Micro-vision servo-control micromanipulation robot system

Abstract

The invention relates to a micro-vision servo-control micromanipulation robot system which comprises a left and a right operation tools respectively mounted on a left and a right micromanipulators; the left and the right micromanipulators are controlled by a left and a right servo controller, and are connected with a computer so as to form a micromanipulation robot; a camera is mounted on a microscope, is connected with the computer through an image processing card, and inputs operation site image information to the computer; the computer calculates relative position relation between the left and the right operation tools and an operation object according to the inputted image information, resolves control instructions of the left and the right micromanipulators, and performs motion planning and real-time control of the left and the right micromanipulators through the servo controller respectively. The characteristic of the invention is that the automation and intelligentization of microscopic operation are realized in biomedical engineering. The system has the characteristics of automatic obstacle avoidance, high positioning precision, large work space, high operation efficiency, friendly man-machine interface, and the like.

Description

technical field [0001] The invention belongs to the field of special robots, and in particular relates to a micro-operation robot system controlled by microscopic vision servo. Background technique [0002] In the field of biomedical engineering, there are a large number of micromanipulations involving cells and chromosomes, such as cell separation, picking, fusion, microinjection, and chromosome cutting. For this type of micro-manipulation, not only accurate positioning, high operating precision, and good consistency are required, but also short operating time and high efficiency are required. At present, micro-manipulation is done manually through a micromanipulator. Among the many micromanipulators, the more representative and advanced micromanipulators include the 11T-88 micromanipulator of the Japanese 11iko11 company, the 5171 micromanipulator of the German Eppe11dorf company, etc. This micromanipulator Most of them include the following parts: vibration isolation tab...

AI Technical Summary

Problems solved by technology

That is to say, since the cells are not fixed in the culture medium, the position of the cells provided by the microscopic vision part is not real-time, and the position of the cells to be operated by the micromanipulator may be inconsistent with the cell position provided by the microscopic vision; micromanipulation The robot has no automatic obstacle avoidance function, and the left and right micro-manipulation tools are easy to collide and break; the left and right micro-manipulators use traditional motor-driven screw and guide rails, and the accuracy is difficult to guarantee

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