Real Time Three-Dimensional image processing with Application to Automated Cell Surgery Visual Servoing
The locations of the target cell, its internal structures and surgical tools are essential to achieve visual servoing control for automated cell surgery. Real time image feedback allows the controller to adjust promptly for location variation due to motion of the cell when in contact with surgery to...
Gespeichert in:
| Veröffentlicht in: | International Conference on Industrial Mechatronics and Automation (Online) S. 671 - 676 |
|---|---|
| Hauptverfasser: | , |
| Format: | Tagungsbericht |
| Sprache: | Englisch |
| Veröffentlicht: |
IEEE
13.10.2020
|
| Schlagworte: | |
| ISSN: | 2152-744X |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| Abstract | The locations of the target cell, its internal structures and surgical tools are essential to achieve visual servoing control for automated cell surgery. Real time image feedback allows the controller to adjust promptly for location variation due to motion of the cell when in contact with surgery tools. This paper uses Z-stack images of a 2-blastomere mouse embryo cell to develop a novel real time three-dimensional (3D) image processing algorithm. The proposed algorithm computes the centroid of each embryo blastomere and surgical tool tip in 3D image-plane coordinate. 3D Canny edge detector processes the embryo to produce a segmented 3D model. By converting the 3D model into a point cloud, the centroid of each blastomere is then estimated using an unsupervised machine learning technique, k-means clustering. For the surgical tool, 2D Canny edge detector is used in this case to compress computation time. The surgical tool tip location is selected as the furthest point away from the image edge where surgical tool appears. With 6.1μm computation variation and 2.4Hz update frequency, the proposed algorithm is suitable to perform automated cell surgery using visual servoing, especially Image-Based Visual Servoing (IBVS), with the obtained image-plane locations in the 3D image. The proposed algorithm has also shown theoretical potential to be implemented into other embryo development stages. |
|---|---|
| AbstractList | The locations of the target cell, its internal structures and surgical tools are essential to achieve visual servoing control for automated cell surgery. Real time image feedback allows the controller to adjust promptly for location variation due to motion of the cell when in contact with surgery tools. This paper uses Z-stack images of a 2-blastomere mouse embryo cell to develop a novel real time three-dimensional (3D) image processing algorithm. The proposed algorithm computes the centroid of each embryo blastomere and surgical tool tip in 3D image-plane coordinate. 3D Canny edge detector processes the embryo to produce a segmented 3D model. By converting the 3D model into a point cloud, the centroid of each blastomere is then estimated using an unsupervised machine learning technique, k-means clustering. For the surgical tool, 2D Canny edge detector is used in this case to compress computation time. The surgical tool tip location is selected as the furthest point away from the image edge where surgical tool appears. With 6.1μm computation variation and 2.4Hz update frequency, the proposed algorithm is suitable to perform automated cell surgery using visual servoing, especially Image-Based Visual Servoing (IBVS), with the obtained image-plane locations in the 3D image. The proposed algorithm has also shown theoretical potential to be implemented into other embryo development stages. |
| Author | Mills, James K. Song, Ze |
| Author_xml | – sequence: 1 givenname: Ze surname: Song fullname: Song, Ze email: ze.song@mail.utoronto.ca organization: University of Toronto,Department of Mechanical and Industrial Engineering,Toronto,Canada,Ontario M5S 3G8 – sequence: 2 givenname: James K. surname: Mills fullname: Mills, James K. email: mills@mie.utoronto.ca organization: University of Toronto,Department of Mechanical and Industrial Engineering,Toronto,Canada,Ontario M5S 3G8 |
