通过显微图像特征抽取获得微操作目标纵向信息

工作于生物显微镜下的微操作机器人系统，是完成对生物细胞显微操作的专用操作系 统．由于各种原因，常规的反馈定位控制难以实现．系统中惟一可以利用的信息是由CCD摄 像机获得的显微平面图像，目标的纵向信息难以获得．本文提出了一种基于系列显微图像频 率特性比较的分析方法，完成对微操作系统中各目标体的纵向位置信息的获取，为本系统的 标定工作和位置控制的实现奠定了基础．

OBTAINING Z-DIRECTIONAL INFORMATION FROM CHARACTERISTICS OF MICRO-IMAGE

The micro-operation robot that works under biological microscope is used for operation of biological cells. Normal position feedback control methods can not be realized in the system because of some reasons. The micro-images accepted by vidicon are the feedback informations for motion that only can be used in the system, and Z-directional informations can not be obtained from the plan images. A method based on the analyzing of frequency characteristics of series micro-images is discussed in this paper, we can get Z-directional informations of the end of micro-tools and operated objects with the method, the calibration and position control can also be implemented with it.