By Topic

Guidance of magnetic intraocular microrobots by active defocused tracking

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Yesin, K.B. ; Inst. of Robotics & Intelligent Syst., Swiss Fed. Inst. of Technol., Zurich, Switzerland ; Vollmers, Karl ; Nelson, B.J.

Current laparoscopic techniques for intraocular surgery require that the vitreous humor is removed and at least three cannulas are inserted through the sidewalls of the eye. This paper investigates an alternate intraocular surgical technique based on the use of wireless microrobots guided by external magnetic fields. Issues investigated include the effects of magnetic and viscous drag forces faced by magnetic microrobots in the vitreous humor and the 3D visual servoing of these microrobots using a single microscope view. A new active defocused tracking method is proposed for visually servoing the microrobot along the optical axis of the microscope. This method uses a purposely defocused view of the microrobot to unambiguously resolve depth while servoing. Experimental results demonstrating the method with a microrobot visually servoed in 3D at 60 Hz using a single microscope view are presented.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

28 Sept.-2 Oct. 2004