【摘要】 针对视网膜类器官组织结构微小、培养周期长、存活率低的问题，研发一种用于观测视网膜类器官组织的高分辨率光学显微镜系统。提出基于大数值孔径的光学成像方案，运用虚拟样机技术构建显微镜三维机械结构，通过有限元仿真技术改进系统模态，优化力学性能。开发一种自适应有限时间运动和时延估计技术相结合的鲁棒运动控制算法，以抑制机械传动中的复杂非线性摩擦效应对运动精度的影响，实现显微镜的精密运动控制。通过硬件在环实验验证了所提控制器的有效性。搭建高分辨率光学显微镜系统，完成视网膜类器官组织的显微成像研究。更多还原

【Abstract】 To address the issues of small size, long cultivation cycle, and low viability of retinal organ tissues, this paper develops a high-resolution optical microscope system for observing retinal organ tissues. An optical imaging scheme based on a large numerical aperture is proposed, the three-dimensional mechanical structure of the microscope is constructed using virtual prototyping technology, the system’s mode is improved through finite element simulation, and mechanical performance is optimized. An adaptive finiteimproves-time motion and delay estimation algorithm is developed to suppress the influence of complex nonlinear friction effects in mechanical transmission on motion accuracy, and achievie precise motion control of the microscope. The effectiveness of the proposed controller is verified through hardware-in-the-loop experiments. A high-resolution optical microscope system is established, themicroscopic imaging study of retinal organ tissues being completed.更多还原