| Modern biomedical engineering researchs , such as research on clone, gene-transferring , are usually on cell micro-cutting and cell micro-injecting . Recently, most of micro-manipulation are carried out by vision, and successful rate and work efficiency are affected by operator's work state , proficiency. Usually cell might be pricked because of overexerting, which lead to resource ,time and energy waste. Our aim is to create a system which has credible ,simple and convenient manipulation performance,it's result in greatly advanced on successful rate and work efficiency . Our work as followed:1. A summarization about bio-manipulation system based on microvision and microforce control is put forward in this disquisition.2. The characteristic of bio-manipulation is mentioned,and subassemblies are detailedly introduced.3. A new method called error matrix method is put in. Error matrix is calculated by the upbuilding of imaging model of system and is used to calibrate the system. We tested the calibration result.4.Using focus- defocus method to get the information of depth. Object identified by image mange technology, then, the changes of hue value is calculated by function F, finally the depth of object is gained by three step method.5. The microvision serving eqution is built according the specialty of micro-manipulation.6.We use a PVDF membrane as a microforce sensor, which is combined with a masterly configuration. It make microforce measure come true.7. It shows that our system is feasible and predominant in cell injecting experiment.The disquisition provides reference theory and practice experience for research of micro-manipulation system ,it's especially important in bio-manipulation technique. |
