相关论文: EyeLS: Shadow-Guided Instrument Landing System for…
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…
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,…
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…
Vitreoretinal surgery is challenging even for expert surgeons owing to the delicate target tissues and the diminutive workspace in the retina. In addition to improved dexterity and accuracy, robot assistance allows for (partial) task…
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…
Purpose. Intraoperative Optical Coherence Tomography (iOCT) is an increasingly available imaging technique for ophthalmic microsurgery that provides high-resolution cross-sectional information of the surgical scene. We propose to build on…
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…
Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therapeutics. These surgical robots show promising capabilities;…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
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…
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or…
Subretinal injection is a critical procedure for delivering therapeutic agents to treat retinal diseases such as age-related macular degeneration (AMD). However, retinal motion caused by physiological factors such as respiration and…
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and…
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…
Purpose: The integration of multimodal imaging into operating rooms paves the way for comprehensive surgical scene understanding. In ophthalmic surgery, by now, two complementary imaging modalities are available: operating microscope (OPMI)…
This paper presents an innovative approach to intraoperative Optical Coherence Tomography (iOCT) image segmentation in ophthalmic surgery, leveraging statistical analysis of speckle patterns to incorporate statistical pathology-specific…
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…
Subretinal injection methods and other procedures for treating retinal conditions and diseases (many considered incurable) have been limited in scope due to limited human motor control. This study demonstrates the next generation,…
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…