| BookMark | eNotkFFLwzAUhaMouM39AkHyBzpzk7RLH0t1OpgIbopvI01vu0jXlqRV9u8NuKd7OefcA9-dkqu2a5GQe2ALAJY-rPPXTKYc4gVnnC1SLoTicEGmsOQKEgmJuiST4PNoKeXXDZl7_80YEwwYpDAh9Tvqhu7sEenu4BCjx7C23nZtkO1R10h71xn03rY1_bXDgWZ931ijh5ChQ0ezceiOesCS5tg0dDu6Gt2Jflo_hootup8unN6S60o3HufnOSMfq6dd_hJt3p7XebaJLIAaohKXmiMzAU4pwY3EgmsRJK1FGsdMKwZJUUlpjEkKJWRcJSh4VSAvUVWlmJG7_16LiPveBQR32p__Iv4Ao4RbeQ |
| ContentType | Conference Proceeding |
| DBID | 6IE 6IL CBEJK RIE RIL |
| DOI | 10.1109/ICMA49215.2020.9233821 |
| DatabaseName | IEEE Electronic Library (IEL) Conference Proceedings IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume IEEE Xplore All Conference Proceedings IEEE Electronic Library (IEL) IEEE Proceedings Order Plans (POP All) 1998-Present |
| DatabaseTitleList | |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISBN | 1728164168 1728164141 9781728164168 9781728164144 |
| EISSN | 2152-744X |
| EndPage | 676 |
| ExternalDocumentID | 9233821 |
| Genre | orig-research |
| GroupedDBID | 6IE 6IF 6IK 6IL 6IN AAJGR AAWTH ABLEC ADZIZ ALMA_UNASSIGNED_HOLDINGS BEFXN BFFAM BGNUA BKEBE BPEOZ CBEJK CHZPO IEGSK IPLJI OCL RIE RIL RNS |
| ID | FETCH-LOGICAL-i118t-de7a2e0c1108832c4eb2a3a2eaa39550a8016bf44ccc6b8345f6e32fbe2de8fd3 |
| IEDL.DBID | RIE |
| IngestDate | Wed Aug 27 05:01:54 EDT 2025 |
| IsPeerReviewed | false |
| IsScholarly | false |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-i118t-de7a2e0c1108832c4eb2a3a2eaa39550a8016bf44ccc6b8345f6e32fbe2de8fd3 |
| PageCount | 6 |
| ParticipantIDs | ieee_primary_9233821 |
| PublicationCentury | 2000 |
| PublicationDate | 2020-Oct.-13 |
| PublicationDateYYYYMMDD | 2020-10-13 |
| PublicationDate_xml | – month: 10 year: 2020 text: 2020-Oct.-13 day: 13 |
| PublicationDecade | 2020 |
| PublicationTitle | International Conference on Industrial Mechatronics and Automation (Online) |
| PublicationTitleAbbrev | ICMA |
| PublicationYear | 2020 |
| Publisher | IEEE |
| Publisher_xml | – name: IEEE |
| SSID | ssj0003010191 |
| Score | 1.7441766 |
| Snippet | The locations of the target cell, its internal structures and surgical tools are essential to achieve visual servoing control for automated cell surgery. Real... |
| SourceID | ieee |
| SourceType | Publisher |
| StartPage | 671 |
| SubjectTerms | computer vision Detectors Embryo Feature extraction Image edge detection Image segmentation microrobotics single cell surgery Surgery Three-dimensional displays visual servoing |
| Title | Real Time Three-Dimensional image processing with Application to Automated Cell Surgery Visual Servoing |
| URI | https://ieeexplore.ieee.org/document/9233821 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3NT8IwFG-QeNCLH2D8Tg8eHWzraNcjQYkeJETRcCP9eDNLgBHY_Pt93RbQxIu3pmnXpG99X-3v9wi5Q587MFwwPGkh96Ke4p60-C-rnpZcWJEwq8piE2I0iqdTOW6Q-y0WBgDKx2fQcc3yLt9mpnCpsi46Iyx2qPE9IXiF1drmU5gjS5NBDQIOfNl9Hrz0I4kmDaPA0O_Uk39VUSmNyPDof8sfk_YOjUfHWztzQhqwPCWHP4gEW-TzFf096uAcdILCAe_BkfZXhBs0XaDOoKsKEYDDqcu90v7u5prmGe0XeYbOK1g6gPmcvlVoafqRbgr8hNMoGU5tk_fh42Tw5NUlFLwUI4fcsyBUCL5xj_3x7JoIA2nFsEspJjE4UWiguE6iyBjDdcyiXsKBhYmG0EKcWHZGmstsCeeEqthoIxIeqUTgcBZrzRR6CMo6NWD9C9JyWzZbVSwZs3q3Lv_uviIHTirOCgTsmjTzdQE3ZN985elmfVuK9hvUlKad |
| linkProvider | IEEE |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3NT8IwFH8haKJe_ADjtz14dDDW0W1HghqIQIii4Ua69s0sQUZg8-_3dVtAEy_emqZdmr71fbW_3wO4I5-7pYTH6aQ5wnLbUliBpn9ZtsNAeNqLuJZ5sQlvNPKn02BcgfsNFgYR88dn2DDN_C5fJyozqbImOSPcN6jxHVM5q0RrbTIq3NClBa0SBtyyg2a_O-y4ARk1igMdu1FO_1VHJTcjT4f_W8AR1Ld4PDbeWJpjqODiBA5-UAnW4OOFPD5mAB1sQuJB68HQ9heUGyz-JK3BlgUmgIYzk31lne3dNUsT1snShNxX1KyL8zl7LfDS7D1eZ_QJo1MSmlqHt6fHSbdnlUUUrJhih9TS6EkHbWWe-9PpVS6F0pJTl5Q8oPBEkokSYeS6SikR-txtRwK5E4XoaPQjzU-hukgWeAZM-ipUXiRcGXk0nPthyCX5CFIbRaDtc6iZLZstC56MWblbF39338JebzIczAb90fMl7BsJGZvQ4ldQTVcZXsOu-krj9eomF_M3rmep5g |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=proceeding&rft.title=International+Conference+on+Industrial+Mechatronics+and+Automation+%28Online%29&rft.atitle=Real+Time+Three-Dimensional+image+processing+with+Application+to+Automated+Cell+Surgery+Visual+Servoing&rft.au=Song%2C+Ze&rft.au=Mills%2C+James+K.&rft.date=2020-10-13&rft.pub=IEEE&rft.eissn=2152-744X&rft.spage=671&rft.epage=676&rft_id=info:doi/10.1109%2FICMA49215.2020.9233821&rft.externalDocID=9233821 |