Multiple-scale augmented reality markers for positioning of robotic micromanipulation
Shuzhang Liang, Vincent Rabette, Hirotaka Sugiura, Rixin Wang, Satoshi Amaya, Yuguo Dai, Hao Mo, Fumihito Arai
Abstract
This study proposes a novel strategy for cross-scale position of robotic micromanipulation. The strategy utilizes multiple-scale augmented reality (AR) markers for locating the robotic manipulator on different scales. The macro-marker (3.0 cm-per side, 5 mm×5 mm each square) is applied to position the robot to the microscopic manipulation area. The micro-marker (2.4 mm-per side, 400 μm×400 μm each square) is used for positioning the end-effector under microscopic view. After the fabrication of the markers, the camera's internal parameter matrix was first calibrated. Subsequently, we conducted the detection effect of macro- and micro-markers. Since the observation effect of micro-markers is different under the microscope, the detection distance of the micro-marker was corrected and compensated, and the fixed reference marker was introduced for the correction in different focus heights. Finally, based on detection markers, a robotic manipulator, integrated with a microfluidic chip as an end-effector, was employed to demonstrate the micromanipulation of loading oocytes. The proposed strategy has a potential application in the biology laboratory automation.
BibTeX
@inproceedings{iros2025_multiplescaleaug,
title = {Multiple-scale augmented reality markers for positioning of robotic micromanipulation},
author = {Shuzhang Liang and Vincent Rabette and Hirotaka Sugiura and Rixin Wang and Satoshi Amaya and Yuguo Dai and Hao Mo and Fumihito Arai},
booktitle = {IROS 2025},
year = {2025}
}