for the cell operation task to be currently performed according to the current position of the suction tube 108 and the obtained target position, where the moving track may specifically be a straight line, a broken line, or a curved line pointing from the current position to the target position, and thus the terminal 101 may obtain a moving track and an angle suitable for the cell operation task and conforming to the operation habit of the user.

It should be understood that, although the steps in the above flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the above flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.

In one embodiment, as shown in fig. 3, there is provided a control apparatus of a cell handling robot, and the apparatus 300 may include:

a task obtaining module 301, configured to obtain a cell operation task that is executed by a cell operation robot and instructed by a user;

a habit obtaining module 302, configured to obtain operation habit information of the user under the cell operation task;

a habit processing module 303, configured to determine a movement trajectory and an angle suitable for the cell operation task according to the operation habit information;

and the robot control module 304 is configured to control the cell handling robot to move the aspiration tube to a target position according to the movement track, and control the cell handling robot to make the aspiration tube form the angle with a preset plane when the aspiration tube reaches the target position.

In one embodiment, the habit obtaining module 302 is configured to obtain operation information of the user for the cell operation task in a historical period; and obtaining the operation habit information according to the statistics of the operation information.

In one embodiment, the cell manipulation task comprises a pipetting operation; the operation information comprises liquid taking operation position information used for controlling the cell operation robot to move the suction tube to the corresponding liquid taking position, and liquid taking operation angle information used for controlling the cell operation robot to enable the suction tube to form a corresponding angle with the preset plane when the suction tube reaches the corresponding liquid taking position; a habit obtaining module 302, configured to determine, according to the liquid taking operation position information and the liquid taking operation angle information, a high-frequency liquid taking position that meets a liquid taking operation position frequency condition and a high-frequency liquid taking angle that meets a liquid taking operation angle frequency condition under the high-frequency liquid taking position; and obtaining the operation habit information according to the high-frequency liquid taking position and the high-frequency liquid taking angle.

In one embodiment, the cell manipulation task comprises a fluid placement operation; the operation information comprises liquid placing operation position information used for controlling the cell operation robot to move the suction tube to the corresponding liquid placing position, and liquid placing operation angle information used for controlling the cell operation robot to enable the suction tube to form a corresponding angle with the preset plane when the suction tube reaches the corresponding liquid placing position; a habit obtaining module 302, configured to determine, according to the liquid placement operation position information and the liquid placement operation angle information, a high-frequency liquid placement position that meets a liquid placement operation position frequency condition and a high-frequency liquid placement angle that meets a liquid placement operation angle frequency condition under the high-frequency liquid placement position; and obtaining the operation habit information according to the high-frequency liquid placing position and the high-frequency liquid placing angle.

In one embodiment, the cell manipulation task comprises a washing operation; the operation information comprises cleaning operation position information used for controlling the cell operation robot to move the suction tube to a corresponding cleaning position, and cleaning operation angle information used for controlling the cell operation robot to enable the suction tube to form a corresponding angle with the preset plane when the suction tube reaches the corresponding cleaning position; a habit obtaining module 302, configured to determine, according to the cleaning operation position information and the cleaning operation angle information, a high-frequency cleaning position that meets a cleaning operation position frequency condition and a high-frequency cleaning angle that meets a cleaning operation angle frequency condition at the high-frequency cleaning position; and obtaining the operation habit information according to the high-frequency cleaning position and the high-frequency cleaning angle.

In one embodiment, the cell manipulation task comprises a fluid access operation, a fluid placement operation, and/or a wash operation; a habit obtaining module 302, configured to obtain liquid taking operation position information and liquid taking operation angle information set by the user for the liquid taking operation, and/or obtain a high-frequency liquid placing position and a high-frequency liquid placing angle set by the user for the liquid placing operation, and/or obtain a high-frequency cleaning position and a high-frequency cleaning angle set by the user for the cleaning operation; and obtaining the operation habit information according to the liquid taking operation position information and the liquid taking operation angle information, the high-frequency liquid placing position and the high-frequency liquid placing angle and/or the high-frequency cleaning position and the high-frequency cleaning angle.

In one embodiment, the habit processing module 303 is configured to determine a target position and an angle suitable for the cell manipulation task according to the manipulation habit information; and obtaining a moving track suitable for the cell operation task according to the current position of the suction tube and the target position.

For specific limitations of the control device of the cell manipulation robot, reference may be made to the above limitations of the control method of the cell manipulation robot, and details thereof are not repeated here. The respective modules in the control device of the cell manipulation robot may be entirely or partially implemented by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 4. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a control method of a cell handling robot. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.