中文摘要：

提出并实现了一种通过显微图像处理获取目标尝试信息的方法，将此种方法就用于生物医学实验中常用的微操作工具-微针的深度信息提取，取得了较好的效果，首先，论述了深度信息提取原理；之后，研究了微针的成像模型，详细分析了显微图像点扩散参数获取与微针深度信息提取的方法，给出了相关的实验结果，最后，将此方法应用于微操作机器人系统，利用离焦状态双针互插实验验证了方法的有效性，结果表明，本文的方法在精度上和速度上都达以了在线应用的水平。

英文摘要：

A method for getting depth information by microscopic image processing is put forward and implemented in this paper. This method can well extract depth information of micro needle in biomedical engineering experiments. Firstly, the principle of extracting depth information is given. Then, the imaging model of micro needle is established. Fhrthermore, the methods for getting point spread parameter and extracting depth information of micro needle are presented in detail. At last, an experiment of inserting a defocusing needle into another is designed and carried out to show the effectiveness of this method.