Title :
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
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;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1234860
