Micro Manipulation Using Paramecium (Image Processing Algorism to Acquire the Paramecium's Position Under The Contact Situation With Object)

摘要

The authors have been developing the micro manipulation system using motion controlled microorganisms. Paramecium was used as a manipulator. Motion control was done by applying the negative galvano-taxis. Since the Paramecium's head is smooth round shape, it is difficult to transduce its force to the object effectively. Therefore, an attachment device for an operation tool of Paramecium has been developed. In this paper, an automatic position detection algorism was developed. It is for the detection of the Paramecium and the object stably during the object manipulation. When the Paramecium is in contact with the object, it is difficult to distinguish Paramecium from the object. The difficulty mainly causes by the following two reasons. One is that in the contact situation, we have to divide the Paramecium with the object. The other is the deformation of the Paramecium's body shape during pushing. A direct cross correlation method was applied to detect the both position stably.