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Visual tracking of magnetic microrobots in biomedical research applications

Berg, Boudewijn van den (2014) Visual tracking of magnetic microrobots in biomedical research applications.

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Abstract:Magnetic microrobots provide new opportunities in the fields of biological micromanipulation and minimally invasive surgery (e.g., micromanipulation of cells, ophthalmic microsurgery and development of new drugs). A major requirement for implementation of these microrobotic applications is precise control of the microrobots. To enable precise control, an accurate and robust position estimation is essential. Therefore, position estimation of microrobots using microscopy and ultrasound equipment in 2D and 3D is outlined in this work and implemented into a C++ object-oriented platform-independent library. Using the developed system, tracking of multiple types of microrobots using optical microscopy images is demonstrated. This new tracking system could be used for accurate position feedback in the control of magnetic microrobots in biomedical research applications.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:54 computer science
Programme:Biomedical Engineering MSc (66226)
Link to this item:http://purl.utwente.nl/essays/66328
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