WO1996010196A2 - Method and apparatus for automatic focusing of biomedical specimens - Google Patents
Method and apparatus for automatic focusing of biomedical specimens Download PDFInfo
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- WO1996010196A2 WO1996010196A2 PCT/US1995/010133 US9510133W WO9610196A2 WO 1996010196 A2 WO1996010196 A2 WO 1996010196A2 US 9510133 W US9510133 W US 9510133W WO 9610196 A2 WO9610196 A2 WO 9610196A2
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/28—Systems for automatic generation of focusing signals
Definitions
- the invention relates to a method for automatically focusing on biological specimens, and more particularly to a microscope autofocus system which automatically focuses on features, patterns, or specific types of objects.
- Prior art autofocus systems even those which form part of a system performing automatic pattern recognition on the objects focused, are not able to identify specific objects or types of objects while performing the focusing operation. This deficiency may permit them to focus on dust particles, scratches, or other artifacts, or to miss recognizing an object of interest because it was not in focus when automatic pattern recognition was performed. Prior art systems may focus on irrelevant details because they possess high frequency content and occur in the same region as an object of interest. The result is that a prior art system may miss an opportunity to focus on and identify an important feature, such as the nucleus of a cell.
- an automated optical system for instance, a 4X microscope objective, covering a field of view which is 1.4 mm square, is used for a low magnification scan.
- the area so scanned comprises the entire region under the coverslip of the smear, which may contain over 700 such fields of view.
- low magnification scanning is to identify possible pre-cancerous cells, comprising a tiny percentage of the smear, which need to be re-examined at high magnification.
- hundreds of objects may appear in a single field of view, so independently focusing on each one of them is not feasible. But if the system focuses on irrelevant matter rather than identifiable cell nuclei, the one pre-cancerous cell in a thousand may not be selected for examination at high magnification, resulting in a failure to detect a pre-cancerous condition.
- Artifacts present in a Pap smear specimen may include flecks of graphite from the pencil used to mark the microscope slide, tiny splinters of wood from the instrument used to collect the specimen, blood, hair, strands of mucus, as well as thick clumps of cellular matter which may be unsuitable for examination by conventional transmission microscopy.
- a successful Pap smear scanning instrument must reliably focus on cell nuclei of interest, and not on this less relevant background of artifacts.
- the invention provides a morphological image processing automatic focusing apparatus for focusing on biological specimens.
- the invention permits a computer to automatically identify objects of interest from a set of images collected from different focal depths, and automatically select the focal depth which corresponds to best focus on the objects of interest.
- Morphological criteria such as brightness, contrast, size, shape, texture, and context are used by the computer to identify objects of interest. Cells or cell nuclei of particular types are identified and automatically brought into focus as the specimen is scanned, while irrelevant artifacts are ignored.
- the invention provides a method to bring into best focus only the objects of interest in a full field of view, while ignoring irrelevant matter, without the need to focus independently on each object of interest.
- One example of a method for automatically focusing on a slide includes the steps of locating a coverslip, acquiring images from predetermined focal depths in the slide, and starting at an initial focal depth proximate the surface of the coverslip.
- a set of predetermined characteristics within each of the images are measured to generate at least one image measurement for each of the plurality of images.
- a focus measure is computed for each of the images, where each focus measure is a function of at least one image measurement.
- a best focus location is determined relative to a focal depth where an acquired image has a highest focus measure.
- FIG. 1 shows a schematic block diagram of an apparatus of the preferred embodiment .
- Figure 2A shows a schematic of a coverslip and slide containing a specimen to be analyzed.
- Figure 2B is a diagram of a single low magnification field of view.
- Figure 3 is a sample image of a low magnification field of view of a Pap smear specimen, as captured by an example of the apparatus of the invention.
- Figure 4 is a high level flow diagram of a process by which the best focus positions on a specimen are determined.
- Figure 5 is a flow diagram of a process by which images from different focal depths are gathered and processed in an example of the preferred embodiment .
- Figures 6A and 6B comprise a flow diagram of the processing of an initial focus scan, which uses a method referred to as a gradient focus score, and determines a starting point for the application of the pattern recognition focusing method.
- Figure 7 is an example plot of a gradient focus score across a set of focal depths, a filtered version of the same, and the computed derivative of the filtered version, where the plots are used to illustrate a method by which peaks are found in the gradient focus score.
