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

Author

Zhao, W. ; Zhang, W.J. ; Gupta, M.M. ; Zong, G.H. ; Ouyang, P.R.

Author_Institution

Dept. of Mech. Eng., Saskatchewan Univ., Saskatoon, Sask., Canada

Volume

1

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

429

Abstract

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.

Keywords

biocontrol; biotechnology; computer vision; micromanipulators; servomechanisms; automatic biomicromanipulation; automatic transgenic operation; biological cell manipulation; biotechnology; image Jacobian algorithm; microcircle trajectory tracking; microvisual servo system; recognition algorithm; visual servocontrol; Biological cells; Biotechnology; Cells (biology); DNA; Glass; Image processing; Jacobian matrices; Optical microscopy; Servomechanisms; Servosystems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1234860

Filename

1234860