【摘要】 对自动细胞操作的实现进行了研究。针对建立的基于显微视觉伺服的微操作机器人特点 ,设计了细胞转基因操作任务的过程规划。为实现细胞操作的在线实时路径规划 ,提出了子目标引导法 ,详细介绍了考虑细胞游动、操作器扰动以及操作障碍等因素的路径规划方法的实现。最后进行了实际转基因细胞操作实验更多还原

【Abstract】 The realization of automatic cell manipulation was studied. The process planning for the task of transgenosis manipulation is designed aiming at characteristics of the micro visual servo based micromanipulator. Then the sub goal guiding method is proposed to implement the online real time path planning of cell manipulation in liquid environment. The implementation of the method is detailedly presented considering such factors as creepage of cell, disturbance of manipulation tool, obstacle etc. The methods are applied to the practical transgene experiment. It is verified that the presented methods are effective for reliably achieving the task of semiautonomous transgene manipulation based on human machine interaction.更多还原