- Figure 8 shows paths of pattern recognition focus scans, referred to as cellular focus scans, over the surface of a specimen.
- Figures 9A, 9B, 9C and 9D illustrate some typical morphological operations performed on a captured image.
- Figure 10 shows a cellular focus score data flow diagram.
- Figure 11 is a flow diagram demonstrating processing of results of cellular focus scans.
- Figures 12A, 12B, 12C and 12D illustrate some examples of results of cellular focus scans.
- the preferred embodiment of the invention provides a method and apparatus for recognizing and focusing on cell nuclei in a biomedical specimen, using images captured from multiple focal planes by an automated microscope operating at low power magnification.
- the system disclosed herein is used in a system for analyzing cervical pap smears, such as that shown and disclosed in U.S. Patent Application Serial No. 07/838,064, entitled "Method For Identifying Normal Biomedical Specimens", by Alan C. Nelson, et al . , filed February 18, 1992; U.S. Patent Application Serial No.
- Hayenga, et al . and U.S. Patent Application Serial No. 08/302,355, filed September 7, 1994 entitled “Method and Apparatus for Rapid Capture of Focused Microscopic Images” to Hayenga, et al . , which is a continuation- in-part of Application Serial No. 07/838,063 filed on February 18, 1992 the disclosures of which are incorporated herein, in their entirety, by the foregoing references thereto.
- the present invention is also related to biological and cytological systems as described in the following patent applications which are assigned to the same assignee as the present invention, filed on September 20, 1994 unless otherwise noted, and which are all hereby incorporated by reference including U.S. Patent Application Serial No. 08/309,118, to Kuan et al . entitled, "Field Prioritization Apparatus and Method" U.S. Patent Application Serial No. 08/309,061, to Wilhelm et al . , entitled "Apparatus for Automated Identification of Cell Groupings on a Biological Specimen," U.S. Patent Application Serial No. 08/309,116 to Meyer et al .
- FIG. 1 a schematic block diagram of one example of the apparatus of the invention is shown.
- the apparatus shown comprises a central computer 101, a real time scan controller system 102, which coordinates the motion of the motorized stage 103 of the microscope with the image capture system 104, a stroboscopic illumination system 105, a low-power microscope objective 107, an electronic camera 108 of the CCD type, one or more dedicated image processing systems 109, and a touch sensor 110.
- the stroboscopic illumination system 105 focuses a brief flash of light on the specimen 106.
- the specimen 106 is mounted on a glass slide 201 and protected under a transparent coverslip 202.
- the computer 101 may be advantageously programmed to guide the steps of the focusing procedure as described in detail below.
- the arrows between the various components generally represent the flow of information between the parts of the apparatus.
- Figure 2A schematically shows a more detailed view of a slide 201 on which a typical specimen 106 is mounted, then covered with a transparent coverslip 202.
- a typical slide 201 may be eighty millimeters long by twenty seven millimeters wide by one millimeter thick.
- a typical coverslip 202 may be sixty millimeters long by twenty four millimeters wide by 0.13 millimeters thick. The best focus on the specimen 106 varies from point to point, due both to warpage in the slide-coverslip combination, and to the intrinsically three-dimensional nature of the specimen itself.
- a grid 203 is shown superimposed over the slide 201 in Figure 2B.
- the grid 203 may not be visible in the physical embodiment of the invention, but is used herein for illustrative purposes.
- Grid 203 is not shown to scale.
- the grid 203 illustrates the division of the slide into low magnification fields of view such as 210, shown in more detail in Figure 2B.
- Each of the low magnification fields of view 210 is divided into twenty five high magnification fields of view 211, for example.
- a captured, digitized image of a low magnification field of view contains 512 x 512 pixels, and represents a specimen area of about 1.4 mm x 1.4 mm.
- Figure 3 shows an image of a low magnification field of view of a Pap smear specimen captured by an example of the apparatus of the invention, as illustrated in Figure 1. Note the three-dimensional clumping 301 of the specimen in the image.
- the scanning system may need to focus on the individual cells, 302 for example, rather than on a clump such as 301.
- the preferred embodiment of the invention being described permits a system to focus on the individual cells in each field of view. Finding the Coverslip
- focusing on a specimen begins with the central computer 101 issuing instructions to the scan controller 102 to move the stage 103 to a predefined central location at process step 401.
