3D calibration of bio-micromanipulator with local illumination

In the bio-technology field, it is very difficult to manipulate micro material by human handling. There is a great need of a new experimental system which is easy to operate. In the paper, a 3-dimensional calibration technique which improves positional errors of a glass pipette tip furnished on a micromanipulator is shown. Then we propose a way of observation of the manipulator tip to sub-micron order accuracy using using a lighting method with an optical fiber. We take account of microscopic optical system influence on the positional error of the Z axis.