The Study Of Several Key Technologies Of Micro-robot System For Cell Operation

In scientific research and experiments, micro-manipulation robot system can make micro-manipulation more simply, more automation, more efficiency and more success rate. In this paper, cell injection with the actual situation, I focus on solving several important technologies in the processing of injection, and build the entire software system and hardware system, discuss the designation and the basic function of injection robot,and define the functional module and implementation methods. The system's software platform is VC++ 6.0, it contains the design of human-machine interface, serial communication, realization of focus function, capturing image, preprocessing image, identification and tracking and locating with OpenCV.On the basis of this, the paper's main work is divided into two parts:First is auto-focus of micro-system. In this part, I achieve the purpose of capturing the real-time image, calculating the value of clarity evaluation with OpenCV, and achieve closed-loop control with the new method invented in this paper, until attain the most clarity image.Second, visual system leads the robot end condition to achieve the cell injection.After attaining the focus, I lock the pixels, and begin to capture images, preprocess target image, identify and locat searching target, and calculate the real-time distance between the core of the cell and the tip of the needle, until the entire cell injection is over. This paper has finished beforehand the task of the final cell injecting.