视觉控制技术在细胞注射装置中的应用

Vision Control Technology Application on Cell Injection Device

提出了基于数字图像处理技术的细胞注射视觉控制系统,采用人工交互控制和计算机自动定位相结合的闭环视觉控制方法。通过CCD数字图像采集系统识别出细胞和注射针尖的位置信息;由控制模块程序计算出细胞与注射针尖的相对位置,并进行细胞和针尖之间相对距离的动态自动定位和反馈控制,直至针尖刺入细胞核内。结果表明:系统控制自动定位精度达到像素级,提高了细胞注射精度,解决了目前在细胞注射过程中人工操作工作量大、定位不准确以及效率低等问题。

This paper Puts forward a vision control system which applies to cell injection, basesd on numeric image processing technology, it adopts closed-loop vision control method based on artificial mutual control and computer automation orientation. The numeric image collection system directly recognizes the position of the cell and needle point, and the control module program calculates the displace between the cell and the needle point, It also dynamically orients the displace, and feeds back control until the needlepoint pierces into the cell. Results testified the control system achievement pixel level precision, improved the precision of injection cell, and resolved the problems of the big load and the inaccurate orientation in the artificial handle at present.