- the central location is chosen with respect to the approximately known physical location of the specimen 106 in such a way that even a small coverslip, if properly placed over the specimen, must cover a substantial region around the central location.
- the central computer 101 instructs the scan controller 102 to move the stage 103 in the axis perpendicular to the slide 201, so that the specimen 106 approaches the touch sensor 110. This motion continues until either the touch sensor 110 records contact with the coverslip 202 over the specimen 106 at step 403, or the end of travel is reached, step 404. Reaching the end of travel at step 404 indicates that either no slide, or a slide which is too thin for the apparatus, is present, in which case the automatic processing of the slide in question halts at step 405.
- the scan controller 102 reports the stage location at which the touch occurred to the central computer 101, which stores it at step 406.
- This location indicates the stage location of the top of the coverslip at the central point, and is used as a starting point for focusing.
- the location of the touch sensor 110 is calibrated to be a known distance from the focal plane of the objective lens 107 by using targets designed for this purpose. At step 411, this calibration will be used to move the stage 103 to a position such that the focal plane of the objective 107 lies just below the top of the coverslip 202 at the central touch location.
- step 407 four more touches, substantially similar to the first one described above at steps 402 through 404, are performed at separate locations on the slide within a minimum central coverslip area. The location of the coverslip at each of these touches is also recorded.
- step 408 a least squares plane is constructed from the five touch locations, and the tilt of the plane is compared with an allowed maximum. If the tilt exceeds the maximum, or if any of the four touches failed to record a location, processing of the slide is halted at step 405. An excessively tilted coverslip at step 408 usually indicates that the slide is improperly loaded in the apparatus.
- the stage is returned to the center touch location, at such a height that the objective 107 focal plane is just beneath the touched surface of the coverslip 202.
- focusing of the specimen 106 proceeds, with the central computer 101 instructing the scan controller 102 to coordinate the stage 103 motion with the image capture system 104 in order to perform an initial focus scan, starting from the position where the objective 107 focuses an image from just beneath the surface of the coverslip 202 at the central touch location onto the CCD camera 108.
- a focus scan is to acquire and process images from different focal planes in a specimen, in order to find the best focal plane.
- Any focus scan in this example of the preferred embodiment, is performed as follows. Referring jointly to Figures 5 and 1, the central computer 101 passes to the scan controller 102 a list of stage locations at which images are to be collected, at step 501. The stage locations are chosen to cause the - objective 107 to focus at different planes in the specimen 106.
- the scan controller 102 computes the timing of the motion of the stage, and constructs a table, giving successive positions of the stage when images are to be collected, and the time when the stage will be at each location.
- the table entries are computed and passed to the image capture system 104 at step 502.
- the scan controller 102 initiates the motion of the stage 103.
- the motion of the stage is monitored by encoders at step 504 to ensure accuracy. Any incorrect stage locations will be reported to the computer 101, which may reset the stage and restart processing.
- the image capture system 104 signals the stroboscopic illuminator 105 to flash at step 505.
- the illuminator 105 focuses a brief flash of light on the specimen 106 at the specified location at step 506.
- the illuminator system monitors the flashes of the strobe with a light sensor at step 507. Any missing flashes, or flashes of incorrect intensity, will be reported to the computer 101, which may halt processing of the slide.
- the objective 107 focuses an image
- the image capture system 104 collects a digital representation of the image thus acquired from the camera 108.
- the digital representation of the image consists of 512 rows by 512 columns of pixels, each of which is assigned a gray level from zero, representing the darkest level, to 255, representing the brightest. If necessary, the image may be sent in analog form from the camera 108 to the image capture system 104, then passed through an analog to digital converter to create the digital representation.
- the image capture system 104 sends each digital image it acquires to the image processor(s) 109 at step 510.
- the dedicated image processor (s) 109 perform a pre-programmed sequence of morphological, computational, and logical operations on each image sent from the image capture system 104 to derive one or more measures of focus quality. These measures are computed and sent to the computer 101 at step 511. Once the computer 101 receives the measures from every image in the list originally sent to the scan controller 102 at step 501, it processes the list of measures in order to determine the optimum focus location at step 512.
- stage 103 continues to move the specimen 106 in accordance with the instructions from the scan controller 102, from step 503 onward, until the list of images to be collected is exhausted.
