Development of cell handling system under optical microscope

首先，实现了一种新型的操作系统，该系统由1)低倍率显微镜(物镜为X10，视场为920×710微米)，2)高倍率显微镜(物镜为X60，视场范围为136×105微米)，3)玻璃刮刀制作(刀尖直径15微米，长度30微米)，4)精密工作台(分辨率0.025微米，开环精度1微米)组成。所述两个显微镜可以同时以不同的分辨率监视同一对象。其次，构建了一个软件系统来控制微操作并累积已执行的微任务。该软件使系统能够根据视觉反馈和图形用户界面分别对刀具轨迹进行指定和修改。它还使系统能够积累基于MPEG4格式的任务执行的控制和图像信息。第三，成功地完成了采集脑血管MATO细胞内微小颗粒的微任务，验证了所述机械手和软件的有效性。更具体地说，刮除目标细胞周围材料的微任务是由刮刀工具执行的。实验任务的执行证明了双显微镜的有效性，因为它不仅提供了目标细胞的精细图像来执行任务，而且还提供了目标细胞周围的大视野血管图像来同时寻找目标点。

The results of this research can be summarized as follows.Firstly, a novel manipulation system is realized The system consists of 1) a low magnification ratio microscope (object lens is X10 and the field of view is 920 X 710 microns), 2) a high magnification ratio microscope (Object lens is X60 and the range of the field of view is 136 X 105 microns), 3) glass scraper tool made (15 microns of tip diameter and 30 microns of length), and 4) a precision Stage (0.025 microns of resolution and 1 microns of open loop precision). Stated two microscopes can monitor the same object simultaneously with different resolution.Secondly, a software system is constructed to control micromanipulation and accumulate executed microtask. The software enables the system to, specify and modify the tool trajectory based on the visual feedback and GUI interface respectively. It also enables the system to accumulate both control and image information of the task execution based on the MPEG4 format. The latter software realizes the modified task execution by making use of the accumulated task execution so far.Thirdly, the microtask of collecting small particles inside the Mato-cell on the brain blood vessel is successfully performed to show the effectiveness of the stated manipulator and the software. More concretely, the microtask of scraping the material around the target cell is performed by the scraper tool. The experimental task execution proved the effectiveness of the dual microscopes, because it offers not only fine image of the target cell to) execute the task but also wide field of view blood vessel image around the target cell to look for the target point simultaneously.