Micromanipulator Tip Initialization Using 3D Vision and Visual Servo
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Solution Overview
Problem
The manual initialization of the end effector tip position in micromanipulation systems is cumbersome, time-consuming, and prone to accidental damage, especially with frequent replacements, lacking effective automation for precise positioning.
Innovation Solution
An automatic end effector tip position initialization mechanism using two sets of three-axis Cartesian micromanipulators, a macro-micro integrated imaging system, and a computer interface, employing ArUco Tags for fiducial markers and triangulation methods to achieve three-dimensional positioning and visual servo for precise alignment, combined with a human-computer interface for intuitive control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual position initialization is used, then the operator can control the end effector positioning, but the process becomes cumbersome and time-consuming with repeated conversion between macro and micro fields of view
Solution Approach 1:
The patent replaces manual mechanical operation with an automated vision-based system. A macro camera captures images of the end effector tip position, and computer vision algorithms automatically calculate and adjust the tip position to the focal plane, eliminating the need for manual repeated conversion between macro and micro fields of view.
Solution Approach 2:
The system enables self-positioning of the end effector tip through automated detection and calculation. The macro camera and processing system work autonomously to initialize the tip position without requiring continuous manual intervention or switching between different field of views.
2Reliability
If manual position initialization is used, then the operator can perform focusing, but the process is prone to accidental damage to the end effector tip
Solution Approach 1:
The patent replaces manual mechanical manipulation with automated vision-based positioning. The macro camera captures the end effector tip position, and the system automatically calculates the correct position and adjusts it, eliminating manual errors that could cause damage to the delicate end effector tip.
Solution Approach 2:
The system uses the macro camera to continuously detect and provide feedback on the end effector tip position. Based on this feedback, the system automatically adjusts the tip position to the correct location, ensuring safe and accurate positioning without manual intervention.
3Adaptability or versatility
If frequent end effector replacements are performed, then different tools can be used for different tasks, but the position initialization operation needs to be repeated after each replacement
Solution Approach 1:
The system enables automatic self-initialization of the end effector tip position after replacement. The macro camera automatically detects the new end effector's tip position and the system autonomously calculates and adjusts it to the correct location, eliminating the need for repeated manual initialization operations.
Solution Approach 2:
The patent replaces manual position initialization with automated vision-based positioning. After end effector replacement, the macro camera captures the new tip position and the system automatically initializes it, significantly reducing the time and effort required compared to manual operations.
4Manufacturing precision
If the end effector tip diameter is at the micro-nanometer level, then precise micromanipulation is achieved, but the tip exceeds the perception range of human eyes making positioning difficult
Solution Approach 1:
The patent transitions from direct visual perception to optical field detection. The macro camera captures the end effector tip position in the optical field, enabling detection and measurement of the micro-nanometer level tip that is beyond human visual perception capabilities.
Solution Approach 2:
The patent introduces the macro camera as an intermediary between the human operator and the end effector tip. The camera captures and transmits the tip position information to the system, which then processes and uses this information for accurate positioning, bridging the gap between human perception limits and the required precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances operation accuracy, efficiency, and repeatability, reducing human intervention and enabling easy deployment with strong compatibility across multiple microscope magnifications.
Implementation Method 1
a macro camera is configured to capture images of a micromanipulation space
Implementation Method 2
two sets of three-axis Cartesian micromanipulators... are used to control an end effector and a petri dish respectively
Data Source
AI summary
An automatic end effector tip position initialization mechanism for a micromanipulation system is provided. The method includes: S1, positioning a macro end effector tip, calculating a camera pose by using ArUco Tag, and realizing a three-dimensional positioning of the end effector tip by using a triangulation method, and moving the end effector to a area near a center of a focal plane based on a visual servo; S2, positioning a micro end effector tip; S3, acquiring calibration data based on a visual servo, calibrating the end effector tip and the petri dish, and obtaining a left calibration matrix and a right calibration matrix reflecting the transformation relationship between left and right micromanipulator coordinates and image coordinates; generating an intuitive human-computer interaction interface based on a mouse and a keyboard according to acquired position information. The method has obvious advantages in terms of operation accuracy, operation efficiency and repeatability.