EyeSLAM: Real­time simultaneous localization and mapping of retinal vessels during intraocular microsurgery

Title
EyeSLAM: Real­time simultaneous localization and mapping of retinal vessels during intraocular microsurgery
Authors
양성욱Daniel BraunJoseph N. MartelCameron N. RiviereBrian C. Becker
Keywords
intraocular microsurgery; robotic micromanipulation; vessel detection
Issue Date
2018-02
Publisher
International Journal of Medical Robotics and Computer Assisted Surgery
Citation
VOL 14, NO 1, e1848
Abstract
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.
URI
http://pubs.kist.re.kr/handle/201004/68049
ISSN
1478-5951
Appears in Collections:
KIST Publication > Article
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