- the initial focus scan starts, as noted above, from a position where the objective 107 is focused on an image plane just beneath the surface of the coverslip at the central touch location. It proceeds further beneath the coverslip, collecting one image for each depth of focus of the objective 107, until it is past the depth corresponding to the maximum coverslip optical thickness.
- the maximum coverslip optical thickness may be a predetermined allowable thickness depending upon the particular apparatus employed.
- the initial focus scan is used to identify a starting point, called the seed point, for focusing the system on the specimen. Since it is not important whether or not this starting point is derived from cells in the specimen, or just dust or other matter on the surface of the slide, morphological pattern recognition is not used for the initial focus scan. Instead, a simpler intensity gradient focus quality measure is computed as follows. Refer to Figure 6A, which shows the process flow diagram for the image processor when computing the gradient focus score. To begin with, at step 601, a histogram is computed of the gray levels of the image. This histogram is used to calculate a measure of the illumination brightness, or light level, present in the image. In particular, the light level may be defined as the highest intensity level at which 0.1 % or more of the pixels of the image record a still higher intensity.
- the horizontal and vertical gradients in light intensity are computed at each of the pixels in the digitized image.
- the computation is performed at each pixel by subtracting the intensity value of the pixel immediately below from that of the pixel immediately above.
- the horizontal gradient is computed in an analogous way.
- These gradients are compared to a threshold in order to reduce the effect of image noise on the measure of image sharpness . Gradients below the predetermined threshold value are treated as zero.
- the threshold value may be derived empirically, or from the noise characteristics of the specific imaging apparatus used.
- the image processor divides the field of view into a five by five grid, like the one shown in Figure 2B, at step 603. Subsequent processing computes twenty five separate focus measures, one for each of the twenty five regions in the grid. At step 604, fifty histograms are computed, two for each of the twenty five grid regions in the image. The two histograms are computed on the horizontal and vertical gradient images, respectively.
- the squares of these fifty gradients are summed, and divided by the light level, in order to produce twenty five focus scores for each image in the focus scan.
- the light level is used to normalize the scores in order to reduce their dependence on illumination from quadratic to linear. This is useful because the algorithm may be used on images in a context where the illumination may be, for some reason, obscured.
- the image processing system 109 Once the image processing system 109 has computed the twenty five gradient focus scores for each image in the initial focus scan, it passes these scores, along with the matching focus positions, back to the central computer 101, as described above and shown as step 511 in Figure 5.
- the task of the central computer 101 in step 512 of Figure 5 is to look for peaks in the focus score as a function of focus position in each of the twenty five regions, ignore spurious fluctuations due to noise, and make an initial approximation of the best focal plane. It accomplishes this as shown in Figure 6B.
- the scores for each region are filtered across focus position in order to reduce noise in the focus scores.
- a Gaussian kernel with a half width at half maximum equal to the depth of field of the objective is used.
- the derivative of the focus score with respect to position is computed for each region and position by subtracting the filtered focus score at each position and region from the succeeding position's filtered focus score for the same region.
- peaks in the focus score in all regions are identified by looking for patterns across position of two positive derivatives followed by two negative derivatives, and checking to make sure that the focus score at the peak is above a pre-defined minimum, to avoid finding spurious peaks.
- the precise location of the peak is found by linear interpolation of the gradient to the zero crossing.
- Figure 7 illustrates the process of finding the peaks by plotting an example of the original focus scores 701, the Gaussian-filtered focus scores 702, and the differences of the filtered scores 703, versus focus position.
- the scores plotted in Figure 7 represent the values found from a single region.
- the interpolated zero of the derivative at 704 represents the calculated position of the peak. Note the positive derivatives before the peak, and the negative derivatives after the peak.
- step 623 the sharpness of each peak is measured by dividing the magnitude of the second derivative of the filtered focus scores at the peak by the magnitude of the peak.
- the sharpness provides an indication of how definite a preference for the given focus position the peak indicates.
- step 624 all of the peaks found in all regions are divided into two classes: those which are one minimum coverslip optical thickness or more below the highest peak found, and those which are not. They are divided in order to separate any peaks which may be coming from dust on top of the coverslip from peaks coming from the specimen proper.
- step 625 in each region, the peak with the highest focus score in each class is kept, while any other peaks in the same region and class are ignored. As a result, there are at most twenty five peaks in each class to consider.
- a weighted average of the position of the peaks in each class is taken to represent the best focus position for the full field of view in each class.
