Research on an Automatic Tracking Strategy Based on CCD Image Sensor in Micromanipulation

In this paper, an automatic tracking strategy based on a CCD image sensor is proposed to achieve the real-time tracking of embryonic cells with the MR-6 micromanipulator. The optical characteristics of the micro-vision sensor are systematically studied. Dark field is formed by the optical microscope imaging principle under the low rate objective lens. The global information of the embryo cells is tracked automatically using the improved Hungarian algorithm, so that the motion parameters of the batch of embryo cells and the interested area can be obtained. Then, the detailed information of the interested area is obtained in the bright field using the automatic conversation device. In addition, the feasibility of the algorithm is further verified by automatic experimental research.