System for imaging and orienting seeds and method of use

Abstract

A system and method for the automated or semi-automated imagining and orienting of seeds to prepare the seeds for transformation and transgenic engineering.

1 . A method for imaging a seed, the method comprising:
 using a robotic arm to position a seed for imaging,   capturing a plurality of images of the seed,   identifying a location of the embryo of the seed based on the plurality of captured images,   identifying an edge of the hilum nearest the identified location based on the plurality of captured images,   identifying a point between the edge of the hilum and the outer edge of the seed at which to trim an embryonic axis of the seed, and   moving the seed with the robotic arm to orient the seed in a position based identified point at which to trim the embryonic axis of the seed.   
     
     
         2 . The method of  claim 1 , wherein identifying the location of the embryo of the seed includes analyzing the captured images to locate the embryonic axis of the seed. 
     
     
         3 . The method of  claim 2 , wherein identifying the point between the edge of the hilum and the outer edge of the seed at which to trim the embryonic axis of the seed includes identifying the edge of the hilum nearest the embryonic axis. 
     
     
         4 . The method of  claim 3 , wherein identifying the point between the edge of the hilum and the outer edge of the seed at which to trim the embryonic axis of the seed includes identifying the outer edge of the seed on the same side of the seed as the embryonic axis. 
     
     
         5 . The method of  claim 1 , wherein using the robotic arm to position the seed for imaging includes engaging the seed with a grip of the robotic arm. 
     
     
         6 . The method of  claim 5 , further comprising calculating a distance between the identified point at which to trim the embryonic axis of the seed and a center point of the grip. 
     
     
         7 . The method of  claim 5 , wherein engaging the seed with the grip of the robotic arm includes attaching the seed to the grip via a suction force. 
     
     
         8 . A method for imaging a seed, the method comprising:
 using a robotic arm to position a hydrated seed for imaging,   capturing a plurality of images of the hydrated seed,   determining an orientation of the hydrated seed and a location of the hilum of the hydrated seed based on the plurality of captured images, and   moving the hydrated seed with a robotic arm to orient the hydrated seed in a position for cutting the seed based on the determined orientation of the hydrated seed and the location of the hilum.   
     
     
         9 . The method of  claim 8 , further comprising analyzing the captured images to locate an embryonic axis of the seed. 
     
     
         10 . The method of  claim 9 , wherein determining the orientation of the hydrated seed and the location of the hilum of the hydrated seed includes identifying an edge of the hilum nearest the embryonic axis. 
     
     
         11 . The method of  claim 10 , wherein determining the orientation of the hydrated seed and the location of the hilum of the hydrated seed includes identifying the outer edge of the seed on the same side of the seed as the embryonic axis. 
     
     
         12 . The method of  claim 9 , wherein using the robotic arm to position the hydrated seed for imaging includes engaging the seed with a grip of the robotic arm. 
     
     
         13 . The method of  claim 12 , wherein engaging the seed with the grip of the robotic arm includes attaching the seed to the grip via a suction force.