Micromanipulation System Using Stereoscopic Microscope

In this paper, we describe a visual feedback system using a stereoscopic microscope. The system controls a micromanipulator so that a needle head may pierce a target as much length as desired. The tip position of the needle head and the target under the microscope are measured three dimensionally with two CCD cameras that are set to the eyepieces of the microscope. However, the visual feedback system has difficulties in detecting the tip position of the needle head within the target. We developed a method to predict the tip position of the needle head in the target. Before the needle head pierces the target, the end of the needle head is cut as much length as desired for piercing the target. The reminder of the needle head is set as a reference pattern. After the needle head piercing the target, a part of the needle head that is the same shape as the reference pattern is searched in the image. An invisible part of the needle head can be predicted and the tip position of the needle head in the target is detected.