摘要
本文讨论了一台面向生物工程应用的微操作机器人系统的结构、功能和关键技术．首先，给出了它的硬件体系结构和逻辑结构，它由传感系统，控制系统和操作系统组成．其中传感系统由显微镜和ＣＣＤ摄象系统组成．其次，对微操作机器人系统的关键技术进行详细讨论．显微视觉是最主要的一项技术，基于此技术完成了两项功能，即微针的纵向定位和自动寻针．最后，给出了微操作机器人在生物ＰＣＲ反应实验中的一个成功的应用实例，证明了上述系统的有效性．
Biomedical engineering experiments oriented micro operation robot system (BEOMORS) is a powerful tool for cell or sub cell operations. A BEOMORS has been developed in IRIAS, Nankai University; its architecture, key techniques involved and application are discussed in this paper. BEOMORS consists of sensor system, control system and operation system. microscope is main sensor device and microscope with CCD camera system form a micro vision system and micro vision feedback technique is key technique in BEOMORS. Two functions have been implemented with micro vision feedback technique; they are positioning on zoom direction and automatically finding micro tool. A PCR experiment has been done successfully in ICBC, CAAS with BEOMORS. The practical application in biological experiment proves its usability and shows its specialty
出处
《南开大学学报（自然科学版）》
CAS
CSCD
北大核心
1999年第3期42-46,共5页
Acta Scientiarum Naturalium Universitatis Nankaiensis
基金
863 计划
