中文摘要：

随着微机器人的发展,磁性微机器人凭借其能源供给的优势得到广泛应用。由于研究对象不断向微细化发展,本文结合显微镜环境设计了一种用于磁性微机器人的外磁场调控系统。本系统主要由上位机、磁场控制模块和图像显示模块三部分构成。磁性微机器人是通过线圈装置产生的外磁场来控制的,本文设计的线圈装置能够在线圈中心40mm×30mm的平面区域产生0~1m T的沿水平方向的静磁场和频率为0~50Hz、幅值0~1m T的旋转磁场,能够实现对磁性微机器人直线运动和旋转运动的控制。本文使用BX53显微镜对磁性微机器人的运动进行放大,实现其运动的实时显示和追踪。本文还编写了一套控制软件来实现上述控制功能和实时显示功能。

英文摘要：

With the development of the micro-robots,the magnetic micro-robots are widely used with the advantages in energy supply. A control system combined with a microscope which is used to control the motion of the magnetic micro-robots is designed in this paper. The system mainly consists of a computer,a magnetic field control module and an image display module. The motion of the magnetic micro-robots is controlled by the magnetic field.The magnetic field in a 40 mm × 30 mm region of coils center can reach 0 ~ 1m T and its frequency is 0 ~ 50 Hz. By setting different parameter values we can make the static magnetic field and the rotating magnetic field to control the straight linear motion and the rotation motion of the magnetic micro-robots. We use the microscope BX53 to magnify the motion of the magnetic micro-robots,then we control the motion of them and realize the image real-time display. A set of control software to realize the functions above is written.