Paper Info
Title
Spotlight-based 3D Instrument Guidance for Retinal Surgery
Abstract
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.
Year
DOI
Venue
2020
10.1109/ISMR48331.2020.9312952
2020 International Symposium on Medical Robotics (ISMR)
Keywords
DocType
Volume
static calibration,tip-to-surface distance,retina phantom,surgical enhancement,spotlight-based 3D instrument guidance,human surgeons,robot-assisted surgery,complex activity,retinal surgery,intraocular visual guidance,dynamic test,steady-hand eye robot,light fiber,sphere surface,single microscope images
Conference
2020
ISBN
Citations 
PageRank 
978-1-7281-5489-3
1
0.35
References 
Authors
0
10
Name
Order
Citations
PageRank
Mingchuan Zhou155.21
jiahao wu2107.03
Ali Ebrahimi376.28
Niravkumar A. Patel41810.71
Changyan He585.30
Peter L Gehlbach634.09
Russell H. Taylor71970438.00
Alois Knoll Knoll81700271.32
M. Ali Nasseri965.59
Iulian Iordachita1033262.98