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In this paper we present a hardware architecture with software implementation able to track free swimming single 2μm in diameter MC-1 bacterium. The computer vision system operates at up to 77 fps at full speed and up to 24 fps when recording full 512×512 pixels frame from coupled-charge device (CCD) array. Closed-loop control with lock-in tracking is achieved using the Otsu Segmentation Method (OSM)...
A real-time positioning and tracking technique for untethered devices or robots magnetically propelled by a clinical magnetic resonance imaging (MRI) system is described. The local magnetic field induced by the device, composed of a ferromagnetic material, is used as a signature to localize the device on three one-dimensional projections. A high-precision 3D circular-motion system was used to assess...
A novel magnetic resonance (MR)-tracking method specifically developed to locate the ferromagnetic core of an untethered microdevice, microrobot, or nanorobot for navigation or closed-loop control purpose is described. The tracking method relies on the application of radio-frequency (RF) excitation signals tuned to the equipotential magnetic curves generated by the magnetic signature of the object...
Our recent demonstration of a ferromagnetic bead being navigated automatically inside the carotid artery of a living animal at an average speed of 10 cm/s using a clinical MRI system may be considered as a significant step in the field of medical micro- and nanorobotics. This is particularly true when we consider that an appropriate tracking method was embedded in the closed-loop control process allowing...
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