Method for determining the position and orientation of microrobots

Method for Determining the Position and Angle of a Microrobot

This technology is an image processing method that calculates the 3D position and angle of a microrobot by performing thresholding and noise removal on top-view and side-view images of the microrobot collected within a simulation environment, followed by setting a Region of Interest (ROI) and applying edge detection and line detection algorithms.

Challenges include reduced mobility efficiency due to the miniaturization of microrobots, increased control difficulty for real-world human applications, and a lack of precise state recognition technology for pre-testing and simulation.

This technology utilizes camera images to identify the initial position of the microrobot, performs ROI setting and length-based noise filtering, and then extracts the slope and length of line segments through edge and line detection to ultimately derive the microrobot's rotation angles (Yaw, Roll, Pitch) and position. It can be applied to industrial robots and automation systems, improving the control of medical microrobots by providing a method to clearly recognize their position and angle within a simulation environment.

‍

‍

Key Features:

• Includes the step of determining the position and angle of the microrobot in 3D space from an image, where the step of determining the position and angle includes identifying the initial position of the microrobot from the image.
• A step of removing noise that is longer or shorter than the length of the microrobot, based on the length of the microrobot displayed in the image, from the noise generated during the process of isolating the Region of Interest (ROI) from the image.
• A step of performing edge detection at the final position displayed in the image to identify points of discontinuity based on image brightness.
• A step of setting the initial position in the image as a Region of Interest (ROI) for the microrobot.

‍

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