【摘要】 介绍了一种在生物医学工程领域用于完成显微操作的微驱动机器人系统 ,包括其物理结构和逻辑结构。该系统采用基于梯度方差方法恢复显微图像深度信息的显微视觉伺服控制策略以提高该机器人操作精度。目前 ,该机器人系统已成功地完成了人类血液红细胞的分离实验。更多还原

【Abstract】 A new type of micro manipulation robot system applied in bio medical engineering to complete micro cutting or gene injection is presented. A reasonable architecture of this robot with 9 DOF is also presented. Micro vision servo control system can improve its operating precision. A two step vision control method based on variance of gradient is used to recover depth information of micro images. Two human blood cells have been successfully separated by this robot system.更多还原