You are looking for following components,
Service Registry : The whole point of this component is to keep track of "what service are running on what addresses". This can be as simple as a simple database which keeps entries for all the running services and their instances. Generally the orchestration service is responsible to register new service instances with Service Registry. Other choice can be to have instances themselves notify the service registry about their existence.
Service Health Checker : This component is mostly responsible for doing periodic runtime checks on the registered service instances and tell service registry if any of them is not working. The service registry implementation can then either mark these instances as "inactive" till they are found to be working by Service Health Checker in future (if ever).
Service Resolution : This is the conceptual component responsible for enabling a client to somehow get to the running service instances.
The whole of above components is called Service Discovery.
In your case, you have load-balancers
which can act as a form of ServiceDiscovery.
I don't think load-balancers
are going to change much over time unless you require a very advanced architecture, so your API gateway can simply "know" the url's to load-balancers for all your services. So, you don't really need service registry layer.
Now, your load-balancers inherently provide a health-check and quarantine mechanism for instances. So, you don't need an extra health check layer.
So, the only piece missing is to register your instances with the load balancer. This part you will have to figure out based on what your load-balancers are and what ecosystem they live in.
If you live in AWS ecosystem and your load balancers are ELB, then you should have things sorted out in that respect.