Computer-controlled and robotized micromanipulation system for bioengineering

A computer-controlled and robotized bio-micromanipulation system was developed. Robotic technology was made use of to build the system with high accuracy and autonomous ability, in line with the consideration that the biological micromanipulation processes its own characteristics. As control strategies at respective level in control scheme, visual servo and online real-time path planning are also the effective means to realize automation of micromanipulation. A dynamic look-and-move approach based on image feature was applied to visual servo in the light of the specific system structure. A Sub-goal Guiding method suited to the operation conditions of cell micromanipulation was proposed to execute online real-time path planning. Experiment results have showed the effectivity of the methods and the practicability of the micromanipulation system.