The Research And Design On Teleoperation Microscopic Control System For Cell Injection

With the development of bio-technology and automation technology, the automatic microscopic injection technology in cell operation has been widely used. Micro-manipulation robot system can make micro-manipulation more simply, more automation, more efficiency and more rate of success. This paper focused on the research and design of several important technologies in the processing of injection, and built the entire software system and hardware system. Meanwhile, completed teleoperation microscopic control system design preliminarily, and simulated the delay of teleoperation Network Control System with Matlab toolbox Truetime. Discuss the structural design and the basic function and implementation methods. The system’s software platform is VC++6.0, completed the design of human-machine interface, serial communication, realization of focus function, capturing images, preprocessing images, identification and tracking and locating with OpenCV.The part of auto-focus of micro-system realized the real-time acquisition target images mainly through focusing functions written by VC++6.0, calculating the value of clarity evaluation with OpenCV, and achieved closed-loop control with the motion control algorithm, until attain the most clarity image. Then begin to capture images, preprocessing target images, identification and locating 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 mainly studied the self-calibration method based on active visual. In the processing of calibration, the camera movement as known information, which overcomes the difficulties caused by traditional calibration approachs. The relationship of pixel coordinate system and the world coordinate system can be built through active visual self-calibration establish, and the needed space geometry information can be achieved from planar images.