Robotization of orchid protocorm transplanting in tissue culture

Nowadays, orchid plants are propagated by mericlone culture. When the seed propagation method of this culture is used, a protocorm transplant is necessary during the growth stage. This study on robotization of the transplant for orchid protocorms was conducted to prevent biological contamination and to reduce labor costs. The image processing algorithm developed in the study was useful for recognizing protocorms about 0.5 mm in diameter, interspersed on the culture medium. A small, light gripper driven by a shape memory alloy actuator was constructed and was able to handle a very small object. The intelligent robotic system with machine vision and micro-handling mechanism that was developed could perform protocorm transfers automatically, with a higher accuracy and efficiency than humans