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

Claim 17:
18. The non-transitory computer-readable data storage medium of claim 17, wherein:
axes of motion of the robotic manipulator apparatus include a manipulator x-axis and a manipulatory-axis,, as part of causing the computing device to perform the calibration process, execution of the instructions causes the computing device to:
receive an indication of user input indicating a first position of the tip of the micropipette in a first image captured by a microscope camera of the autoinjector system;
in response to receiving the indication of user input indicating the first position of the tip of the micropipette in the first image, record the first position of the tip of the micropipette in terms of the axes of the microscope camera;
control the robotic manipulator apparatus to advance the tip of the micropipette in the manipulator x-axis by a predefined first distance;
receive 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, record the second position of the tip of the micropipette in terms of the axes of the microscope camera;
determine a second distance, the second distance being between the first position and the second position;
calculate, based on the second distance, an angle of difference between the axes of the microscope camera and the axes of motion of the robotic manipulator apparatus;
calculate a third distance, the third distance being an absolute distance between the first position and the second position; and
calculate a scaling factor as a ratio between the first distance and the third distance,, wherein the instructions further cause the computing device to:
in response to receiving the indication of user input of the trajectory line, record points along the line traced on the current image by the user;
connect the points into a continuous interpolated path; convert, based on the scaling factor and the angle, the continuous interpolated path from the axes of the microscope camera to the manipulator axes; and
after converting the continuous interpolated path, customize the continuous interpolated path based on trajectory parameters.