Real-Time Holographic Tracking and Control of Microrobots

Digital holography is used to track the three-dimensional position of a magnetic microrobot maneuvered in real time by means of an electromagnetic manipulation system. The method presented is able to process holograms at 40 Hz with a position accuracy in the imaging plane and in depth of <inline-formula><tex-math notation="LaTeX">$\pm$ </tex-math></inline-formula>23 and <inline-formula><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 180 <inline-formula><tex-math notation="LaTeX">$\mu$</tex-math></inline-formula>m, respectively. As this method does not require magnification, microrobots can be tracked in significantly larger working volumes than conventional optical methods. The performance of this tracking method is demonstrated by visually servoing a magnetic bead around a cubic trajectory.

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