Technical field
[0001]
This technique uses an information processing apparatus to sorting embryos like, an information processing method, and a program.
BACKGROUND
[0002]
As described in Patent Document 1, in the fields such as infertility treatment and assisted reproduction, mix-up of samples such as sperm or embryo has become a problem. The management system according to Patent Document 1, identification slip readable dot pattern is printed by the electronic pen is affixed to a container containing a sample. If the work of re transferred is performed by an electronic pen, in a container sorting source containers and sorting destination, the required information is entered. At that time, information read from the identification votes are transmitted to the terminal device, whether re transferred has been correctly by the terminal device is determined. And visually checked for the operator by filling out an electronic pen Thus, an automatic check is combined by the management system, is that of enabling reliable management (specification paragraph [0002] of Patent Document 1 [0022 ] [0023] [0037] - [0045] Figure 1, etc.).
CITATION
Patent Document
[0003]
Patent Document 1: JP 2014-67216 JP
Summary of the Invention
Problems that the Invention is to Solve
[0004]
　Preventing mix-up of the cells of the embryo or the like is very important, useful technique that allows to move the desired cell in the correct position are required.
[0005]
　In view of the circumstances as described above, an object of the present technology is to provide an information processing apparatus, information processing method for sufficiently possible prevent mix-up of the cell or the like, and a program.
Means for Solving the Problems
[0006]
　To achieve the above object, an information processing apparatus according to an embodiment of the present technology includes a first extracting unit, and a second extraction unit, and a comparing unit.
　The first extraction unit extracts the first feature quantity of cells before the movement from the previous cell observation data movement.
　The second extraction unit extracts a second characteristic amount of cells after the mobile from the observation data of the cells after the movement.
　The comparison unit compares the first and second feature quantity of the extracted one another.
[0007]
　The information processing apparatus includes a first feature amount extracted from the cells prior to the observation data movement, and the second feature amounts extracted from the observation data of the cells after the movement, are compared with one another. Thus if the cells after the movement and cell before movement is the same cells readily becomes possible decision. As a result, it is possible to sufficiently prevent the mix-up of cells.
[0008]
　Observation data of the cell may be an image of the cell captured by one or more imaging devices.
　By comparing the cells of the image by extracting the first and second characteristic quantity, it is possible to sufficiently prevent the mix-up of cells.
[0009]
　The one or more imaging devices, visible light camera, may include an infrared camera, and at least one polarizing camera.
　Based on these image captured by the camera, it is possible to extract the identifiable feature quantity of cells.
[0010]
　Observation data of the cell may be a plurality of images taken the cells from a plurality of directions.
　Thus it is possible to extract a sufficiently identifiable feature quantity of cells.
[0011]
　Observation data of said cell, said cell may be a moving image taken in a time series.
　Thus it is possible to extract a sufficiently identifiable feature quantity of cells.
[0012]
　It said first and said second extraction unit, based on a predetermined machine learning algorithm, the first and the second feature amount may be extracted respectively.
　Thus it is possible to extract a sufficiently identifiable feature quantity of cells.
[0013]
　The first extraction unit detects the posture of the cells before the movement from the observation data of the cells before the movement, may extract the first feature amount based on the detected posture. In this case, the second extraction unit detects the posture of the cells after the movement from the observation data of the cells after the movement, even if extracting the second characteristic amount based on the detected posture good.
　This makes it possible to improve the accuracy of the comparison result by the comparison unit.
[0014]
　The information processing apparatus may further based on a comparison result by the comparison unit, the movement of the cells may include a determination unit which determines whether or not it is normal.
　Thus, it is possible to sufficiently prevent the mix-up of cells.
[0015]
　The first extraction unit may extract the feature quantity of the container before the movement relates to a container cells before the movement is accommodated. In this case, the second extraction unit may extract the feature quantity of the container after the movement relates to a container cells after the movement is accommodated. Also, the determination unit based on the feature amount and the feature of the container after the movement of the container before the movement of the extracted movement of the cells may be determined whether it is normal.
　Thus, it is possible to sufficiently prevent the mix-up of cells.
[0016]
　The information processing apparatus may further include a third extraction unit that extracts a third feature quantity of cells in the mobile from the observation data of the cells in the mobile.
　Thus it is possible to sufficiently prevent the mix-up of cells.
[0017]
　The information processing apparatus may further include a notification unit for notifying the determination result by the determination unit.
　Thus it is possible to sufficiently prevent the mix-up of cells.
[0018]
　The notification unit, an image, voice, and by at least one vibration may be notified of the determination result.
　Thus it is possible to sufficiently notify the determination result.
[0019]
　The notification unit may output the notification image including the determination result.
　Thus it is possible to sufficiently notify the determination result.
[0020]
　The notification image, moving condition of the cell, and may include at least one of the guide image for guiding the moving operation of the cell.
　By moving condition or guide images of the cells is displayed, it is possible to sufficiently prevent the mix-up of cells.
[0021]
　The notification unit, when the movement of the cell is determined not to be normal may display the corrected image for correcting the normal movement.
　It is possible to guide thereby to correct cell migration operations.
[0022]
　The information processing method according to an embodiment of the present disclosure, an information processing method executed by a computer system, comprising from moving before the cell observation data extracting a first feature quantity of cells prior to said mobile.
　Second feature amount of cells after the movement from the cell observation data after movement is extracted.
　The first and second feature amount the extraction are compared with one another.
[0023]
　A program according to an embodiment of the present technology, to perform the following steps in a computer system.
　Extracting a first feature quantity of cells before the mobile from moving before the cell observation data.
　Extracting a second feature quantity of the cells after the movement from the observation data of the cells after the movement.
　The first and second feature the step of comparing with each other, which is the extraction.
