In this paper, we developed a visual ,feedback system that controls a micromanipulator so that a needle head may reach a target. The system consists of a stereoscopic microscope, a micromanipulator, two CCD cameras find a personal computer. The position of the target and the needle head under stereoscopic microscope are inearwed three dimensionally by using two CCD cameras which are set to eyepieces of the microscope. It is necessary the iinage processing employed be fast so that the micrornanipulztion can be carried out at a realistic rate. The image proce,rsing time@ detecting the target and the needle head is greatly reduced by using image compression.
A Stereoscopic microscope is widely used in a micre between the object and the needle is derived. The mimanipulation such as to operate genes and to inspect integration circuits. As in these tasks the micromanipulation is handled and makes too heavy burden to operators, it is desirable to perform cromanipulator is controlled to make this error signal to zero. The objects are colored bea.ds with 2mm diameter instead of the cells. The needle 0.6" in diameter 20" the nlicrornanipulation automatically. In this paper, we propose a. . ~. visual feedback system for micromanipulation with stereoscopic microscope. This system takes less time to control the manipulator by reducing searching area to detect an object. in length is attached to the micromanipulator. The detection of the corresponding point in the left and right images, measuring of the focal distance of the camera and the distance between the cameras become necessary in the stereo-vision method.
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