中文摘要：

在分析显微物镜成像原理的基础上,提出并实现了一种微操作机器人系统光轴方向深度测量方法,该方法通过显微物镜离焦光学传递函数（optical transfer function,OTF）建立物方离焦程度与显微图像模糊程度的关系,由此实现深度测量.由于考虑了透镜参数与衍射效应的影响,方法具有较高的测量精度和较好的线性度,同时利用条状物体快速辨识算法,对原始方法进行了简化,使深度测量可在线完成.进一步,将上述方法应用于实际微操作机器人系统,通过离焦状态双针互插实验验证了方法的有效性,同时拓展了微操作机器人系统的有效操作空间.

英文摘要：

After analyzing the principle of imaging of the objective, a method of depth measurement in the direction of optical axis in micro-manipulation system is put forward. To measure depth, the relationship between defocus and blur of microscopic images is established based on optical transfer function （OTF）. This method has high precision and good linearity, since lens parameters and diffraction effect have been taken into account. Meanwhile, the fast identification algorithm of bar objects is utilized to simplify the original method, then depth can be measured online. In addition, the method is applied to micro-manipulation system, and an experiment to insert one needle into another automatically in defocused status is designed and carried out to show the effectiveness of the method. Thus, the operation range of the micro-manipulation system has been extended.