Effect of the invention
[0024]
　As described above, according to the present disclosure, it is possible to sufficiently prevent the mix-up of cells. Here, the advantages described in the present invention is not necessarily limited, it may be any of the effects described in the present disclosure.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025]
FIG. 1 is a schematic diagram showing a configuration example of a culture system according to the first embodiment.
It is a diagram showing the flow of correctness determination example of moving operation according to [2] The present technology.
3 is a schematic diagram showing an example of a notification image.
It is a schematic diagram showing an example of FIG. 4 notification image.
5 is a schematic diagram showing an example of a notification image.
6 is a schematic view showing a culture vessel and the imaging unit according to the second embodiment.
7 is a diagram for explaining the posture of a fertilized egg.
8 is a schematic diagram of a mobile device used in the culture system according to the third embodiment.
9 is a perspective view showing a configuration example of a head-mounted display (HMD) as an information processing apparatus according to another embodiment.
DESCRIPTION OF THE INVENTION
[0026]
　Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings.
[0027]
　
　FIG 1 is a schematic diagram showing a configuration example of a culture system according to a first embodiment of the present technology. In this embodiment, the culture system 100, the organism of the embryo in the livestock field and the like are cultured. Is not limited to this, with respect to any other cell, the technique is applicable.
[0028]
　As example cells cultured organisms unfertilized egg cells in Husbandry, etc. (ova), embryos and the like and, regenerative medicine, in the field of such pathobiology, stem cells, it has been removed from immune cells, living body such as cancer cells biological samples and the like. As used herein, "cell" (singular) comprises a single cell, and a group of a plurality of cells at least conceptually.
[0029]
　Culture system 100 as shown in FIG. 1 includes a plurality of culture vessels 10, and the imaging unit 20, the information processing apparatus 30, a display device 40, a speaker 50.
[0030]
　Culture container 10 is configured to accommodate the culture and embryo 5, a light-transmitting enough to be taken fertilized 5 from the outside. The shape of the culture vessel 10 is not particularly limited, for example, flat dish shape such as a petri dish is used.
[0031]
　Culture vessel 10a of the plurality of culture vessels 10 are disposed in a point M. The culture vessel 10b are located at different points N from the point N. Cup culture worker (user), using a moving device 7 such as a dropper, to move the fertilized 5 from the culture vessel 10a into the culture vessel 10b.
[0032]
　Moving operation of the embryo 5, for example, in the step of culturing a fertilized egg 5, and when changing the components of the culture medium is carried out when changing the culture vessel 10. Further, for example when checking a fertilized egg 5 visually, when moving the microscope or the like, in the case of filling the frozen straw tube also, movement of the fertilized egg 5 is performed to a dedicated container or the like.
[0033]
　The imaging unit 20 includes an imaging device 21 disposed at a point M, and an imaging device 21b which is arranged at a point N. Imaging device 21a has the pre-movement of the embryo 5 and culture vessels 10a housed in the culture vessel 10a taken to generate an image of the embryo 5 and culture container 10a. The imaging device 21b is a fertilized 5 and culture vessel 10b after the movement housed in the culture vessel 10b taken to generate an image of the embryo 5 and culture container 10b.
[0034]
　Hereinafter, an image taken by the imaging device 21a and 21b, may be referred to as moving image before and after moving the image. The fertilized eggs 5 before and after the movement, may be referred to as fertilized 5a and fertilized 5b.
[0035]
　Images taken by each image pickup device 21 includes a plurality of still images captured at predetermined imaging interval, and both the moving images along the time series. Even when the one of the still images and moving images of fertilized eggs 5 and the culture vessel 10 is captured, the technique is applicable.
[0036]
　In FIG. 1, but embryo 5 and culture container 10 is shown, one for the point M and N, a plurality of culture vessels 10 are arranged in each point, moving operation for a plurality of fertilized 5 It is often done. In this case, for a plurality of fertilized 5a point M, the destination of the culture vessel 10b is more arranged at the point N. And by the imaging device 21a and 21b, a plurality of pre-movement image, and a plurality of mobile after image is captured, respectively.
[0037]
　In the present embodiment, an image of the moving front of the embryo 5a corresponds to the observation data of the mobile prior to embryo 5a. The image of the fertilized egg 5b after the movement corresponds to the observed data of the fertilized egg 5b after the movement. Note that "cell before movement" is a cell that wants to move the cup culture workers, in the present embodiment, corresponding the fertilized 5a housed in culture vessel 10a. Meanwhile the "cells after movement" is a cell which has been moved by the moving operation by the goblet culture workers, in the present embodiment, corresponding the fertilized 5b housed in the culture vessel 10b.
[0038]
　For example, when moving a plurality of fertilized 5a may sometimes cup culture mechanic moves mistaking the fertilized egg 5a. That different fertilized 5a is a fertilized egg to be moved, the other embryo 5a housed in another culture vessel 10a in example point M, can also occur if the result is moved accidentally culture vessel 10b. In this case, based on the become different from the "cell before the move" and "cells after movement". That is, in this disclosure, the term "cell before movement" and "cells after movement" is not necessarily the same cell. As described below, by implementing the present technology, it is possible to prevent these different causes a mix-up or the like sufficiently.
[0039]
　The imaging device 21a and 21b, for example, CMOS (Complementary Metal-Oxide Semiconductor) sensor or CCD (Charge Coupled Device) visible light camera with an image sensor such as a sensor is used.
[0040]
　Display device 40 may, for example, a liquid crystal, a display device using EL (Electro-Luminescence) and the like. Display device 40 displays various image output from the information processing apparatus 30. Speaker 50 outputs audio based on audio data output from the information processing apparatus 30.
