Development of vision system for two-fingered micro manipulation

A dexterous micro manipulation system is developed for the application in assembling micro machine, manipulating cell, and micro surgery. We have proposed a concept of a two-fingered micro hand, and designed and built a prototype. In the micro manipulation, the system to observe microscopic objects is important as well as a system for actual manipulating microscopic object. An optical microscope or SEM (Scanning Electron Microscope) is typically used to observe micro motion of fingers in the micro hand. In high scale magnification, its focusing range is limited and the finger tip may often go out of the sight. In this paper, we will propose and develop a vision system using auto focus by processing CCD image data in order to obtain fine image of the finger tip and microscopic object in micro task.