Real-Time Incremental Estimation of Retinal Surface Using Laser Aiming Beam

Routray, Arpita; MacLachlan, Robert A.; Martel, Joseph N.; Riviere, Cameron N.

doi:10.1109/ismr.2019.8710197

Cited by 3 publications

(1 citation statement)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to obtain more robust navigation intraocularly, a structure lightbased method has also been introduced recently to navigate an instrument in 3D. Yang et al estimated the retinal surface in the coordinate system of custom-built optical tracking system (ASAP) with structured-light reconstruction method, afterward the tip-to-surface distance was calculated in the coordinate system of ASAP with known the surface reconstruction [23], [24]. By way of comparison, this paper presented a method that mounts the beam onto the surgical tool.…”

Section: Related Workmentioning

confidence: 99%

Spotlight-Based 3D Instrument Guidance for Autonomous Task in Robot-Assisted Retinal Surgery

Zhou

Ebrahimi

et al. 2021

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities during microsurgery. In this letter, a novel method is proposed for 3D navigation of a microsurgical instrument based on the projection of a spotlight during robot-assisted retinal surgery. To test the feasibility and effectiveness of the proposed method, a vessel tracking task in a phantom with a Remote Center of Motion (RCM) constraint is performed by the Steady-Hand Eye Robot (SHER). The results are compared to manual tracking, cooperative control tracking with the SHER and spotlight-based automatic tracking with SHER. The reported results are that the spotlight-based automatic tracking with SHER can reach an average tracking error of 0.013 mm and keeping distance error of 0.1 mm from the desired range demonstrating a significant improvement compared to manual or cooperative control methods alone.

show abstract

Section: Related Workmentioning

confidence: 99%