Techniques for robot-aided intraocular surgery using monocular vision

Title
Techniques for robot-aided intraocular surgery using monocular vision
Authors
양성욱Joseph N MartelLouis A Lobes JrCameron N Riviere
Keywords
Medical robotics; surgery; reconstruction algorithms; visual servoing
Issue Date
2018-08
Publisher
The International journal of robotics research
Citation
VOL 37, NO 8-958
Abstract
This paper presents techniques for robot-aided intraocular surgery using monocular vision in order to overcome erroneous stereo reconstruction in an intact eye. We propose a new retinal surface estimation method based on a structuredlight approach. A handheld robot known as the Micron enables automatic scanning of a laser probe, creating projected beam patterns on the retinal surface. Geometric analysis of the patterns then allows planar reconstruction of the surface. To realize automated surgery in an intact eye, monocular hybrid visual servoing is accomplished through a scheme that incorporates surface reconstruction and partitioned visual servoing. We investigate the sensitivity of the estimation method according to relevant parameters and also evaluate its performance in both dry and wet conditions. The approach is validated through experiments for automated laser photocoagulation in a realistic eye phantom in vitro. Finally, we present the first demonstration of automated intraocular laser surgery in porcine eyes ex vivo.
URI
http://pubs.kist.re.kr/handle/201004/68051
ISSN
0278-3649
Appears in Collections:
KIST Publication > Article
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