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

Claim 7:
8. The system of claim 7, wherein:
the axes of motion of the robotic manipulator apparatus include a manipulator x-axis and a manipulatory-axis,
the computing device is configured such that, as part of performing the calibration process, the computing device:
receives 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, records the first position of the tip of the micropipette in terms of the axes of the microscope camera;
controls the robotic manipulator apparatus to advance the tip of the micropipette in the manipulator x-axis by a predefined first distance;
receives 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, records the second position of the tip of the micropipette in terms of the axes of the microscope camera;
determines a second distance, the second distance being between the first position and the second position;
calculates, 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;
calculates a third distance, the third distance being an absolute distance between the first position and the second position; and
calculates the scaling factor a ratio of the first distance and the third distance.