EyeSLAM: Realtime simultaneous localization and mapping of retinal vessels during intraocular microsurgery
- EyeSLAM: Realtime simultaneous localization and mapping of retinal vessels during intraocular microsurgery
- 양성욱; Daniel Braun; Joseph N. Martel; Cameron N. Riviere; Brian C. Becker
- intraocular microsurgery; robotic micromanipulation; vessel detection
- Issue Date
- International Journal of Medical Robotics and Computer Assisted Surgery
- VOL 14, NO 1, e1848
- Background: Fast and accurate mapping and localization of the retinal vasculature is critical to increasing the effectiveness and clinical utility of robot-assisted intraocular microsurgery such as laser photocoagulation and retinal vessel cannulation.
Methods: The proposed EyeSLAM algorithm delivers 30 Hz real-time simultaneous localization and mapping of the human retina and vasculature during intraocular surgery, combining fast vessel detection with 2D scan-matching techniques to build and localize a probabilistic map of the vasculature.
Results: In the harsh imaging environment of retinal surgery with high magnification, quick shaky motions, textureless retina background, variable lighting and tool occlusion, EyeSLAM can map 75% of the vessels within two seconds of initialization and localize the retina in real time with a root mean squared (RMS) error of under 5.0 pixels (translation) and 1 degrees (rotation).
Conclusions: EyeSLAM robustly provides retinal maps and registration that enable intelligent surgical micromanipulators to aid surgeons in simulated retinal vessel tracing and photocoagulation tasks.
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