ICRA 2011 Paper Abstract


Paper WeA104.4

Bergeles, Christos (ETH Zurich), Kratochvil, Bradley (ETH Zurich), Nelson, Bradley J. (ETH Zurich)

Model-Based Localization of Intraocular Microrobots for Wireless Electromagnetic Control

Scheduled for presentation during the Regular Sessions "Range Sensing I" (WeA104), Wednesday, May 11, 2011, 09:05−09:20, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Localization, Computer Vision for Robotics and Automation, Micro/Nano Robots


The automated or semiautomated control of microrobots for targeted drug delivery, retinal surgeries, and other ophthalmic procedures has the potential to significantly augment the capabilities of human surgeons. For accurate magnetic control, the position of the microrobots is required. Previously, a single-camera focus-based intraocular localization algorithm has been proposed. The requirement for constant and accurate refocusing was its limiting factor. In this paper, we extract the intraocular projection mapping and use it in the established CAD-model-based pose-estimation framework. Our algorithm requires no focus information. This is the first work that treats a complicated refractive imaging system, such as the eye, in the model-based localization framework. We design a model-eye chamber with human-like optical elements in which we control a microrobot, and estimate its position using monocular vision.



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