[0041]
　The information processing apparatus 30 controls the operation of each block in the culture system 100. For example, as shown in FIG. 1, the imaging device 21a and 21b, display device 40, a speaker 50, via a wired or wireless, is connected to the information processing apparatus 30. The photographing operation of the imaging device 21a and 21b, the display operation of the display device 40, an audio output operation of the speaker 50 is controlled respectively.
[0042]
　The information processing apparatus 30 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive) hardware required computer configuration such as. As the information processing apparatus 30, for example, PC (Personal Computer) is used, any other computer may be used.
[0043]
　CPU executes loads a program according to the present disclosure which is stored in the ROM or HDD to RAM, the extraction unit 31 is a functional block shown in FIG. 1, the comparing unit 32, determination unit 33, and notification unit 34 There is realized. And these function blocks, the information processing method according to the present technique is performed. Incidentally dedicated hardware may be used as appropriate to implement each functional block.
[0044]
　Program may be installed in the information processing apparatus 30 via various recording media. Or install the program via the Internet or the like may be performed.
[0045]
　Figure 2 is a diagram showing a flow of correctness determination example of a mobile operation in accordance with the present technology. By the imaging device 21a of the first point M, the pre-movement image including the embryo 5a and culture container 10a is photographed, is output to the information processing apparatus 30.
[0046]
　The extraction unit 31, an image of the embryo 5a based on the pre-movement image is acquired as the identification information (step 101). Also based on the moving image before the image of the culture vessel 10a is acquired as the identification information (step 102). For example, for pre-movement image output from the imaging device 21a, the normalized image, adjustment of the position of the embryo 5a, pretreatment including emphasis filter or the like shape is performed. Result of the preprocessing is acquired as an image of the embryo 5a and culture container 10a. Note pre-movement image may be acquired as it is as the identification information.
[0047]
　The extraction unit 31, based on the image of the fertilized egg 5a, a first feature quantity of the embryo 5a before the movement is extracted (step 103, 104). First feature amount, for example, the size of the embryo 5a, shape, sphericity, cleavage number (rate), such as the amount of forms and that balance, and fragmentation of the blastomeres, the fertilized egg 5a various conditions It is extracted based on. Also in the case when a moving image is captured as an image of the embryo. 5a, changes along the time series of a fertilized egg 5a such may also be reflected in the extraction of the first feature amount.
[0048]
　Specific feature extraction processing for extracting a first feature value is not limited, may any extraction process is used. In this embodiment, the machine learning algorithm is used will be described later on that point.
[0049]
　First feature value extracted, ID of the embryo 5a, and the image of fertilized eggs 5a used for feature extraction is registered in the fertilized egg information DB (database) 35 (step 105). Note ID of the embryo 5a is set in advance in performing the culture. The fertilized information DB35 is constructed in the storage unit such as an HDD of the information processing apparatus 30. Of course fertilized information DB35 is constructed by another storage device, it may be connected to the information processing apparatus 30 via a network or the like.
[0050]
　The extraction unit 31, based on the image of the culture vessel 10a, the feature quantity of the culture vessel 10a before the movement is extracted (step 106, 107). Feature quantity of the culture vessel 10a, for example is extracted based on the shape and scratches of the culture vessel 10a. Alternatively to the culture vessel 10a, which when the identification information of the label, such as an identifiable are assigned, the identification information may be extracted as a feature quantity of the culture vessel 10a. Extracted feature, and the image of the culture vessel 10a is the fertilized information DB 35, are stored in association with the first feature amount of the fertilized egg 5a (step 108).
[0051]
　Feature amount extraction of the first feature quantity and the culture container 10a, the extraction unit 31 is performed by functioning as a first extraction unit.
[0052]
　By moving operation using the movement device 7 of embryo culture workers, fertilized 5a is moved to the culture vessel 10b point N is a moving destination (step 109).
[0053]
　By the imaging device 21b point N, the moving image after the embryo 5b and culture vessel 10b after the movement is captured and output to the information processing apparatus 30. The extraction unit 31, an image of the embryo 5b on the basis of the moved image is acquired as the identification information (step 110). Also based on the moving image after the image of the culture vessel 10b is acquired as the identification information (step 111).
[0054]
　The extraction unit 31, based on the image of the fertilized egg 5b, a second feature quantity of the embryo 5b after the movement is extracted (step 112, 113). And by extracting portion 31, on the basis of the image of the culture vessel 10b, the feature quantity of the culture vessel 10b after the movement is extracted (step 114, 115). Feature amount extraction second feature amount and the culture vessel 10b, the extraction unit 31 is performed by which functions as the second extraction unit.
[0055]
　A feature quantity of the second feature amount and the culture vessel 10b extracted, and the feature quantity of the first feature quantity and the culture container 10a stored is collated into a fertilized egg information DB 35 (step 116). That is, by comparing unit 32, first and second feature quantity are compared. Based on the comparison result, the determination unit 33, whether the movement of the fertilized egg 5 is normal is determined. The judging unit 33, the feature quantity of the culture vessel 10a, and based on the feature quantity of the culture vessel 10b, determines correctness of the move operation.
[0056]
　For example, by comparing unit 32, the difference between the first and second feature amount is detected. The determination unit 33, the difference of the feature value when included within a predetermined threshold, the fertilized egg 5b after the movement and fertilized 5a before the movement is determined to be the same embryo. That mix-up of the embryo 5 is determined not.
[0057]
　If the difference of the feature is equal to or larger than the threshold is different from zygote and embryo 5a before moving the fertilized egg 5b after the movement, it is determined that the mix-up has occurred. Specific algorithm matching determination of the embryo 5 using the first and second feature amount is not limited and may be appropriately set. For example the determination algorithm may be set in accordance with the first and second feature quantity extraction algorithm.
