Related papers: Deep Learning-Enhanced Robotic Subretinal Injectio…
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such as subretinal injections of stem cells, gene therapy, small…
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence tomography (iOCT) enables image-guided robotic interventions,…
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated…
Recent advancements in retinal surgery have paved the way for a modern operating room equipped with a surgical robot, a microscope, and intraoperative optical coherence tomography (iOCT)- a depth sensor widely used in retinal surgery.…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In…
Important challenges in retinal microsurgery include prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surgery. The introduction of robot-assisted technology could…
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
Achieving precise control of robotic tool paths is often challenged by inherent system misalignments, unmodeled dynamics, and actuation inaccuracies. This work introduces an Iterative Learning Control (ILC) strategy to enable precise…
Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small size and fragility of retinal veins, coupled with the need…
Segmentation of retinal layers from Optical Coherence Tomography (OCT) volumes is a fundamental problem for any computer aided diagnostic algorithm development. This requires preprocessing steps such as denoising, region of interest…
Subretinal injection is a delicate vitreoretinal procedure requiring precise needle placement within the subretinal space while avoiding perforation of the retinal pigment epithelium (RPE), a layer directly beneath the target with extremely…
In recent years, deep learning technology has developed rapidly, and the application of deep neural networks in the medical image processing field has become the focus of the spotlight. This paper aims to achieve needle position detection…
Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise…
Deep learning has emerged as a powerful artificial intelligence tool to interpret medical images for a growing variety of applications. However, the paucity of medical imaging data with high-quality annotations that is necessary for…
Automatic blood vessel segmentation from retinal images plays an important role in the diagnosis of many systemic and eye diseases, including retinopathy of prematurity. Current state-of-the-art research in blood vessel segmentation from…
Photoacoustic imaging has shown great potential for guiding minimally invasive procedures by accurate identification of critical tissue targets and invasive medical devices (such as metallic needles). The use of light emitting diodes (LEDs)…
Age-related macular degeneration (AMD) is a major cause of blindness in older adults, severely affecting vision and quality of life. Despite advances in understanding AMD, the molecular factors driving the severity of subretinal scarring…
We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of targeted drug delivery. The procedure requires accurately…