Toward automated intraocular laser surgery using a handheld micromanipulator

Yang, Sungwook; MacLachlan, Robert A.; Riviere, Cameron N.

doi:10.1109/iros.2014.6942725

Cited by 8 publications

(16 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The image Jacobian update also improves the control performance by allowing the increment of gains used for visual servoing. As a result, it is found that the hybrid control approach improves the accuracy of robot-aided operation, compared to the position-based visual servo control [7]; the average error is reduced by 26.2%. The visual cues designed to maintain hand-eye coordination were useful in robot-aided operation, allowing repeatable experiments in both in the open-sky and eye phantom tasks, alleviating the limitations of previous work [7].…”

Section: Discussionmentioning

confidence: 99%

“…The first step is to register the CCD cameras with the Micron control coordinates (called herein the “ASAP coordinates”) by sweeping the tool above the retinal surface as described in [7]. Given multiple correspondences between 2D and 3D tip positions, projection matrices are obtained for the left and right cameras M c as in (1).…”

Section: Methodsmentioning

confidence: 99%

“…Therefore, robot-assisted techniques have been introduced using an active handheld robot known as Micron [6], [7]. Since Micron incorporates a miniature micromanipulator that can maneuver a laser probe, lesions can be treated automatically via visual servoing of the aiming beam emitted from the laser probe.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, the distance between the laser probe and the retinal surface was manually controlled, relying on the operator’s depth perception, since the axial range of motion was even smaller than the lateral. Recently, we proposed automated intraocular laser surgery using an improved prototype of Micron [7]. Since the new system provides much greater range of motion, intraocular laser treatment can be automated, while automatically maintaining a constant distance from the retina.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Comparative Evaluation of Handheld Robot-Aided Intraocular Laser Surgery

et al. 2016

Self Cite

View full text Add to dashboard Cite

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Comparative Evaluation of Handheld Robot-Aided Intraocular Laser Surgery

et al. 2016

Self Cite

View full text Add to dashboard Cite

show abstract

“…In order to calibrate the tool tip offset, we use an approach developed in [14]. An optimizer is used to minimize the error between the projected and detected tip positions in both the cameras, while scanning the tool over the surface.…”

Section: Methodsmentioning

confidence: 99%

Toward monocular camera-guided retinal vein cannulation with an actively stabilized handheld robot

Mukherjee

Yang

MacLachlan

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

Self Cite

View full text Add to dashboard Cite

In this paper we describe work towards retinal vessel cannulation using an actively stabilized handheld robot, guided by monocular vision. We employ a previously developed monocular camera based surface reconstruction method using automated laser beam scanning over the retina. We use the reconstructed plane to find a coordinate transform between the 2D image plane coordinate system and the global 3D frame. Within a hemispherical region around the target, we use motion scaling for higher precision. The contribution of this work is the homography matrix estimation using monocular vision and application of the previously developed laser surface reconstruction to Micron guided vein cannulation. Experiments are conducted in a wet eye phantom to show the higher accuracy of the surface reconstruction as compared to standard stereo reconstruction. Further, experiments to show the increased surgical accuracy due to motion scaling are also carried out.

show abstract

Handheld‐automated microsurgical instrumentation for intraocular laser surgery

et al. 2015

Self Cite

View full text Add to dashboard Cite

Background and Objective Laser photocoagulation is a mainstay or adjuvant treatment for a variety of common retinal diseases. Automated laser photocoagulation during intraocular surgery has not yet been established. The authors introduce an automated laser photocoagulation system for intraocular surgery, based on a novel handheld instrument. The goals of the system are to enhance accuracy and efficiency and improve safety. Materials and Methods Triple-ring patterns are introduced as a typical arrangement for the treatment of proliferative retinopathy and registered to a preoperative fundus image. In total, 32 target locations are specified along the circumferences of three rings having diameters of 1, 2, and 3 mm, with a burn spacing of 600 μm. Given the initial system calibration, the retinal surface is reconstructed using stereo vision, and the targets specified on the preoperative image are registered with the control system. During automated operation, the laser probe attached to the manipulator of the active handheld instrument is deflected as needed via visual servoing in order to correct the error between the aiming beam and a specified target, regardless of any erroneous handle motion by the surgeon. A constant distance of the laser probe from the retinal surface is maintained in order to yield consistent size of burns and ensure safety during operation. Real-time tracking of anatomical features enables compensation for any movement of the eye. A graphical overlay system within operating microscope provides the surgeon with guidance cues for automated operation. Two retinal surgeons performed automated and manual trials in an artificial model of the eye, with each trial repeated three times. For the automated trials, various targeting thresholds (50–200 μm) were used to automatically trigger laser firing. In manual operation, fixed repetition rates were used, with frequencies of 1.0–2.5 Hz. The power of the 532 nm laser was set at 3.0 W with a duration of 20 ms. After completion of each trial, the speed of operation and placement error of burns were measured. The performance of the automated laser photocoagulation was compared with manual operation, using interpolated data for equivalent firing rates from 1.0 to 1.75 Hz. Results In automated trials, average error increased from 45 ± 27 to 60 ± 37 μm as the targeting threshold varied from 50 to 200 μm, while average firing rate significantly increased from 0.69 to 1.71 Hz. The average error in the manual trials increased from 102 ± 67 to 174 ± 98 μm as firing rate increased from 1.0 to 2.5 Hz. Compared to the manual trials, the average error in the automated trials was reduced by 53.0–56.4%, resulting in statistically significant differences (P ≤ 10−20) for all equivalent frequencies (1.0–1.75 Hz). The depth of the laser tip in the automated trials was consistently maintained within 18 ± 2 μm root-mean-square (RMS) of its initial position, whereas it significantly varied in the manual trials, yielding an error of 296 ± 30 μm RMS. At high firing rates...

show abstract

Toward automated intraocular laser surgery using a handheld micromanipulator

Cited by 8 publications

References 13 publications

Comparative Evaluation of Handheld Robot-Aided Intraocular Laser Surgery

Comparative Evaluation of Handheld Robot-Aided Intraocular Laser Surgery

Toward monocular camera-guided retinal vein cannulation with an actively stabilized handheld robot

Handheld‐automated microsurgical instrumentation for intraocular laser surgery

Contact Info

Product

Resources

About