中文摘要：

在面向生物工程的显微注射机器人系统中,迅速地在视野中寻找到目标细胞并精确定位可以有效减少操作人员的工作量,是实现自动化显微注射的必要条件。提出了一种基于视觉的细胞搜索方法,可自动扫描目标平面,能准确识别出目标平面内的细胞并可通过视觉伺服实现细胞定位,便于进一步的注射操作。实验证明该方法可有效地从细胞培养皿中快速识别出细胞,并能实现细胞位置的精确定位。

英文摘要：

In microsinjection robot system facing biological engineering,rapid seeking of the target cell and accurate location in view is effective in reducing the work of operator.It is necessary to realize automation microinjection.We propose a method of cells search based on visual.It can scan target plane automatically,identify the cells in target plane accurately and realize cells positioning by visual servo for further injection.Experiment results demonstrate this method can identify cells from the culture dish quickly and realize the cell positioning precisely.