MBE2000-42 実体顕微鏡下における視覚フィードバックシステムの開発  [in Japanese] Visual Feedback System under a Stereoscopic Microscope  [in Japanese]

本研究では対象物に対して薬剤を注入する作業の自動化を目的として, 対象物中の針先端位置を検出する画像処理アルゴリズムを開発し, 実体顕微鏡下の視覚フィードバックシステムを開発した.本アルゴリズムでは, 対象物を突き刺す直前の針先端形状を保存し, その情報を用いて対象物の内部を進む針先端の位置を予測する画像処理アルゴリズムを提案する.

In this paper, we describe a micromanipulation system for use with a stereoscopic microscope that includes visual feedback, allowing control of the micromanipulator so that the needle may pierce a target to the precise depth desired. We developed an algorithm for prediction of the tip position of the needle head within the target. In our method, the shape of the needle head is preserved as a reference pattern before the needle pierces the target. During the process of penetration, the invisible position of the needle head is predicted using the reference pattern. Experimental results indicate that the proposed system may be useful in micromanipulations, such as the microinjection of seeds.