- the peak positions are weighted by the relative peak sharpness calculated in step 623 to derive the weighted average. If any peak has a sharpness which is more than a factor of four less than the sharpest peak in the class, it is dropped from the averaging as being too soft a peak at this step. This leaves at most two possible focus positions. Note that it is possible that all the peaks are in the upper class, in which case there is only one focus position at this stage.
- the class which is lower is chosen as representing best focus on the specimen at step 627.
- the scan fails to find a best focus position at step 630. Otherwise, the focus position chosen at step 627 is stored by the computer 101 at step 629. This completes the discussion of the initial focus scan.
- the result of the initial focus scan at step 412 is thus either a starting focus position, or a failure to find a peak.
- the initial focus scan described above is successful. This is because it requires very little material to focus on, and the scan is undertaken in the center of the slide, where there is likely to be some specimen.
- step 413 additional attempts are made to find a seed point for focusing.
- additional attempts are made to find a seed point for focusing.
- a new location is selected at step 415 on a field of view adjacent to the one at which a focus scan was just attempted, and processing returns to attempt another initial scan at step 412.
- the succeeding attempts may occur in a spiral pattern around the original touch point, so as to continue selecting new fields of view while remaining as close as possible to the central touch location. Only if all of the set number of attempts have been unsuccessful at step 414 does processing of the slide cease at step 405.
- FIG. 8 illustrates the path of the cellular focus scans across the surface of the specimen, where the location of the seed point is marked with an "X" .
- the squares 801 indicate the fields of view scanned, while the arrows 802 show the path the stage follows. The purpose of following the path indicated is to come as close as possible to achieving a representative sample from the slide, while minimizing the time taken to scan.
- the stage used takes no more time to move simultaneously in two dimensions than to move in just one, so the diagonal moves illustrated maximize the speed of motion.
- the first scans occur to the right of, and adjacent to, the seed point in Figure 8.
- the zig-zag pattern illustrated in Figure 8 turns around, as for example at 804, each time scanning approaches one of the edges of the coverslip. The entire pattern must come to an end before the far right end of the coverslip in Figure 8. Scanning then resumes at steps 422 and 416, again starting adjacent to the seed point, to the left of the seed point, at the scan marked with a circle in Figure 8.
- the last reversal of scanning 803 drawn in Figure 8 takes five steps, rather than the three steps taken by 804 and every other reversal. This illustrates the fact that, under conditions to be described below, the number of steps in a reversal is increased from three to five in order to speed processing of the specimen.
- the first two cellular focus scans are centered about the focal plane defined by the seed point.
- Cellular focus scans are much more shallow than the gradient scans described above, consisting of the acquisition and processing of only four images, again separated by roughly the depth of focus of the objective lens. This makes the cellular scans much faster.
- Finding the best focus position from a cellular scan is necessarily a simpler operation than from a gradient scan, because there are only four points to work with. More burden is placed on the processing of the image to weed out signal from noise, and in particular, to recognize and focus principally on the nuclei of well-separated cells. Note that cells in clumps often provide less useful information, if their nuclei cannot be clearly distinguished.
- FIG. 9A-9D illustrate four simple binary morphological operations.
- Figure 9A illustrates an erosion with a three by three block
- Figure 9B demonstrates a dilation with the same block
- Figure 9C shows an erosion with a five by five wire frame
- Figure 9D illustrates a dilation with the same wire frame.
- a morphological operation such as an erosion or dilation, involves two entities. The first entity is the image which is operated on, and the second entity is a structuring element with which the operation is performed.
- the structuring element may be pictured as a grid of pixels, whose values are either "on" or "off", and which possesses a unique center pixel.
- the center pixels of the structuring elements in Figures 9A-9D are marked with X's.
- a morphological operation may be envisions as placing the center of the structuring element, in turn, over each pixel in the original image.
- a binary operation operates on images whose pixels are either "on” or “off”. The two simplest operations are binary erosion and dilation. Binary erosion turns “off” all pixels in the image which, when the structuring element is centered on them, have at least one "off” pixel of the image aligned with an "on” pixel of the element. All other pixels in the image are set to “on” . Dilation turns “on” in the image all pixels which, when the structuring element is centered on them, have at least one "on” pixel of the image aligned with an "on” structuring element pixel. All other pixels are set to "off”.
- Grayscale erosion replaces each pixel's value in the image by the minimum of the values of those pixels which correspond to "on" pixels in the element.
