基于离焦状态模糊显微图像反馈的微操作方法

A micro-manipulation method based on defocusing microscopic image

提出了一种基于离焦状态模糊显微图像反馈的微操作方法，此方法关键在于提取离焦状态显微图像的三维位置信息.给出了基于系统辨识的显微图像深度信息提取方法和扫描线算法，分别用于提取离焦状态显微图像的深度信息和平面位置信息,上述方法在精度和效率两方面均达到在线应用水平。进一步，将上述方法应用于微操作机器人系统,成功完成了离焦状态双针互插实验.这样,微操作在聚焦状态和离焦状态下均可进行,也就将微操作机器人的工作空间在Z方向（光轴方向）进行了拓展,实验条件下,从聚焦区内约2μm范围扩展到聚焦带上下70μm。

A micro manipulation method based on defocusing microscopic image is put forward in this paper. The key of the method is to extract 3D position information of the object from defocusing microscopic image. The method of extracting depth information based on system identification and the scan line algorithm are provided in the paper, which are utilized to extract depth information and plane information from the defocusing image separately, and the results show that the methods have reached on-line application level. Furthermore, the methods above are applied to the micromanipulator system, and an experiment to insert a needle into another in defocus status is fulfilled. Thus, micro manipulation can be done in both focus and defocus status. The performance of the proposed methods has extended the operation range of the micro manipulator from the usual ± 2μm to ±70μm in Z coordinates.