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在分析显微物镜成像原理的基础上,提出并实现了一种微操作机器人系统光轴方向深度测量方法,该方法通过显微物镜离焦光学传递函数(optical transfer function,OTF)建立物方离焦程度与显微图像模糊程度的关系,由此实现深度测量.由于考虑了透镜参数与衍射效应的影响,方法具有较高的测量精度和较好的线性度,同时利用条状物体快速辨识算法,对原始方法进行了简化,使深度测量可在线完成.进一步,将上述方法应用于实际微操作机器人系统,通过离焦状态双针互插实验验证了方法的有效性,同时拓展了微操作机器人系统的有效操作空间.
Based on the analysis of the principle of microscopic objective imaging, a method for measuring the depth of optical axis of micromanipulator system is proposed and implemented. The objective lens depth is measured by optical transfer function (OTF) The degree of focus and the degree of microscopic image blur, thus achieving the depth measurement.Because of the influence of the lens parameters and the diffraction effect, the method has higher measurement accuracy and better linearity, and at the same time, using the strip object rapid identification algorithm , The original method is simplified and the depth measurement can be completed online.Furthermore, the above method is applied to the actual micromanipulator system, and the validity of the method is verified through the double-needle interlacing experiment of defocus state, meanwhile the micromanipulator System of effective operating space.