本研究應用本實驗室長期發展之聚氨基甲酸乙酯(polyurethane, PU)微型夾爪技術，完成一由壓電材料致動之微形夾持器模組；搭配顯微鏡、動態取像設備、機械手臂以及步進馬達以及微注射儀，建立一套微物件操縱系統，能夠進給與夾持直徑10~100μm的微粒子。應用影像處理技術估測操作場景中的各項參數，藉由網路在客戶端與伺服端之間傳輸資料，並以虛擬實境技術整合各項資料呈現給操作者，達到遠端操縱的目的，以便應用於生物醫學相關之微粒子操縱。

For implementing the bio-manipulation of microparticles, a micromanipulating system by using a piezoelectronic actuated micro gripper module, which applying the PU micro gripper technique researched by OME lab for a decade is developed, this system consists of a microscope, a camera, robot arms, a stepping motor, and a micro injection device, and can feed and manipulate microparticles with size around 10~100μm. Different image processing algorithms are developed to estimate the parameters in the working field. Internet is used for transferring data between client and server. All information is integrated by virtual reality technique for telepresenting the states of working field to the user.

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