[0058]
　Before moving operation of the embryo 5a, an image of the destination of the culture vessel 10b point N is captured, the feature quantity of the culture vessel 10b may be extracted. That feature of the culture vessel 10b to embryo 5a is moved may be previously extracted. This makes it possible to fertilized egg 5a to determine whether it has been moved to the correct culture container 10b of the destination.
[0059]
　That feature amount of the extracted culture container 10b is substantially equal (e.g., the difference is below the threshold), wherein the amount of the culture vessel 10b to be moved when it is determined to have been moved to the correct culture vessel 10b. If the characteristic quantity of the culture vessel 10b to be moved, wherein the amount of the culture vessel 10b is different, is determined to have been moved by mistake to another culture vessel 10b point N.
[0060]
　The feature quantity of the culture vessel 10a that houses the embryo 5a to be moved may be stored in advance. Eg, the feature amount of the embryo ID and the culture vessel 10a is stored in association with. In this case, for example, feature quantity of the extracted culture container 10a is collated with feature quantity stored. If the feature amount is approximately equal, it can be determined that the movement from the correct culture vessel 10a. If the feature value is different, it can be determined that the movement of the wrong embryo 5a from other culture vessel 10a.
[0061]
　As shown in FIG. 2, in the present embodiment, based on a predetermined machine learning algorithm, the feature extractor, i.e., the extraction unit 31 is updated. First feature amounts stored in the fertilized egg information DB 35, ID of the embryo 5a, and on the basis of the image of the fertilized egg 5a, by machine learning, the parameters for feature extraction (coefficient) is calculated (step 117 ). The calculated parameters are output to the extraction unit 31, used for the extraction of the first and second characteristic quantity (step 118 and 119).
[0062]
　Thus extraction unit 31 is improved, the first and second feature having higher identification performance becomes possible extraction. As a result, even when many fertilized 5 handled, each embryo 5 can be sufficiently identified, it is possible to improve the accuracy of determining the correctness of the move operation.
[0063]
　Machine learning algorithm to be used is not limited. For example RNN (Recurrent Neural Network: recurrent neural network), CNN (Convolutional Neural Network: convolutional neural network), MLP: machine learning algorithm using a neural network (the Multilayer Perceptron multilayer perceptron) is used. Other, supervised method, unsupervised learning method, semi-supervised learning method, any machine learning algorithms may be used to perform a reinforcement learning method.
[0064]
　The notification unit 34, the determination result by the determination unit 33 is notified (step 120). In the present embodiment, the image and audio, the judgment result is notified. Specifically, the notification unit 34, the notification image including the determination result is generated and displayed on the display device 40. The sound corresponding to the determination result is mainly output from the speaker 50.
[0065]
　3 to 5 are a schematic diagram showing an example of a notification image. In the following description of the annunciation image 60, the moving front of the embryo 5a and fertilized 5b after the movement, simply described as that fertilized A and fertilized A after movement before the movement.
[0066]
　Annunciation image 60 includes a moving source region 61 representing the source fertilized egg 5 (point M), and a destination area 62 representing the destination (the point N). The movement source area 61 is the display image 63a of fertilized A before moving, the moving source area is the display image 63b of the fertilized egg A after movement.
[0067]
　The annunciation image 60 shown in FIG. 3A, first moving state image 71 representing the state before execution of the move operation is displayed. First moving state image 71, also said image representing the moving operation whose execution is scheduled. First moving state image 71 is an image 63a and 63b of the fertilized eggs A of before and after the movement, arrow 64 directed from the image 63a of the embryo A to the image 63b of the fertilized egg A is displayed.
[0068]
　Image 63a of fertilized A before movement (the solid line frame shown in this example) recognizably shown that the fertilized egg A is present in the moving source. On the other hand the image 63b of the fertilized egg A after movement is recognizably shown that no embryo A is present in the destination (in this example dashed box is shown).
[0069]
　Embryo culture officer, by checking the first moving state image 71, it is possible to confirm the moving operation performed from now. Alternatively, it is also possible to confirm the move operation to be performed by another person. Further it is possible to confirm that the fertilized egg A has not been moved yet.
[0070]
　Note first moving state image is generated based on the input to the information processing apparatus 30 according to the embryo culture workers performing, for example, move operation. Or by a point M and a given culture vessels 10a and 10b to the position of N is placed, based on the image captured by the imaging device 21a and 21b, are automatically displayed first moving state image 71 it may be. Also based on the information of the other culture step, a first moving state image 71 may be automatically displayed.
[0071]
　As shown in FIG. 3B, when it is determined that a normal moving operation by the determination unit 33 is executed, movement of the second indicating the state in which the embryo A is moved from the source region 61 to the destination area 62 state image 72 is displayed. That is, the image 63a of the fertilized egg A before movement is displayed in dashed box, the image 63b of the fertilized egg A after movement is displayed by a solid line frame.
[0072]
　As the determination result image 65 indicating that the mobile is successful, text images of OK is displayed. Also from the speaker 50 the voice to the effect that movement was successful is outputted. Thus embryo culture officer, it is possible to easily confirm that the move operation was successful.
[0073]
　Incidentally, based on the image of the source image capturing apparatus 21a, when the pickup of the embryo A is detectable, the third moving state image 73 shown in FIG. 3C, the fertilized egg A in the state of moving it may be displayed. Images 63a and 63b of the fertilized egg A after movement before and movement are both displayed in dashed box, color is assigned the arrow 64. Thus fertilized A it is possible to easily grasp that it is moving. Note from the speaker 50, sound effect is moving may be output.
[0074]
　As shown in FIG. 4A, the determining unit 33, if the fertilized egg after the pre-movement and movement is determined to be different from the embryo, the fourth moving state image 74 is displayed which represents the state where the mix-up has occurred . For example, the image 63a of the source fertilized A is displayed with a solid line frame. In the destination area 62, image 66 of unknown embryo X is not a fertilized egg A, but it is recognizably displayed that the apologizing fertilized eggs (in this example, crosses are attached).
