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Ch49-I044963.fm Page 241 Tuesday, August 1, 2006 4:04 PM
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PRECISE MICRO ROBOT BIO CELL MANIPUTATION
BASED ON THE MICROSCOPIC IMAGE RECONGIOTION
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Daigo Misaki', Chiba Naoto , Takashi Usuda , Ohmi Fuchiwaki and Hisayuki Aoyama 2
1
Department of Mechanical Engineering, Shizuoka Institute of Science and Technology, 2200-2,
Toyosawa, Fukuroi, Shizuoka 437-8555,.Tapan
Department of Mechanical Engineering & Intelligent Systems, University of Electro-
Communications, Tokyo 1-5-1, Chofu, Tokyo 182-8585 ,Japan
3
Advanced Industrial Science and Technology,Umezono 1-1, Tsukuba, Ibaraki 305-8563, Japan

ABSTRACT
For these years the demand of microscopic manipulation system has been increased. However,
conventional microscopic manipulation systems are expensive, low-flexibility and limited working
range, so there are various problems in the actual shop floor of microscopic operations. The micro
robot technology has the great potential benefit for microscopic manipulations system because they
can provide a high positioning accuracy and flexible operations easily. We have developed various
kinds of micro robots and they provided several unique accurate applications such fine surface
machining and microscopic bio-cell manipulations, hi this paper, we describe the micro robot bio
manipulator system based on 3D microscopic image recognition. The basic experimental results show
the system has high flexibility and high-precision control is available by a simple mechanism.

KEYWORDS
Piezoelectric Actuator, Micro Robot, Bio Cell Manipulation, Microscopic Image Recognition, Non
Contact Rotation Mechanism

1. INTRODUCTION
With the demand for microscopic operation, it becomes much useful to control the micro robots
system with nano-tool on the desktop. For these years, several groups have succeeded in developing
many smart micro or nano robots system which can apply to the micro-nano factories. In particular the
fields of biotechnology such as cell manipulations are one of the most important applications and
various researches are reported [1], [2]. However, because theses systems consist of conventional
precision positioning devices, they have the problems of poor layout flexibility and limited working
range to take care of complex and precise microscopic operations.
Our research group also has provided the various micro robots and they provided several unique
accurate applications under microscope such a fine surface machining, micro parts conveying and
micro bio cell manipulations in resent year [3],