TY - GEN
T1 - ColibriDoc
T2 - 39th IEEE International Conference on Robotics and Automation, ICRA 2022
AU - Dehghani, Shervin
AU - Sommersperger, Michael
AU - Yang, Junjie
AU - Salehi, Mehrdad
AU - Busam, Benjamin
AU - Huang, Kai
AU - Gehlbach, Peter
AU - Iordachita, Iulian
AU - Navab, Nassir
AU - Nasseri, M. Ali
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently under development to enable or improve the outcome of microsurgical tasks. Since the control of such robots is often designed for navigation inside the eye in proximity to the retina, successful trocar docking and insertion of the instrument into the eye represents an additional cognitive effort, and is therefore one of the open challenges in robotic retinal surgery. For this purpose, we present a platform for autonomous trocar docking that combines computer vision and a robotic setup. Inspired by the Cuban Colibri (hummingbird) aligning its beak to a flower using only vision, we mount a camera onto the endeffector of a robotic system. By estimating the position and pose of the trocar, the robot is able to autonomously align and navigate the instrument towards the Trocar Entry Point (TEP) and finally perform the insertion. Our experiments show that the proposed method is able to accurately estimate the position and pose of the trocar and achieve repeatable autonomous docking. The aim of this work is to reduce the complexity of the robotic setup prior to the surgical task and therefore, increase the intuitiveness of the system integration into clinical workflow.
AB - Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently under development to enable or improve the outcome of microsurgical tasks. Since the control of such robots is often designed for navigation inside the eye in proximity to the retina, successful trocar docking and insertion of the instrument into the eye represents an additional cognitive effort, and is therefore one of the open challenges in robotic retinal surgery. For this purpose, we present a platform for autonomous trocar docking that combines computer vision and a robotic setup. Inspired by the Cuban Colibri (hummingbird) aligning its beak to a flower using only vision, we mount a camera onto the endeffector of a robotic system. By estimating the position and pose of the trocar, the robot is able to autonomously align and navigate the instrument towards the Trocar Entry Point (TEP) and finally perform the insertion. Our experiments show that the proposed method is able to accurately estimate the position and pose of the trocar and achieve repeatable autonomous docking. The aim of this work is to reduce the complexity of the robotic setup prior to the surgical task and therefore, increase the intuitiveness of the system integration into clinical workflow.
KW - Computer Vision for Medical Robotics
KW - Medical Robots and Systems
KW - Surgical Robotics: Planning
UR - http://www.scopus.com/inward/record.url?scp=85136321329&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85136321329&partnerID=8YFLogxK
U2 - 10.1109/ICRA46639.2022.9811364
DO - 10.1109/ICRA46639.2022.9811364
M3 - Conference contribution
AN - SCOPUS:85136321329
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 7717
EP - 7723
BT - 2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 23 May 2022 through 27 May 2022
ER -