Spotlight-based 3D instrument guidance for autonomous task in robot-assisted retinal surgery

Mingchuan Zhou; Jiahao Wu; Ali Ebrahimi; Niravkumar Patel; Yunhui Liu; Nassir Navab; Peter Gehlbach; Alois Knoll; M. Ali Nasseri; Iulian Iordachita

doi:10.1109/LRA.2021.3100937

Spotlight-based 3D instrument guidance for autonomous task in robot-assisted retinal surgery

Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar Patel, Yunhui Liu, Nassir Navab, Peter Gehlbach, Alois Knoll, M. Ali Nasseri, Iulian Iordachita

School of Medicine

Research output: Contribution to journal › Article › peer-review

Abstract

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.

Original language	English (US)
Article number	9502523
Pages (from-to)	7750-7757
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	6
Issue number	4
DOIs	https://doi.org/10.1109/LRA.2021.3100937
State	Published - Oct 2021

Keywords

Autonomous surgery
Medical robots and systems
Robot-assisted retinal surgery

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2021.3100937

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@article{4ba1d7c42be9463daffb0630090071b9,

title = "Spotlight-based 3D instrument guidance for autonomous task in robot-assisted retinal surgery",

abstract = "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.",

keywords = "Autonomous surgery, Medical robots and systems, Robot-assisted retinal surgery",

author = "Mingchuan Zhou and Jiahao Wu and Ali Ebrahimi and Niravkumar Patel and Yunhui Liu and Nassir Navab and Peter Gehlbach and Alois Knoll and Nasseri, {M. Ali} and Iulian Iordachita",

note = "Funding Information: Manuscript received February 28, 2021; accepted July 7, 2021. Date of publication July 30, 2021; date of current version August 20, 2021. This work was supported in part by the U.S. National Institutes of Health under Grants 1R01EB023943-01 and 1R01 EB025883-01A1 and TUM-GS internationalization funding, and in part by the project of Research to Prevent Blindness, New York, USA. The work of J. Wu was supported in part by the HK RGC under Grants T42-409/18-R and 14202918. This letter was recommended for publication by Associate Editor A. Faragasso and Editor P. Valdastri upon evaluation of the reviewers{\textquoteright} comments. (Mingchuan Zhou and Jiahao Wu contributed equally to this work.) (Corresponding author: Mingchuan Zhou.) Mingchuan Zhou is with the College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China, with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218 USA, and also with the Department of Computer Science, Technische Universit{\"a}t M{\"u}nchen, 85748 M{\"u}nchen, Germany (e-mail: mczhou@zju.edu.cn). Publisher Copyright: {\textcopyright} 2016 IEEE.",

year = "2021",

month = oct,

doi = "10.1109/LRA.2021.3100937",

language = "English (US)",

volume = "6",

pages = "7750--7757",

journal = "IEEE Robotics and Automation Letters",

issn = "2377-3766",

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number = "4",

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T1 - Spotlight-based 3D instrument guidance for autonomous task in robot-assisted retinal surgery

AU - Zhou, Mingchuan

AU - Wu, Jiahao

AU - Ebrahimi, Ali

AU - Patel, Niravkumar

AU - Liu, Yunhui

AU - Navab, Nassir

AU - Gehlbach, Peter

AU - Knoll, Alois

AU - Nasseri, M. Ali

AU - Iordachita, Iulian

N1 - Funding Information: Manuscript received February 28, 2021; accepted July 7, 2021. Date of publication July 30, 2021; date of current version August 20, 2021. This work was supported in part by the U.S. National Institutes of Health under Grants 1R01EB023943-01 and 1R01 EB025883-01A1 and TUM-GS internationalization funding, and in part by the project of Research to Prevent Blindness, New York, USA. The work of J. Wu was supported in part by the HK RGC under Grants T42-409/18-R and 14202918. This letter was recommended for publication by Associate Editor A. Faragasso and Editor P. Valdastri upon evaluation of the reviewers’ comments. (Mingchuan Zhou and Jiahao Wu contributed equally to this work.) (Corresponding author: Mingchuan Zhou.) Mingchuan Zhou is with the College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China, with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218 USA, and also with the Department of Computer Science, Technische Universität München, 85748 München, Germany (e-mail: mczhou@zju.edu.cn). Publisher Copyright: © 2016 IEEE.

PY - 2021/10

Y1 - 2021/10

N2 - 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.

AB - 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.

KW - Autonomous surgery

KW - Medical robots and systems

KW - Robot-assisted retinal surgery

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JF - IEEE Robotics and Automation Letters

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M1 - 9502523

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Spotlight-based 3D instrument guidance for autonomous task in robot-assisted retinal surgery

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Keywords

ASJC Scopus subject areas

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