Zhou M, Wu J, Ebrahimi A, Patel N, Liu Y, Navab N, Gehlbach P, Knoll A, Nasseri MA, Iordachita I (2021)
Publication Type: Journal article
Publication year: 2021
Book Volume: 6
Pages Range: 7750-7757
Article Number: 9502523
Journal Issue: 4
Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities during microsurgery. In this letter, a novel method is proposed for 3D navigation of a microsurgical instrument based on the projection of a spotlight during robot-assisted retinal surgery. To test the feasibility and effectiveness of the proposed method, a vessel tracking task in a phantom with a Remote Center of Motion (RCM) constraint is performed by the Steady-Hand Eye Robot (SHER). The results are compared to manual tracking, cooperative control tracking with the SHER and spotlight-based automatic tracking with SHER. The reported results are that the spotlight-based automatic tracking with SHER can reach an average tracking error of 0.013 mm and keeping distance error of 0.1 mm from the desired range demonstrating a significant improvement compared to manual or cooperative control methods alone.
APA:
Zhou, M., Wu, J., Ebrahimi, A., Patel, N., Liu, Y., Navab, N.,... Iordachita, I. (2021). Spotlight-based 3D instrument guidance for autonomous task in robot-assisted retinal surgery. IEEE Robotics and Automation Letters, 6(4), 7750-7757. https://doi.org/10.1109/LRA.2021.3100937
MLA:
Zhou, Mingchuan, et al. "Spotlight-based 3D instrument guidance for autonomous task in robot-assisted retinal surgery." IEEE Robotics and Automation Letters 6.4 (2021): 7750-7757.
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