[0075]
　As the determination result image 65 indicating that the mobile has not been performed normally, text images of NG is displayed. Furthermore such as an alarm sound indicating that the mobile is not normally performed is outputted from the speaker 50. Thus embryo culture officer, it becomes possible to easily confirm that the mix-up has occurred, it is possible to quickly correct the move operation.
[0076]
　In matching step of step 116 in FIG. 2, if the fertilized egg after the pre-movement and movement is determined not to match, the fertilized egg information DB 35, a substantially equal characteristic quantity and characteristic quantity of the moved fertilized X erroneously fertilized egg with may be detected. As shown in FIG. 4B, when the embryo X that is moved by mistake is detected, the fertilized egg (in this example fertilized B) is displayed fifth moving state image 75 including an image 67 of the.
[0077]
　For example, the moving source area 61, the image 67 of the fertilized egg B is recognizably displayed that the wrong embryo. Arrow 68 so as to be confirmed that the move operation was incorrect from the image of fertilized egg B is displayed (for example, a predetermined color is assigned). In the destination area 62, image 67 of fertilized egg B is displayed together with crosses in a position to move the fertilized egg A. Thus the culture vessel 10b should fertilized A is moved, it is possible to easily grasp that the fertilized egg B is moved.
[0078]
　The sound may be output in response to the moving state image 75 of the fifth from the speaker 50. This is true even when the display of the other moving state image below.
[0079]
　Embryo culture officer, a fertilized egg B performing the move operation by returning to the source culture vessel 10a, it is possible to quickly restore the original state. Alternatively, it is also possible to move the fertilized egg B moves the embryo B to the culture vessel 10b to be moved. Since the carrying out the correction of the move operation quickly and accurately it becomes possible, it becomes possible to sufficiently prevent the mix-up of the embryo or the like.
[0080]
　Incidentally, as shown in FIG. 4C, for example, including prompting a modification of the operation may be displayed corrected image 69 for correcting the normal movement. In the example shown in FIG. 4C, although the text image is displayed without being limited thereto, may be displayed as an image is corrected image 69 using the arrow or the like.
[0081]
　As shown in FIG. 5A, when the embryo A is determined not to be moved to the correct culture container 10b of the destination, the moving state image 76 of the sixth is displayed. In the example shown in FIG. 5A, the destination of the culture vessel 10b is, that the fertilized egg B is the culture vessel 10b to be moved has been confirmed to be able to display. That so as to overlap the image 80 of the fertilized egg B having a dashed box, the image 81 of the fertilized egg A having a solid frame is displayed. Thus embryo culture worker returns the fertilized A to the original culture vessel 10a, or it is possible to easily correct the like to move to the correct culture vessel 10b. Incidentally, as shown in FIG. 5B, it may be displayed corrected image 69 for correcting the normal movement.
[0082]
　In the present embodiment, the moving state image 71 ~ 76 of the first to sixth mentioned above corresponds to a moving condition of the cells contained in the annunciation image 60. The movement source region 61, the destination area 62, and arrow 64 corresponds to a guide image for guiding the movement operation of the cell. The specific configuration of these images is not limited, and may be set arbitrarily. Also in annunciation image 60 may be displayed images and the like of the fertilized eggs 5 taken is by the imaging device 21a and 21b.
[0083]
　The only movement the context of a single fertilized egg A is not limited to being displayed, the determination results of the move operation each of the plurality of moving condition and moving operation of the correctness of the fertilized egg to be performed, even listed good (see FIG. 9).
[0084]
　Above, the culture system 100 according to the present embodiment, the by the information processing apparatus 30, which is extracted in the first feature amount extracted from the image of the moving front of the embryo 5a, from the image of the fertilized egg 5b after movement 2 feature quantity and is compared with each other. Thus either the fertilized egg 5b after the movement and fertilized 5a before movement is the same embryo is easily made possible decision. As a result, it is possible to sufficiently prevent the mix-up of the embryo 5 or the like.
[0085]
　Cells of the embryo 5 or the like, the cleavage as culture progresses occur, fragmentation or the like occurs. By extracting compared to the feature amount on the basis of appearance of the cell in the machine learning algorithm, it is possible to determine whether the same cell with high accuracy. As a result, it is possible to determine the correctness of the move operation with high accuracy.
[0086]
　Also based on the image of the moving source and the destination of the culture vessel 10a and 10b, the feature quantity of the culture vessel 10 is extracted. Thus it is possible to sufficiently prevent the mistake or the like of the culture vessel 10 in the mix-up or the destination of a fertilized egg 5 in the moving source. The various moving state image 71-76, the guide image, the determination result image 65 annunciation image 60 including, and the correction image 69 or the like are displayed, the voice from the speaker 50 is output. That according to errata move operation, positive feedback and negative feedback is performed appropriately. As a result, it is possible to sufficiently prevent the mix-up or the like, it becomes possible to easily correct the operation.
[0087]
　
　The culture system of the second embodiment of the present technology will be described. In the following description, the configurations and operations that are the same as those in the culture system 100 described in the above embodiment will be omitted or simplified.
[0088]
Figure 6
　Figure 6 is a schematic view showing a culture container 210 and the imaging unit 220 according to the present embodiment. Construction of the culture container 210 and the image pickup unit 220 will be described below is common to both the move source and move destination.
[0089]
　In this embodiment, the culture vessel 210 of substantially spherical is used for a light-transmitting, and the culture solution 4 and fertilized 5 therein is housed. The plurality of imaging devices 221 are arranged in a plurality of positions surrounding the circumference of the culture vessel 210. Thus it is possible to obtain a plurality of images obtained by photographing a fertilized 5 from a plurality of directions.
