中文摘要：

近年来,生物医学得到了迅猛发展,研究领域多涉及到微纳米操作。手动操作存在工作效率低,成功率低等缺陷。因此,由生物医学与微操作机器人结合而产生的生物微操作机器人已成为全世界范围内的研究热点。基于此,通过对当前国内外生物微操作机器人的研究现状、实际应用等方面进行分析,总结出生物微操作机器人在视觉伺服控制、驱动器、执行机构、微操作控制策略、几何标定、传感器融合等方面存在的不足,并提出改进意见,以期对该领域未来的创新设计以及发展研究提供一定的参考及指导作用。

英文摘要：

In recent years,the development of biomedical research has been swift and violent,and most research works are related to micro/nano manipulation.There is low efficiency of manual manipulation,as well as the low success rate and other defects.Therefore,the micromanipulation robot technology for biomedical applications has become a worldwide hot issue.The research status of this field in domestic and foreign,and other aspects such as the practical application are summarized.After comprehensive analysis,a conclusion is made that there exist some deficiencies in bio-micromanipulation system such as visual servo control,actuators,micromanipulation control strategy,geometric calibration and sensor fusion.Some suggestions are proposed,which can be used to provide a reference and guide for the innovative designs and the improvements of this area.