Method for measuring the pose of a microrobot

Method for Measuring the Pose of a Microrobot

This technology measures the pose of a microrobot using image processing and marker-based coordinate tracking. It separates the microrobot from noise in captured images through differential imaging, color binarization, and size comparison, overlays a marker onto the robot, and calculates the robot's pose by determining the coordinates of color boundary points.

When microrobots are inserted into the human body, noise from light scattering, body tissues, and blood vessel walls occurs during image acquisition. Conventional technologies, which directly recognize markings on the microrobot's surface, suffer from frequent recognition errors and low pose measurement accuracy due to this noise.

This technology consists of a preprocessing step to identify the microrobot by separating it from noise, a step to virtually display a marker that intersects the robot's outline based on the identified geometric information, and a step to calculate the robot's pose by analyzing the boundary coordinates of binarized colors (first and second colors) on the marker. Applicable to robot gripping, precision measurement, and automated equipment, it improves the accuracy of microrobot pose measurement in noisy environments, thereby enhancing measurement reliability and enabling precise measurement.

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Key Features:

• A step of displaying a marker on the recognized microrobot in the captured image that intersects the microrobot's outline, with a diameter larger than the width of the recognized microrobot and smaller than its length.
• A step of binarizing colors such that among a plurality of points, those located outside the microrobot have a first color, and those located inside the microrobot have a second color.
• A step of recognizing the microrobot by distinguishing it from noise in the captured image.
• A step of displaying a plurality of points on the displayed marker.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a micro-medical robot system for the treatment of chronic total occlusion in myocardial infarction.