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本文深入研究了基于生物工程领域显微视觉系统的设计方法．给出了微操作物体平面坐标及微机器人手端位姿的求取方法；提出了基于载物台平动测量微操作物体的高度及微机器人做三维空间已知运动标定出微机器人手端在摄像机坐标系的坐标，进而确定微机器人手端与微操作物体之间位置关系的单目视觉方案．采用两步法对显微视觉系统进行了标定．实验证明该系统运行可靠，达到显微操作的要求．
In this paper, the design method of microscopic vision system based on bioengineering is deeply studied. The method of obtaining plane coordinates of micro-manipulated objects and the attitude and posture of micro-manipulators is presented. The height of the micro-manipulated objects is measured based on the movement of the stage and the micro-robot is used to calibrate the micro-manipulator hand Camera coordinate system coordinates, and then determine the position of the micro-robot hand and micro-manipulated object monocular vision program. Microscopic vision system was calibrated using two-step method. Experiments show that the system is reliable and meets the requirements of micromanipulation.