- Grayscale dilation replaces each pixel's value with the maximum of the values of those pixels which correspond to "on” pixels in the element. Erosion and dilation are combined to make compound operations. In particular, a dilation followed by an erosion with the same element is referred to as a closing, while an erosion followed by a dilation is an opening.
- FIG 10 is a data flow diagram of the cellular focus score morphological process.
- Each image from each cellular focus scan after being stored in the camera 108 and digitized by the image capture system 104, is processed through this set of operations by the image processor (s) 109. As shown in Figure 10, the process has four main branches.
- a histogram 1011 is taken of the grayscale values of the image 1001, and three grayscale values 1012, called the white, cyto, and dark levels, are computed from the histogram.
- the white value is the same as the light level described in the discussion of the gradient focus score above.
- the cyto level is defined as 95 % of the white value. As the name implies, regions of the image with gray levels below this level probably represent areas with at least some cytoplasm.
- the dark level is defined as $1/15$ of the white value, plus a quantity representing a noise floor. Regions of the image with gray levels below the dark value represent either thick clumps of specimen, or artifacts of other material . Such regions are excluded from consideration in focusing.
- each pixel in the original image 1001 is tested at step 1021 to see if its gray level exceeds the cyto threshold. If it does, the corresponding pixel in a binary image is set to zero; if not, the binary pixel is set to one.
- the binary image thus produced passes through a morphological opening 1022 by a five by five box, followed by an opening 1023 by a 43 by 43 box.
- the opening 1022 by the five by five box is designed to reject regions which are too small to actually represent cells, while the opening 1023 by the 43 by 43 box detects regions which are so large that they must represent groups of cells stuck together, rather than cells with gaps between them.
- the results of the two openings are exclusive-or'd together at step 1024 to generate a cytoplasmic binary image, which is then dilated 1025 by a five-by-five box, to pick up any nuclei which may be on the edges of their cells.
- the third branch of the cellular focus score algorithm checks each pixel of the original image 1001 at step 1031 to find out if it has a gray level greater than the dark level defined above.
- the corresponding pixel of a binary image is set to one; if not, to zero.
- the resulting dark binary image is eroded 1032 by a 43 by 43 box to prevent focusing on the edges of thick clumps of specimen, or on regions laced with artifacts.
- the dark binary image is then and'd 1033 with the cytoplasmic binary image, to produce a binary image representing the allowed regions for nuclei to be recognized.
- the fourth and final branch of the algorithm is designed to detect nuclei. It begins with a grayscale closing 1041 of the original image 1001 by a five by five brick. This closing will usually efface the nuclei of interest from the image.
- the original image 1001 is then subtracted at step 1042 from the result of the closing to produce a texture-enhanced inverted image, in which the nuclei appear as prominent bright spots.
- the result of the closing is divided by eight at step 1043, then tested against the texture-enhanced image at step 1044. If the gray level of the texture-enhanced image exceeds that of this measure of the local light level, the pixel in question is flagged as potentially part of a nucleus at step 1044. This binary image is and'd 1045 with the allowed regions binary image, to generate a binary mask of possible nuclear pixels.
- the binary mask image thus produced at step 1045 has the defect that few restrictions on nuclear size or shape have been placed on it.
- the next steps are designed to rectify this limitation.
- First, an opening 1046 by a two by two box is applied to eliminate solitary pixels or single-width strands of pixels.
- Second, a dilation 1047 of the resulting mask by a seven by seven hollow frame of pixels is inverted 1048, then and'd 1049 with the mask to get rid of those parts of prospective nuclei which will not fit inside the seven by seven frame. This requires that the prospective nuclei be roughly elliptical in shape.
- Third and finally, the resulting binary image is dilated 1050 with a three-by-three box, in order to include the edges of the nuclei in the mask.
- the result of step 1050 is the final mask image, which identifies nuclei meeting all the requirements for focusing.
- the texture-enhanced image produced at step 1042 is eroded 1051 by a three-by-three brick, and the resulting image subtracted 1052 from the texture-enhanced image itself, to produce an enhanced gradient image.
- this enhanced gradient image is then set to zero wherever the final mask image from step 1050 contains a zero, and left unaltered where the final mask image contains a one.
- a histogram 1054 is taken of the gray levels of the resulting image, in order to add up a measure of the quantity of nuclear matter found, and of course, the sharpness of the focus on the nuclei.
