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e = M (0 < e <l)
When a local area is a perfect circle, e is set to 1.0. This value becomes small, so that area is no like
a circle. When a circle is extracted, the position and size are measured and the result plotted on the
surface-of-a-sphere model is shown in Fig.6 (c) .To generate this 3D surface model in the computer
previously is useful to execute more precise operation and this model can be used creating control
signal of micro robots.

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(a) (b) (c)
Figure 6: Results of microscopic image recognition for precise bio-cell manipulations

6. CONCLUSIONS

Flexible micro manipulation system organized by versatile micro robots under microscopes was
proposed and microscopic image recognition for tool navigation and developed 3D model for
microscopic operations based on the non contact rotation positioning mechanism.
In future work, carry out the more precise manipulation by using this 3D model, and then we're
going to develop a more precise bio operation system.

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