Fully Automatic and Real-Time Microrobot Detection and Tracking based on Ultrasound Imaging using Deep Learning
Résumé
Micro-scale robots introduce great prospective
into many different medical applications such as targeted drug
delivery, minimally invasive surgery and localized bio-metric
diagnostics. This research presents a method for object detection and tracking system of a chain-like magnetic microsphere
robots using ultrasound imaging in an in-vitro environment.
The method estimates the position of the microrobot in realtime using deep learning techniques. The experiments showed
that a spherical microrobot with about 500 m in diameter can
be detected and tracked in real-time with a high accuracy in
dynamic environments. The results exhibit a high detection and
tracking accuracy for one, two and three sphere microrobots
with the highest accuracy in detection and tracking around 95
% and 93% respectively.