DEVELOPMENT OF MICRO VISION FOR MICROMANIPULATION

This paper studies the design method of micro vision for the bioengineering field, and presents some approaches to determine the plane coordinates of the micro object and the pose of the micromanipulator end effector by the image and its characteristics. A monocular vision scheme is put forward, which determines the position of the micro object by moving the microstat to a known distance and determines the position of the micromanipulator end effector in the camera coordinate system by moving it in a three dimension space. Then the relatively position between the end effector and the micro object is determined. A two step method is used to calibrate the micro vision system. The results show that those methods are feasible to micro vision and micro calibration.