视觉导引的生物细胞自动操作运动规划的研究  

Studies on Motion Planning of Visually Guided Bio-cell Automatic Manipulation

作　　者：赵玮[1] 宗光华[1] 李旭东 毕树生[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《高技术通讯》2001年第8期93-97,共5页Chinese High Technology Letters

基　　金：863计划 (863 5 12 97 0 4 2 7);国家自然科学基金 (5 9775 0 47)资助项目

摘　　要：对自动细胞操作的实现进行了研究。针对建立的基于显微视觉伺服的微操作机器人特点 ,设计了细胞转基因操作任务的过程规划。为实现细胞操作的在线实时路径规划 ,提出了子目标引导法 ,详细介绍了考虑细胞游动、操作器扰动以及操作障碍等因素的路径规划方法的实现。The realization of automatic cell manipulation was studied. The process planning for the task of transgenosis manipulation is designed aiming at characteristics of the micro visual servo based micromanipulator. Then the sub goal guiding method is proposed to implement the online real time path planning of cell manipulation in liquid environment. The implementation of the method is detailedly presented considering such factors as creepage of cell, disturbance of manipulation tool, obstacle etc. The methods are applied to the practical transgene experiment. It is verified that the presented methods are effective for reliably achieving the task of semiautonomous transgene manipulation based on human machine interaction.

关 键 词：微操作机器人 运动规划 生物工程 细胞转基因操作 细胞游动 视觉导引 

分 类 号：Q-336[生物学]