Vision-Servoed Microdevice Injection

The challenge

Automating the injection of very small implantable devices often requires specialized hardware and extensive calibration. This work develops a reproducible system using commercial off-the-shelf components.

The system

Multiple camera views, a microscope, micromanipulators and an injection device support a coarse-to-fine workflow: positioning, automatic focus, marker-assisted centering and injection.

Experimental result

The manuscript reports 30 trials. Operating time was reduced by 47.2% relative to injection by an experienced human user; the official ICRA abstract also reports this reduction. The result concerns laboratory manipulation, rather than clinical validation.

Publication