Intelligent micromanipulation system based on machine vision

A needle tip positioning method based on a pinhole model, which is applicable to an intelligent micromanipulation system based on machine vision of comprising:

• a base, wherein a microscope, a rotating table and two lifting tables are arranged on the base, the microscope is located right above the rotating table, the two lifting tables are arranged at two sides of the rotating table, respectively, and each is provided with a mechanical arm, each of the two mechanical arm is provided with an end effector, the mechanical arm is capable of driving the corresponding end effector to perform fine adjustment in x, y and z directions, one of the end effectors clamps a suction holding needle which is in communication with a suction pump, while the other end effector clamps an injection needle which is in communication with an injection pump;
• and the rotating table comprises a tray, a rotating mechanism and a driving device, and the driving device is capable of driving the tray to rotate via the rotating mechanism;
• wherein the method comprises:
• firstly, acquiring position coordinates of mechanical arms, then, obtaining pixel position coordinates of the mechanical arms based on the position coordinates of the mechanical arms according to a preset coordinate transformation matrix, thereafter, calculating a transformation matrix between the pixel position coordinates of the mechanical arms and the pixel coordinates of an image acquired by a camera, and finally, obtaining intrinsic parameters of the transformation matrix between the position coordinates of the mechanical arm and the pixel coordinates of the image acquired by the camera, as well as intrinsic parameters of an imaging system;
• and when a next operation is performed, calculating a change of a height of a liquid surface according to a change of pixel coordinates of ends of the mechanical arms relative to pixel coordinates at the same position for a last operation, and then updating the coordinate transformation matrix.