Automatic Camera-Based Microscope Calibration for a Telemicromanipulation System Using a Virtual Pattern

Ammi, Mehdi; Frémont, Vincent; Ferreira, Antoine

doi:10.1109/tro.2008.2006866

Cited by 41 publications

(24 citation statements)

References 28 publications

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“…Several calibration methods exist in the literature and are mostly used in macroscale vision applications [47]. Unfortunately, those methods cannot be directly applied to calibrate an optical microscope due to the characteristics of the optical system (e.g., high optical magnification and very narrow depth of field), and some dedicated methods have, therefore, been proposed [48]. In this work, the camera calibration parameters are defined in the focal plane (image space); therefore, the non-sharp tip image, due to the depth directional motion of the robot, is ignored.…”

Section: A Telerobotic Microinjection System Designmentioning

confidence: 99%

Evaluation of Telerobotic Shared Control Strategy for Efficient Single-Cell Manipulation

Kim

Ladjal

Folio

et al. 2012

IEEE Trans. Automat. Sci. Eng.

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Abstract-Microinjection using a glass capillary is a highly efficient method for the delivery of exogenous materials into cells and is widely used in biomedical research areas such as transgenics and genomics. However, this direct injection is a time-consuming and laborious task, resulting in low throughput and poor reproducibility. Here, we describe a telerobotic shared control framework for microinjection with high manipulation efficiencies, in which a micromanipulator is controlled by the shared motion commands of both the human operator and the autonomous controller. To determine the optimal gains between the operator and the controller, we proposed a quantitative evaluation method using a model of speed/accuracy trade-offs in human movement. The results showed that a 40-60 % weighting on the human operator (or the controller) produced the best performance for both speed and accuracy of task completion suggesting that some level of both automation and human involvement is important for microinjection tasks.Note to Practitioners-In single-cell microinjection, for the small size and delicate structure of a cell, to date, most human operators have manipulated biological cells manually; therefore, low manipulation efficiency and poor reproducibility has been reported for this task. Most manipulation systems have primarily focused on limited visual feedback in conjunction with a dialbased console system, requiring extensive operator training to perform injection tasks with reproducible results. To address these problems, a telerobotic shared control method for microinjection was developed by integrating the automatic and direct manipulation functions of a robotic system. While a controller retains cells and glass pipettes within a desired path or space, the operator can concentrate on the injection task, thus achieving high throughput and dexterity.

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Section: A Telerobotic Microinjection System Designmentioning

confidence: 99%

Evaluation of Telerobotic Shared Control Strategy for Efficient Single-Cell Manipulation

Kim

Ladjal

Folio

et al. 2012

IEEE Trans. Automat. Sci. Eng.

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“…Based on the Zhang method, Ammi [6], [8] proposed a modified method for a microscope system. Rather than using a conventional lithography printed calibration pattern, an atomic force microscope (AFM) tip has been used.…”

Section: Review Of Existing Algorithmsmentioning

confidence: 99%

“…The low order radial components primarily dominate the radial distortion. We estimated the radial distortion parameters k 1 and k 2 for a second order polynomial by optimizing the following equation [8]:…”

Section: B Experimental Proceduresmentioning

confidence: 99%

On the Estimation of Extrinsic and Intrinsic Parameters of Optical Microscope Calibration

Altinay

Bradley

Mehnert

2010

2010 International Conference on Digital Image Computing: Techniques and Applications

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This paper compares several camera calibration methods on the estimation of specific extrinsic and intrinsic parameters. Good estimates of the chosen parameters, rotation and radial lens distortion are essential to increase the accuracy of quantitative measurements and to accurately stitch single field of view-based images together. The parameters are obtained using two selected methods on different objective magnifications on a microscope system using a fixed grid calibration pattern. We evaluate two methods and show that the rotation angles from one of the methods is consistent with a simple homography while the other estimates a consistently smaller angle. The radial distortion estimates are both very small and relate to a distortion of less than one pixel.

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“…Zhou and Nelson (1999) did some improvement on the Tsai two-step calibration method, but the focus distance is the prerequisite. Ammi et al (2009)) can calibrate the camera with one image after modifying Zhang's model based on the focus distance. In MSCA, the lens is a 12 ϫ digital electrical zoom lens.…”

Section: Introductionmentioning

confidence: 99%

An improved vision calibration method for coaxial alignment microassembly

Gao

Zhang

et al. 2014

Assembly Automation

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2014),"Micro-assembly precise coaxial alignment methodology based on surface roughness and reflectiveness matching", Assembly Automation, Vol. 34 Iss 2 pp. 141-150 http://dx.If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to propose a sub-pixel calibration method for a microassembly system with coaxial alignment function (MSCA) because traditional sub-pixel calibration approaches cannot be used in this system. Design/methodology/approach -The in-house microassembly system comprises a six degrees of freedom (6-DOF) large motion serial robot with microgrippers, a hexapod 6-DOF precision alignment worktable and a vision system whose optical axis of the microscope is parallel with the horizontal plane. A prism with special coating is fixed in front of the objective lens; thus, two parts' Figures, namely the images of target and base part, can be acquired simultaneously. The relative discrepancy between the two parts can be calculated from image plane coordinate instead of calculating space transformation matrix. Therefore, the traditional calibration method cannot be applied in this microassembly system. An improved calibration method including the check corner detection solves the distortion coefficient conversely. This new way can detect the corner at sub-pixel accuracy. The experiment proves that the assembly accuracy of the coaxial microassembly system which has been calibrated by the new method can reach micrometer level. Findings -The calibration results indicate that solving the distortion conversely could improve the assembly accuracy of MSCA. Originality/value -The paper provides certain calibration methodological guidelines for devices with 2 dimensions or 2.5 dimensions, such as microelectromechanical systems devices, using MSCA.

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Automatic Camera-Based Microscope Calibration for a Telemicromanipulation System Using a Virtual Pattern

Cited by 41 publications

References 28 publications

Evaluation of Telerobotic Shared Control Strategy for Efficient Single-Cell Manipulation

Evaluation of Telerobotic Shared Control Strategy for Efficient Single-Cell Manipulation

On the Estimation of Extrinsic and Intrinsic Parameters of Optical Microscope Calibration

An improved vision calibration method for coaxial alignment microassembly

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