| In the micromanipulation robot system, micro-image is regarded as the only source of obtaining information because it is difficult to install sensors in the micromanipulator. Therefore the study of micro-vision system has become an important topic of the micromanipulation robot system. In order to improve the level of precision and automatization of the cell micro-injection robot system based on the digitalization of microfluids technology, micro-vision system is discussed, designed and realized. The following topics are mainly discussed in this paper.On the basis of analyzing the function and requirement of the cell micro-injection robot system, the software and hardware of the micro-vision system are selected and presented. A cell micro-injection robot system based on the digitalization of microfluids technology is built.Programmes of the micro-vision system are designed and developed. First the image capture is realized using API function for secondly development. Second the automatic positioning of the micro-displacement drive system is realized using communication protocol. The experimental results show the system accuracy is 1.5 micron, and position error is in the 1 -2 pixel.Based on the characteristics of the micro-image, some processings are done, including median arithmetic, histogram equalization arithmetic, two-value arithmetic, Canny edge arithmetic. The experimental results indicate that the yawp is sieved, also the cell, the holding needles and the micropipette are recognized well.Micro-vision system is achieved. It consists of searching the micromanipulator automatically, gaining the centroid pixel coordinate of the cell, detecting the point of micropipette, detecting and tracking the moving micropipette. Lastly, experiments are carried out with micro-vision system. Also, the error is analyzed. The experimental results indicate that with micro-vision system it can automatically complete the piercing, injecting and withdrawing manipulation of cell micro-injection. |
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