Patent ID: 11866687
Assignee: REGENTS OF THE UNIVERSITY OF MINNESOTA
Field: Measurement (Instruments)
Classification: CPC C  B  G | IPC B  C  G

Claim 14:
15. The method of claim 14, wherein:
the axes of motion of the robotic manipulator apparatus include a manipulator x-axis and a manipulatory-axis,
performing the calibration process comprises:
receiving an indication of user input indicating a first position of the tip of the micropipette in a first image captured by the microscope camera;
in response to receiving the indication of user input indicating the first position of the tip of the micropipette in the first image, recording the first position of the tip of the micropipette in terms of the axes of the microscope camera;
controlling the robotic manipulator apparatus to advance the tip of the micropipette in the manipulator x-axis by a predefined first distance;
receiving an indication of user input indicating a second position of the tip of the micropipette in a second image captured by the microscope camera after the robotic manipulator apparatus has advanced the tip of the micropipette in the manipulator x-axis by the predefined first distance;
in response to receiving the indication of user input indicating the second position of the tip of the micropipette in the second image, recording the second position of the tip of the micropipette in terms of the axes of the microscope camera;
determining a second distance, the second distance being between the first position and the second position;
calculating, based on the second distance, the angle of difference between the axes of the microscope camera and the axes of motion of the robotic manipulator apparatus;
calculating a third distance, the third distance being an absolute distance between the first position and the second position; and
calculating the scaling factor as a ratio between the first distance and the third distance.