[0090]
　In the example shown in FIG. 6, so as to face each other in the vertical direction, the first and second imaging devices 221a and 221b are arranged. As also can image the fertilized 5 from obliquely above, the third image pickup device 221c is placed. And three image pickup apparatus 221, and the culture vessel 210 of substantially spherical, rotatable relative configured together. Therefore, in the present embodiment, it is possible to photograph the fertilized 5 from 360 degree.
[0091]
　The first to third image pickup device 221a-c, above the visible light camera may be used. Others, infrared (IR) camera, polarization camera may be used. Visible light camera, IR camera, to one of the camera may be used within the polarization camera, any two cameras or all types of cameras may be used simultaneously.
[0092]
　Visible light camera is a high resolution, since the image sensor is relatively inexpensive, it is possible to suppress the cost by using a large number. On the other hand, it is not suitable for shooting in the dark. IR camera, since it is possible to visualize the heat, is suitable for biological observation. In addition it is possible to shoot in the dark. Polarization camera is able to detect the direction and unevenness of the observation target surface. On the other hand, the control of the light source is relatively difficult, it is difficult shooting in the dark.
[0093]
　For example, based on the characteristics of the imaging apparatus as described above, may be appropriately selected imaging device 221 to be used. Of course type of the cells to be observed, extracted according to the type of the desired characteristic quantity, the type of imaging device 221 may be selected.
[0094]
　Since it is possible to acquire an image of the image and the culture vessel 210 embryos 5 from all directions fertilized 5, to extract useful feature amount identifiable fertilized 5 and the culture vessel 210 with high precision it is possible. As a result, the correctness of the move operation it is possible to determine with high accuracy, it is possible to sufficiently prevent mix-up or the like.
[0095]
　Incidentally not limited to the case omnidirectional embryo 5 can be captured, even if it is capable of capturing from a plurality of predetermined orientations, it is possible to obtain a sufficient effect.
[0096]
　Figure 7 is a diagram for explaining the posture of a fertilized egg 5. Based on the image of fertilized eggs 5 taken by the imaging unit 220, the posture of the embryo 5 may be detected. From the image of the moving front of the fertilized egg 5 attitude embryos 5 before the movement is detected. From the image of the fertilized egg 5 after movement posture of fertilized 5 after the movement is detected.
[0097]
　For example the image of fertilized eggs 5, characteristic points, areas on the embryo 5 is detected as the feature point P. The feature point P, for example and the corners of the edge of each blastomere (corner), linking part of each blastomere like. Based on the image of fertilized eggs 5 taken from all directions, the detected feature point P is tracked at different viewpoints. Thus it is possible to estimate the motion and posture of the fertilized egg 5. The estimated posture information and omnidirectional images, it is possible to acquire an image of arbitrary time and angle of the embryo 5.
[0098]
　Feature point P can be detected by, for example, any corner detection and blob detection method. For example, the detection method according to the type of imaging device 221 used by is used, it is possible to extract the feature point P with high accuracy. Note the feature point P is different parameter than the first and second feature of the embryo 5 described above. Of course, the extraction of the first and second feature quantity, location and numbers of the feature point P can ever be reflected.
[0099]
　Extraction unit, based on the attitude information, and extracts the first and second characteristic amounts. For example images fertilized 5 of predetermined posture is photographed is properly selected, the first and second features from the image are extracted, respectively. Thus the feature quantity between the fertilized egg 5 in the same position are compared, it becomes possible to perform the matching determination of the embryo 5 with high accuracy.
[0100]
　Alternatively the extracted feature quantity, and orientation information may be stored in association with the time. Comparing unit compares reads the first and second feature of the embryo in the same posture. This same effect is exhibited.
[0101]
　
　FIG. 8 is a schematic diagram of a mobile device used in the culture system according to the third embodiment. In the present embodiment, the mobile device 307, the imaging apparatus 321 and the vibrator 390 is provided. Imaging device 321, the tip of the mobile device 307 is disposed position that allows imaging. Vibrator 390, embryo culture workers is provided in the vicinity of a position for holding the mobile device 307. Specific configuration of the vibrator 390 is not limited, for example, a vibration motor or vibrator piezoelectric element or the like is mounted is used.
[0102]
　By the imaging device 321, it is possible to photograph an image of the fertilized egg during movement. Captured embryo images are transmitted to the information processing apparatus, the third feature amount of the fertilized egg in the movement is extracted by the extraction unit. A first feature amount of a fertilized egg before the movement, in the case where the third feature quantity of the embryo in the movement is determined to be different from the vibration indicating that mix-up has occurred is generated by the vibrator 390 . That negative feedback is executed. This makes it possible to sufficiently prevent the mix-up.
[0103]
　In the migration source and the destination, if the image from all directions of the embryo can be captured, that is, when the attitude information can be acquired, regardless of the orientation or the like of the mobile device 307, a moving photographed it is possible to perform a comparison of the feature quantity in accordance with the attitude of the fertilized egg. This makes it possible to perform the identification of the embryo with high accuracy.
[0104]
　Note that when picking up the embryo, by the imaging device 321, an image of the embryo and the culture vessel may be photographed. Feature amounts of the first and third are compared with one another, or that the feature amount of the culture vessel are compared, it is possible to determine whether the attempt to pick up the correct embryo.
[0105]
　Feature amounts of the first and third are nearly equal to each other, when the feature quantity of the second and third are approximately equal to each other, the vibration indicating that the move operation was successful is generated by vibrator. That positive feedback is executed. It becomes possible to easily grasp Thus the correct move operation.
