Robotic Micromanipulation: Fundamentals and Applications

Zhang, Zhuoran; Wang, Xian; Liu, Jun; Dai, Changsheng; Sun, Yu

doi:10.1146/annurev-control-053018-023755

Cited by 118 publications

(53 citation statements)

References 147 publications

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“…These potential locations are determined by the top N similarity scores N of patches compared to a reference base template. For an image I k in Frame k, the similarity between a base template g(p, q) and the regional image f (p, q) is represented by the normalized cross-correlation coefficient (5) where G = (g( p, q) −ḡ) and F = f ( p + x, q + y) − f (x, y). Notationḡ andf are the mean intensity in the P × Q template and the overlapping patch, respectively.…”

Section: ) Reciprocal Variance Of Template Matchesmentioning

confidence: 99%

“…T HE importance of robotic micromanipulation system is well evidenced in its contribution toward the advancement of micromanipulation technology. Apart from more common industrial applications in microassembly and fabrication [1]- [3], the field of cell manipulation also benefits from the development of robotic micromanipulation system [4], [5]. Robotic micromanipulation benefited cell manipulation applications with speed, repeatability, and ease of the operation.…”

Section: Introductionmentioning

confidence: 99%

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Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation

Yang

Paranawithana

Tan

2020

IEEE Trans. Automat. Sci. Eng.

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This article proposes a confidence-based approach for combining two visual tracking techniques to minimize the influence of unforeseen visual tracking failures to achieve uninterrupted vision-based control. Despite research efforts in vision-guided micromanipulation, existing systems are not designed to overcome visual tracking failures, such as inconsistent illumination condition, regional occlusion, unknown structures, and nonhomogenous background scene. There remains a gap in expanding current procedures beyond the laboratory environment for practical deployment of vision-guided micromanipulation system. A hybrid tracking method, which combines motion-cue feature detection and score-based template matching, is incorporated in an uncalibrated vision-guided workflow capable of self-initializing and recovery during the micromanipulation. Weighted average, based on the respective confidence indices of the motion-cue feature localization and template-based trackers, is inferred from the statistical accuracy of feature locations and the similarity score-based template matches. Results suggest improvement of the tracking performance using hybrid tracking under the conditions. The mean errors of hybrid tracking are maintained at subpixel level under adverse experimental conditions while the original template matching approach has mean errors of 1.53, 1.73, and 2.08 pixels. The method is also demonstrated to be robust in the nonhomogeneous scene with an array of plant cells. By proposing a self-contained fusion method that overcomes unforeseen visual tracking failures using pure vision approach, we demonstrated the robustness in our developed low-cost micromanipulation platform.

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Section: ) Reciprocal Variance Of Template Matchesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation

Yang

Paranawithana

Tan

2020

IEEE Trans. Automat. Sci. Eng.

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“…The use of a camera in a robot control loop can be performed with two types of architecture: eye-in-hand and eye-to-hand. With the camera fixed on the microscope, microvisual servoing almost uses eye-to-hand to obtain the images that have been magnified by a microscope [62].…”

Section: Microscopic Visual Servoing Controlmentioning

confidence: 99%

A Review on Microscopic Visual Servoing for Micromanipulation Systems: Applications in Micromanufacturing, Biological Injection, and Nanosensor Assembly

et al. 2019

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Micromanipulation is an interdisciplinary technology that integrates advanced knowledge of microscale/nanoscale science, mechanical engineering, electronic engineering, and control engineering. Over the past two decades, it has been widely applied in the fields of MEMS (microelectromechanical systems), bioengineering, and microdevice integration and manufacturing. Microvision servoing is the basic tool for enabling the automatic and precise micromanipulation of microscale/nanoscale entities. However, there are still many problems surrounding microvision servoing in theory and the application of this technology’s micromanipulation processes. This paper summarizes the research, development status, and practical applications of critical components of microvision servoing for micromanipulation, including geometric calibration, autofocus techniques, depth information, and visual servoing control. Suggestions for guiding future innovation and development in this field are also provided in this review.

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“…The second one is bio-inspired [8], using an analogy with the Escherichia Coli bacteria, rodhobacter spheroids, spermatozoon among others. The corkscrew-like motion and the undulating flexible flagella motion have been extensively reviewed in the literature [9,10]. Alternatively, new locomotion methods have also been proposed using magnetic torques and forces.…”

Section: Introductionmentioning

confidence: 99%

A Manipulability Criterion for Magnetic Actuation of Miniature Swimmers With Flexible Flagellum

Begey

Etievant

Quispe³

et al. 2020

IEEE Robot. Autom. Lett.

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The use of untethered miniature swimmers is a promising trend, especially in biomedical applications. These swimmers are often operated remotely using a magnetic field commonly generated using fixed coils that can suffer from a lack of compactness and heating issues. The analysis of the swimming capabilities is still an ongoing topic of research. In this paper, we focus on the ability of a magnetic actuation system to operate the propulsion of miniature swimmers with flexible flagellum. As a first contribution, we present a new manipulability criterion to assess the ability of a magnetic actuation system to operate a swimming robot, i.e. to ensure a displacement in any desired direction with a fixed minimum speed. This criterion is developed thanks to an analogy with cable-driven parallel robots. As a second contribution, this manipulability criterion is exploited to identify the dexterous swimming workspace which can be used to design of new coil configurations as well as to highlight the possibilities of moving coil systems. A case study for a planar workspace surrounded by three coils is in particular carried out. The accompanying video illustrates the application of the proposed criterion in 3D, for a large number of coils.

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Robotic Micromanipulation: Fundamentals and Applications

Cited by 118 publications

References 147 publications

Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation

Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation

A Review on Microscopic Visual Servoing for Micromanipulation Systems: Applications in Micromanufacturing, Biological Injection, and Nanosensor Assembly

A Manipulability Criterion for Magnetic Actuation of Miniature Swimmers With Flexible Flagellum

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