论文标题
开发基于立体视觉的高通量机器人系统，用于鼠标尾静脉注射
Development of a Stereo-Vision Based High-Throughput Robotic System for Mouse Tail Vein Injection
论文作者
论文摘要
在本文中，我们提出了一种用于小鼠尾静脉注射的机器人装置。我们提出了一种鼠标握持机制，以实现静脉注射而不会麻醉鼠标，该鼠标由止血带，真空端口和自适应尾端固定装置组成。目标静脉在3D空间中的位置是根据高分辨率立体视觉重建的。静脉由简单但坚固的静脉线检测器检测到。得益于提议的两期校准过程，尽管针和尾静脉的位置在每个试验中都有不同，但注射过程的总时间限制为1.5分钟。我们进行了针对40只小鼠的注射实验，并成功将盐水注入了其中37个，导致了92.5％的成功率。
In this paper, we present a robotic device for mouse tail vein injection. We propose a mouse holding mechanism to realize vein injection without anesthetizing the mouse, which consists of a tourniquet, vacuum port, and adaptive tail-end fixture. The position of the target vein in 3D space is reconstructed from a high-resolution stereo vision. The vein is detected by a simple but robust vein line detector. Thanks to the proposed two-staged calibration process, the total time for the injection process is limited to 1.5 minutes, despite that the position of needle and tail vein varies for each trial. We performed an injection experiment targeting 40 mice and succeeded to inject saline to 37 of them, resulting 92.5% success ratio.
