Automatic vision-guided robotic cell micromanipulation system
In life science research and applications such as cell mechanobiology, cell micromanipulation is skill-intensive, involving cell immobilization, micropipette positioning, cell biomembrane deformation and penetration, etc. The imprecise and inconsistent positioning in manual cell micromanipulation an...
Saved in:
| 主要作者: | |
|---|---|
| 其他作者: | |
| 格式: | Theses and Dissertations |
| 語言: | English |
| 出版: |
2010
|
| 主題: | |
| 在線閱讀: | https://hdl.handle.net/10356/41538 |
| 標簽: |
添加標簽
沒有標簽, 成為第一個標記此記錄!
|
| 機構: | Nanyang Technological University |
| 語言: | English |
| 總結: | In life science research and applications such as cell mechanobiology, cell micromanipulation is skill-intensive, involving cell immobilization, micropipette positioning, cell biomembrane deformation and penetration, etc. The imprecise and inconsistent positioning in manual cell micromanipulation and biomembrane stress control demands a vision-guided robotic system to achieve high-accuracy static position control and dynamic motion tracking. This dissertation emphasizes the various techniques in realizing the aforementioned system.
Calibration of a vision system is necessary to ensure accurate coordinate systems transformation. Automatic self-calibration without the aid of calibration templates is proposed to achieve on-line calibration for real-time applications. The difference between the measured output and computed output after calibration is less than the physical resolution of the vision system. |
|---|