A micro visual servo system for biological cell manipulation: overview and new developments

Visual servo control is needed for realizing automatic bio-micromanipulation and increasing the accuracy of micromanipulator. A dual-hand micromanipulation system with micro-visual-servo was developed for automating cell manipulation in biotechnology. This paper presents a complete solution for micro-visual-servo of the system, involving micro-visual-servo architecture, control law, modeling of image Jacobian and recognition algorithms of micro objects. The experimental results of micro-circle trajectory tracking and automatic transgenic operation verify the effectiveness of the micro-visual-servo solution.

[1]  Wei Zhao,et al.  The constant-Jacobian method for kinematics of a three-DOF planar micro-motion stage , 2002, J. Field Robotics.

[2]  Fumihito Arai,et al.  Three-dimensional bio-micromanipulation under the microscope , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[3]  Tatsuo Arai,et al.  Development of vision system for two-fingered micro manipulation , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[4]  Fumihito Arai,et al.  Calibration for contact type of micro-manipulation , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[5]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[6]  F. Arai,et al.  3D attitude control system for bio-micromanipulation , 2001, MHS2001. Proceedings of 2001 International Symposium on Micromechatronics and Human Science (Cat. No.01TH8583).

[7]  Bradley J. Nelson,et al.  Microrobotic cell injection , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).