Visually Servoing Magnetic Intraocular Microdevices
Visually Servoing Magnetic Intraocular Microdevices
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DOI：
10.1109/tro.2012.2188165
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发表时间：
2012-08-01
影响因子：
7.8
通讯作者：
Nelson, Bradley J.
中科院分区：
文献类型：
--
作者：
Bergeles, Christos;Kratochvil, Bradley E.;Nelson, Bradley J.
眼内微型机器人装置的灵巧操作具有显著增强眼科医生能力的潜力。微型机器人可用于靶向药物输送和需要高度灵活性的视网膜静脉插管等手术。为了精确地控制微型器件的外部磁场，需要确定它们在磁场中的位置。由于人眼的内部是外部可观察的，计算机视觉技术可以用于定位。在本文中，考虑到人眼的复杂光学，并提出了一种算法，定位微机器人设备的基础上，他们的3-D结构。该算法相对于光学参数的不确定性的灵敏度进行评估。设计并制作了仿人模型眼进行实验，进行了精度分析，并将该算法用于视觉伺服。
Dexterous manipulation of intraocular microrobotic devices has the potential to significantly augment ophthalmic surgeons' capabilities. Microrobots can be employed for targeted drug delivery and for procedures such as retinal-vein cannulation that require a high degree of dexterity. For precise externally generated magnetic control of microdevices, their position in the magnetic field is needed. Since the interior of the human eye is externally observable, computer-vision techniques can be used for localization. In this paper, the complex optics of the human eye are taken into account, and an algorithm that localizes microrobotic devices based on their 3-D structure is proposed. The sensitivity of the algorithm with respect to uncertainties in optical parameters is evaluated. A human-like model eye is designed and fabricated for experiments, precision analysis is performed, and the algorithm is used for visual servoing.