本研究利用「光機電系統控制實驗室」於歷年來研究之微夾持器，進行設計改良與微小化，並配合形狀記憶合金以致動高分子微夾持器與顯微鏡、機械臂整合為一微夾持系統，並利用機構設計改良系統之功能，達成隔離環境微物件操作之需求。

　　藉由視訊壓縮之技術以提供操作者影像之資訊，並運用影像處理技術，獲取影像特徵，進一步建構虛擬場景，作為輔助使用者之介面。遠端操作部分則在伺服端與客戶端使用各種訊息加以溝通，藉此可以實現隔離環境之微物件遠端操作。

　In this thesis, the size of micro-compliant gripper developed by “Opto-Mechatronic System Control Laboratory” has been reduced and its design has been improved. By integrating optical microscope, manipulator, and micro-compliant gripper actuated by SMA, then it becomes a micro-manipulation system. Using mechanical design to enhance the function of system, and achieve the requirement of micro-manipulation in isolated environment.

　Utilizing the video compression technique can provide video information for operator. Using image processing technique to obtain the feature of image and then virtual scene could be established. Virtual scene and video information are auxiliary interfaces which can help operator to manipulate micro gripper. For remote operation, using various messages to communicate with server site and client site, then tele-manipulation of micro-object in isolated VR environment can be achieved.

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