[0106]
　And the source imaging device 21a and the destination of the image pickup device 21b such as shown in FIG. 1, not limited to the case of using a combination of the imaging device 321 of the mobile device 307, either one of the imaging devices 21a and 21b only and the imaging device 321 of the mobile device 307 may be combined. Or even when only the imaging device 321 of the mobile device 307 is used, it is possible correctness determination of moving operation. In this case, the imaging device 321, an image of the fertilized egg before the movement (culture vessel), either one or both of the images of the embryo (culture vessel) after the movement is captured.
[0107]
　Notification method of determination results, the output of the display and audio notification image, good be performed in combination with notification by vibration, only notification by vibration may be performed. Image, voice, and by at least one vibration, it is possible to sufficiently notify the determination result.
[0108]
　
　The present disclosure is not limited to the embodiments described above, it is possible to realize other various embodiments.
[0109]
　For example, FIG. 9 is a perspective view showing the head configuration example of a mounted display (HMD) as an information processing apparatus according to another embodiment. HMD400 includes a frame 401 of the eyeglass-type, a lens 402, a main processing unit 403, an imaging device 404, a display 405, a speaker 406.
[0110]
　Inside the main processing unit 403, the control block is composed of a CPU, a ROM or the like, the extraction unit 31 shown in FIG. 1, the comparing unit 32, determination unit 33, and notification unit 34 are realized. On the display 405, the notification image 60 is displayed that includes a moving state image and the determination result image of fertilized eggs to be moved. The audio feedback is performed from the speaker 406. Embryo culture officer, by mounting the HMD 400, it is possible to perform the move operation or other work while confirming the moving status of each fertilized egg. As a result, while sufficiently preventing mix-up or the like, efficient operation is achieved.
[0111]
　The imaging apparatus 404 of the HMD 400, the image and the culture vessel, the image may be captured of the work area including the peripheral and movement route and the like of the culture vessel. Based on the image, and feature quantity including the identity of the culture vessel, position of the culture vessel and the fertilized egg may be extracted. These information may be used for accuracy determination of the moving operation. Also by the imaging apparatus 404 of the HMD 400, the extracted amount of the first to third embryo images above photographed may be extracted.
[0112]
　In the above, as a cell of the observed data, it cited optical image cells was taken as an example. Not limited thereto, for example, a temperature sensor and a wavefront detection results obtained by the device such as a sensor may be used as observation data. The first to third feature quantity or the like may be extracted based on the detection result.
[0113]
　In the above by a computer such as a PC, which is operated by a user, it has been described a case where the information processing method according to the present technique is performed. However the communicable other computers via a computer network or the like operated by a user, the information processing method according to the present technology, and the program may be executed. The computer operated by a user, in conjunction and the other computer, the culture system according to the present disclosure may be constructed.
[0114]
　That information processing method, and program according to the present technique not only computer system constituted by a single computer can be performed even in a computer system in which a plurality of computer works in conjunction. In the present disclosure, a system includes a plurality of components (devices, modules (components) or the like) means a set of, it does not matter whether or not there is in the same housing all components. Therefore, housed in a separate enclosure, a plurality of devices connected via a network, and one device in which a plurality of modules in a single housing is accommodated are both systems.
[0115]
　An information processing method according to the present disclosure by the computer system, and executing the program, for example, extraction, such as the first to third feature quantity, comparison, accuracy judgment of the moving operation, or the output of such notification image is the single computer when executed, and includes both the case where the process is performed by different computers. The execution of each process by a given computer includes to perform some or all of the processing to another computer to retrieve the results.
[0116]
　That information processing method and program according to the present technology, sharing one function by a plurality of devices via a network, it is possible to apply also to the configuration of cloud computing which processes jointly.
[0117]
　Of the characteristic portion of the present technology described above, it is also possible to combine at least two characteristic parts. That the various features the parts described in the embodiments, without distinguishing between the embodiments may be combined arbitrarily. The various effects described above are not limited to a merely illustrative, and may be other effects are exhibited.
[0118]
　The present technology may also be configured as follows.
(1) a first extraction unit for extracting a first feature quantity of cells before the movement from the previous cell observation data movement,
　a second aspect of the cells after the movement from the observation data of the cells after the movement a second extraction unit for extracting a quantity,
　and a comparison unit for comparing with each other the first and second feature quantity of the extracted
　information processing apparatus having a.
(2) The information processing apparatus according to (1),
　the observation data of the cell is an image of the cell captured by one or more of the imaging device
　information processing apparatus.
(3) (2) The information processing apparatus according to,
　the one or more imaging devices, visible light camera, an infrared camera, and at least one of the polarization camera
　information processing apparatus.
(4) The information processing apparatus according to any one of (1) (3),
　the observation data of the cells is a plurality of images taken the cells from a plurality of azimuth
　information processing apparatus .
(5) The information processing apparatus according to any one of (1) (4),
　the observation data of said cell, said cell is a moving images along the time series
　information processing apparatus .
(6) The information processing apparatus according to any one of (1) (5),
　said first and said second extraction unit, based on a predetermined machine learning algorithm, the first and extracting respectively the second feature quantity
　information processing apparatus.
(7) The information processing apparatus according to any one of (1) (6),
　the first extraction unit, the posture of the cells before the movement from the observation data of the cells before the movement detecting the said extracts the first feature amount based on the detected posture,
　the second extraction unit detects the posture of the cells after the movement from the observation data of the cells after the movement, extracting the second characteristic amount based on the detected posture
　information processing apparatus.
The information processing apparatus according to any one of (8) (1) (7), further,
　on the basis of the comparison result by the comparing unit, whether the movement of the cells are normal It comprises a determination unit
　the information processing apparatus.
