Study of micromanipulation using stereoscopic microscope

In this paper, we describe a visual feedback system using a stereoscopic microscope that controls a micromanipulator so that a needle may pierce a target with as much length as desired. First, in order to achieve the manipulation at a realistic rate, we proposed a strategy for moving the needle head. Next, we developed an algorithm for prediction of the tip position of the needle head within the target. Before the needle pierces the target, the shape of the needle head is preserved as a reference pattern. After the needle pierces the target, the shape of the needle head within the target is predicted using the reference pattern, and the tip position of the needle head can be detected. Experimental results indicate that the proposed system may be useful in micromanipulation such as microinjection to seeds.