Spotlight-based 3D Instrument Guidance for Retinal Surgery

Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar Patel, Changyan He, Peter Gehlbach, Russell H. Taylor, Alois Knoll, M. Ali Nasseri, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-Assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-To-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

Original languageEnglish (US)
Title of host publication2020 International Symposium on Medical Robotics, ISMR 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781728154886
StatePublished - Nov 18 2020
Event2020 International Symposium on Medical Robotics, ISMR 2020 - Atlanta, United States
Duration: Nov 18 2020Nov 20 2020

Publication series

Name2020 International Symposium on Medical Robotics, ISMR 2020


Conference2020 International Symposium on Medical Robotics, ISMR 2020
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Control and Optimization
  • Surgery


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