Of the (9) (1) (8) The information processing apparatus according to any one,
　the first extraction unit, of the container before movement relates to a container cells before the movement is accommodated extracting a feature quantity,
　the second extraction unit, wherein the cell after the movement to extract the feature quantity of the container after moving a container to be accommodated,
　the determination unit, of the container before the movement of the extracted based on the feature quantity of the container after the feature amount and the movement, it determines whether the movement of the cells are normal
　information processing apparatus.
(10) The information processing apparatus according to any one of (1) (9), further
　extracts the third feature quantity of cells in the mobile from the observation data of the cells in the mobile comprising a third extraction unit
　information processing apparatus.
(11) The information processing apparatus according to any one of (1) (10), further
　comprising a notification unit for notifying the determination result by the determination unit
　the information processing apparatus.
(12) (11) The information processing apparatus according to,
　wherein the notification unit, an image, voice, and notifies the determination result by the at least one vibration
　information processing apparatus.
(13) (12) The information processing apparatus according to,
　the notification unit outputs the notification image including the determination result
　information processing apparatus.
(14) The information processing apparatus according to (13),
　the notification image includes at least one of the guide image for guiding the moving operation of the moving condition, and the cells of the cell
　information processing apparatus.
(15) The information processing apparatus according to any one of (11) (14),
　wherein the notification unit, when the movement of the cell is determined not to be normal, the normal movement displaying a correction image for correcting
　the information processing apparatus.
DESCRIPTION OF SYMBOLS
[0119]
　5, 5a, 5b ... fertilized
　7,307 ... mobile device
　10, 10a, 10b, 210 ... culture vessel
　20,220 ... imaging unit
　30 ... information processing apparatus
　31 ... extraction unit
　32 ... comparing unit
　33 ... judging unit
　34 ... notification part
　35 ... fertilized information DB
　40 ... display
　50 ... speaker
　60 ... notification image
　65 ... determination result image
　69 ... modified image
　71-76 ... first to sixth moving state image of
　100 ... culture systems
　321 ... imaging device
　390 ... vibrator
　400 ... HMD

The scope of the claims
[Requested item 1]
　A first extraction unit from moving before the cell observation data extracting a first feature quantity of cells before the mobile,
　extracting a second characteristic amount of cells after the mobile from the observation data of the cells after the movement a second extraction unit, for
　a comparison unit for comparing with each other the first and second feature quantity of the extracted
　information processing apparatus having a.
[Requested item 2]
　The information processing apparatus according to claim 1,
　observation data of the cell is an image of the cell captured by one or more of the imaging device
　information processing apparatus.
[Requested item 3]
　The information processing apparatus according to claim 2,
　wherein the one or more imaging devices, visible light camera, an infrared camera, and at least one of the polarization camera
　information processing apparatus.
[Requested item 4]
　The information processing apparatus according to claim 1,
　observation data of the cells is a plurality of images taken the cells from a plurality of azimuth
　information processing apparatus.
[Requested item 5]
　The information processing apparatus according to claim 1,
　observation data of the cell is moving images in chronological said cell
　information processing apparatus.
[Requested item 6]
　The information processing apparatus according to claim 1,
　wherein the first and the second extraction unit, based on a predetermined machine learning algorithm, the first and the second feature quantity is extracted respectively
　processing apparatus.
[Requested item 7]
　The information processing apparatus according to claim 1,
　wherein the first extraction unit detects the posture of the cells before the movement from the observation data of the cells before the movement, on the basis of the detected posture extracting first feature amount,
　the second extraction unit detects the posture of the cells after the movement from the observation data of the cells after the movement, the second feature on the basis of the detected posture extracting the amount
　information processing apparatus.
[Requested item 8]
　The information processing apparatus according to claim 1, further
　based on a comparison result by the comparison unit comprises a determination unit for determining whether the movement of the cells are normal
　information processing apparatus.
[Requested item 9]
　The information processing apparatus according to claim 1,
　wherein the first extracting unit extracts a feature quantity of the container before the movement relates to a container cells before the movement is accommodated,
　the second extraction unit the cells after migration extracts the feature quantity of the container after moving a container to be accommodated,
　the determination unit based on the feature amount and the feature of the container after the movement of the container before the movement of the extracted determines whether the movement of the cells are normal
　information processing apparatus.
[Requested item 10]
　The information processing apparatus according to claim 1, further
　comprising a third extraction unit that extracts a third feature quantity of cells in the mobile from the observation data of the cells in the mobile
　information processing apparatus.
[Requested item 11]
　The information processing apparatus according to claim 1, further
　comprising a notification unit for notifying the determination result by the determination unit
　the information processing apparatus.
[Requested item 12]
　The information processing apparatus according to claim 11,
　wherein the notification unit, an image, voice, and notifies the determination result by the at least one vibration
　information processing apparatus.
[Requested item 13]
　The information processing apparatus according to claim 12,
　wherein the notification unit outputs the notification image including the determination result
　information processing apparatus.
[Requested item 14]
　The information processing apparatus according to claim 13,
　wherein the notification image includes at least one of the guide image for guiding the moving operation of the moving condition, and the cells of the cell
　information processing apparatus.
[Requested item 15]
　The information processing apparatus according to claim 11,
　wherein the notification unit, when the movement of the cell is determined not to be normal, displays a corrected image for correcting the normal mobile
　information processing apparatus.
[Requested item 16]
　Extracting first feature amount of cells before the mobile from moving before the cell observation data,
　it extracts a second characteristic amount of cells after the mobile from the observation data of the cells after the movement,
　which is the extracted comparing the first and second feature to each other
　information processing method computer system to perform the.
[Requested item 17]
　A step of moving the previous cell observation data extracting a first feature quantity of cells before the mobile,
　extracting a second feature quantity of the cells after the movement from the observation data of the cells after the movement,
　comparing the first and second feature quantity of the extracted one another
　program for executing on a computer system.