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介绍了一种在生物医学工程领域用于完成显微操作的微驱动机器人系统 ,包括其物理结构和逻辑结构。该系统采用基于梯度方差方法恢复显微图像深度信息的显微视觉伺服控制策略以提高该机器人操作精度。目前 ,该机器人系统已成功地完成了人类血液红细胞的分离实验。
A micro-drive robot system for performing micromanipulation in biomedical engineering is introduced, including its physical structure and logical structure. The system adopts microscopic visual servo control strategy based on gradient variance method to recover the depth information of microscopic images to improve the robot’s operation accuracy. At present, the robot system has successfully completed the human blood erythrocyte separation experiment.