TY - GEN
T1 - Spotlight-based 3D Instrument Guidance for Retinal Surgery
AU - Zhou, Mingchuan
AU - Wu, Jiahao
AU - Ebrahimi, Ali
AU - Patel, Niravkumar
AU - He, Changyan
AU - Gehlbach, Peter
AU - Taylor, Russell H.
AU - Knoll, Alois
AU - Nasseri, M. Ali
AU - Iordachita, Iulian
N1 - Funding Information:
This work was supported by U.S. National Institutes of Health under grants number 1R01EB023943-01 and 1R01 EB025883-01A1. The work was supported by Research to Prevent Blindness, New York, New York, USA, and gifts by the J. Willard and Alice S. Marriott Foundation, the Gale Trust, Mr. Herb Ehlers, Mr. Bill Wilbur, Mr. and Mrs. Rajandre Shaw, Ms. Helen Nassif, Ms Mary Ellen Keck, Don and Maggie Feiner, and Mr. Ronald Stiff. The work was also partly supported by TUM-GS internationalization funding.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/18
Y1 - 2020/11/18
N2 - 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.
AB - 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.
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U2 - 10.1109/ISMR48331.2020.9312952
DO - 10.1109/ISMR48331.2020.9312952
M3 - Conference contribution
AN - SCOPUS:85100275468
T3 - 2020 International Symposium on Medical Robotics, ISMR 2020
SP - 69
EP - 75
BT - 2020 International Symposium on Medical Robotics, ISMR 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Symposium on Medical Robotics, ISMR 2020
Y2 - 18 November 2020 through 20 November 2020
ER -