- Two measures are computed from the histogram 1054 at step 1055 as follows. First, any level of the enhanced gradient image below 5 % of the white level is ignored as due to non-nuclear material. Then, any pixel above this level is counted toward the sum of the total number of acceptable nuclear pixels, and the nuclear sharpness measure is computed as the mean square enhanced gradient level of those pixels which are above 5 % of the white level. The sum of acceptable nuclear pixels is a measure of the amount of useful specimen found, while the nuclear sharpness measure is divided by the white level to reduce the dependence on light level, then used as the cellular focus score.
- the central computer 101 thus receives four focus scores and four pixel counts from the image processor(s) 109 for each cellular focus scan performed. Referring back to Figure 5, this data transfer occurs as step 511. At step 512, the computer processes these measures. The processing occurs as illustrated in Figure 11.
- the computer determines which focus score is the highest. If the highest focus score is the one furthest from the coverslip at step 1102, the result of the focus scan is an indication that it is necessary to move further from the coverslip to seek a better focus plane at step 1103. If not, the nuclear pixel count of the image with the highest focus score is checked at step 1104 to see if it exceeds 0.1 % of the image. If not, there is apparently not enough to focus on in this field of view, and the computer determines to continue scanning in the same plane at step 1105.
- the result of the focus scan is an indication that it might be necessary to move closer to the coverslip to seek a better focus plane at step 1107.
- Sufficient data is required before moving toward the coverslip in order to prevent moving to attempted focus on material on the coverslip over very sparse slides.
- the differences in focus scores can be linearly interpolated to locate the peak at step 1108.
- the interpolation is made to the zero crossing in the derivative, analogous to the interpolated zero crossing shown as 704 in Figure 7. This indicates a successful finding of best focus, and its location is recorded at step 1109.
- the indication for further focusing is to center about the best focus plane recorded in step 1109.
- the first two cellular focus scans in step 416 are centered about the plane defined by the seed point.
- the result of the first of these scans is processed by the computer 101. After deriving the result, the computer 101 requests the next cellular scan at step 418.
- step 419 the computer tests the position of the focus scan just requested to see if it is at the far right or left end of the coverslip, in accord with the scanning pattern shown in Figure 8. If it is not, the computer returns to step 417 to compute the result of the scan just completed, then request a new scan again at step 418.
- the focal height of each cellular scan is based on the result of the scan two before it. This allows the scan controller 102, image capture system 104, image processor(s) 109, and computer 101 to continuously process focus scans in parallel as fast as the stage can move, with no lag time spent waiting for the results of a computation.
- an end of the coverslip is reached at step 419, there are two focus scan results still to be processed at step 420.
- step 421 the computer checks to see if focus scanning has already proceeded in both directions from the seed point as shown in Figure 8. If it has, the cellular focus scanning of the specimen is complete at step 423. If not, the machine returns to the seed point at step 422, then begins scanning in the opposite direction back at step 416. The first two focus scans in both directions are centered about the plane of the seed point.
- Figures 12A-12D illustrate some examples of the way cellular focus scan depths are placed to track the results of the scan two before, in accord with the description given above of process steps 416-419 from Figure 4.
- Each of Figures 12A-12D begins with two cellular focus scans centered about the same plane.
- the result of the first scan of Figure 12A is that the image closest to the coverslip received the highest focus score, and that it received a high enough nuclear pixel count to indicate that a move toward the coverslip was warranted.
- the result of the second scan symbolized by the unshaded box 1212, is that once again, the image closest to the coverslip received the highest focus score, but that it did not contain enough data to warrant a move toward the coverslip.
- the third focus scan, in accordance with the result of the first one is centered one focus step higher than the first one.
- the fourth scan, in accord with the result of the second one is centered about the same plane as the second one.
- Figure 12B begins with two successful focus scans, with the interpolated position of best focus indicated by the shaded circles 1221, 1222. As discussed above, the third scan is centered about the interpolated best focus from the first one, and the fourth scan, about the best focus from the second scan.
- Figure 12C demonstrates that, whether a nuclear pixel count surpassing the threshold is present or not, if the highest focus score occurs furthest from the coverslip, the second focus scan following will be centered one focus step lower.
- the shaded box 1231 symbolizes that the image furthest from the coverslip received the highest score, with sufficient data, from the first pan.
