Stereoscopic visual servo system for microinjection

In this paper, we describe a visual feedback system using a stereoscopic microscope that controls a micromanipulator so that a needle head may pierce a target with as much length as desired. At first, we developed an image processing algorithm for the tip of the needle head to touch the target. Secondarily, we developed an algorithm for prediction of the tip position of the needle head within the target. By performing a preoperation, the shape of the needle head is preserved as a reference pattern. When the needle head is piercing the target, the shape of the needle head within the target is predicted by pattern matching. Thus, we developed a microinjection system that axially pierces the target. Experimental results show that the proposed system may be useful in micromanipulation such as microinjection to brain areas in neuroanatomy.