- the unshaded box 1232 symbolizes that the image furthest from the coverslip received the highest focus score, but without sufficient nuclear pixels, from the second pan.
- the third and fourth scans are both shifted one focus step from the coverslip, even though the result of the second scan, as symbolized by the unshaded box 1232, did not contain enough data to surpass the threshold.
- Figure 12D begins with two unsuccessful scans, where the highest focus score occurred in one of the two central images of the scan, but, as symbolized by the unshaded boxes 1241, 1242, there was insufficient data present to surpass the threshold. As discussed above, the next two scans are therefore centered about the same plane as the first two.
- a minimum number of successful cellular focus scans is needed to accurately focus on a specimen.
- the minimum number is 24 scans. If this number is not reached after all scans as shown in Figure 8 are completed, the specimen must be rejected for automatic processing. Pap smears rejected for this reason are usually unsatisfactory because of insufficient squamous cellularity.
- the minimum number of successful scans is reached early in processing, and many successful scans continue to occur, it is desirable to accelerate processing of the slide in question, because it will be accurately focused even if fewer scans are performed.
- the next reversal of motion of the slide takes five steps, rather than three.
- An example is shown of the five step reversal 803 between the last two traverses at the left side of Figure 8. This speeds focus processing of the slide.
- z C 0 + C x x + C 2 y + C 3 x 2 + C 4 xy + C 5 y 2 + C 6 x 3 + C 7 x 2 y + C 8 xy 2 + C 9 y 3
- z is the height of best focus on the specimen
- x and y are the coordinates of the specimen parallel to the slide
- C_0, ..., C_9 are ten parameters to be adjusted. These parameters may be adjusted to minimize, for example, the mean square error from the surface determined by Equation 1, and the successful focus points.
- the minimized mean square error if corrected to remove the ten degrees of freedom taken up by the free parameters of Equation 1, may then be used as a measure of how accurately the specimen can be focused based on the model .
- a specimen with an unacceptably large mean square error may be rejected.
- the successful focus scan data may also be used, along with the height of the coverslip given by the touch sensor, to estimate the optical thickness of the coverslip over the specimen. If the coverslip optical thickness is too large or too small, it will produce an unacceptably large spherical aberration when the " specimen is viewed through a high resolution objective lens, and the specimen may be unsuitable for high power microscopic examination.
- the invention has been described herein in considerable detail in order to comply with the Patent
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU32171/95A AU709136B2 (en) | 1994-09-20 | 1995-08-08 | Automatic focusing of biomedical specimens apparatus |
EP95928372A EP0784805A2 (en) | 1994-09-20 | 1995-08-08 | Automatic focusing of biomedical specimens apparatus |
JP8511734A JPH10506206A (en) | 1994-09-20 | 1995-08-08 | Automatic focusing device for medical and biological specimens |
CA002200463A CA2200463C (en) | 1994-09-20 | 1995-08-08 | Method and apparatus for automatic focusing of biomedical specimens |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/309,405 US5647025A (en) | 1994-09-20 | 1994-09-20 | Automatic focusing of biomedical specimens apparatus |
US08/309,405 | 1994-09-20 |
Publications (2)
Publication Number | Publication Date |
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WO1996010196A2 true WO1996010196A2 (en) | 1996-04-04 |
WO1996010196A3 WO1996010196A3 (en) | 1996-07-04 |
Family
ID=23198101
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1995/010133 WO1996010196A2 (en) | 1994-09-20 | 1995-08-08 | Method and apparatus for automatic focusing of biomedical specimens |
Country Status (6)
Country | Link |
---|---|
US (1) | US5647025A (en) |
EP (1) | EP0784805A2 (en) |
JP (1) | JPH10506206A (en) |
AU (1) | AU709136B2 (en) |
CA (1) | CA2200463C (en) |
WO (1) | WO1996010196A2 (en) |
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Also Published As
Publication number | Publication date |
---|---|
WO1996010196A3 (en) | 1996-07-04 |
CA2200463C (en) | 2002-04-16 |
EP0784805A2 (en) | 1997-07-23 |
CA2200463A1 (en) | 1996-04-04 |
AU3217195A (en) | 1996-04-19 |
JPH10506206A (en) | 1998-06-16 |
US5647025A (en) | 1997-07-08 |
AU709136B2 (en) | 1999-08-19 |
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