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Zhou M, Wu J, Ebrahimi A, Patel N, He C, Gehlbach P, Taylor RH, Knoll A, Nasseri MA, Iordachita I. Spotlight-based 3D Instrument Guidance for Retinal Surgery. ... INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS. INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS 2021; 2020. [PMID: 34595483 DOI: 10.1109/ismr48331.2020.9312952] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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.
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Affiliation(s)
- Mingchuan Zhou
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA.,Chair of Robotics, Artificial Intelligence and Real-time Systems, Technische Universität München, München 85748 Germany
| | - Jiahao Wu
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA.,T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, HKSAR, China
| | - Ali Ebrahimi
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA
| | - Niravkumar Patel
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA
| | - Changyan He
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA
| | - Peter Gehlbach
- Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD 21287 USA
| | - Russell H Taylor
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA
| | - Alois Knoll
- Chair of Robotics, Artificial Intelligence and Real-time Systems, Technische Universität München, München 85748 Germany
| | - M Ali Nasseri
- Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universität München, München 81675 Germany
| | - Iulian Iordachita
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA
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Carrasco-Zevallos OM, Keller B, Viehland C, Shen L, Seider MI, Izatt JA, Toth CA. Optical Coherence Tomography for Retinal Surgery: Perioperative Analysis to Real-Time Four-Dimensional Image-Guided Surgery. Invest Ophthalmol Vis Sci 2017; 57:OCT37-50. [PMID: 27409495 PMCID: PMC4968921 DOI: 10.1167/iovs.16-19277] [Citation(s) in RCA: 29] [Impact Index Per Article: 4.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/03/2023] Open
Abstract
Magnification of the surgical field using the operating microscope facilitated profound innovations in retinal surgery in the 1970s, such as pars plana vitrectomy. Although surgical instrumentation and illumination techniques are continually developing, the operating microscope for vitreoretinal procedures has remained essentially unchanged and currently limits the surgeon's depth perception and assessment of subtle microanatomy. Optical coherence tomography (OCT) has revolutionized clinical management of retinal pathology, and its introduction into the operating suite may have a similar impact on surgical visualization and treatment. In this article, we review the evolution of OCT for retinal surgery, from perioperative analysis to live volumetric (four-dimensional, 4D) image-guided surgery. We begin by briefly addressing the benefits and limitations of the operating microscope, the progression of OCT technology, and OCT applications in clinical/perioperative retinal imaging. Next, we review intraoperative OCT (iOCT) applications using handheld probes during surgical pauses, two-dimensional (2D) microscope-integrated OCT (MIOCT) of live surgery, and volumetric MIOCT of live surgery. The iOCT discussion focuses on technological advancements, applications during human retinal surgery, translational difficulties and limitations, and future directions.
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Affiliation(s)
| | - Brenton Keller
- Department of Biomedical Engineering, Duke University, Durham, North Carolina, United States
| | - Christian Viehland
- Department of Biomedical Engineering, Duke University, Durham, North Carolina, United States
| | - Liangbo Shen
- Department of Biomedical Engineering, Duke University, Durham, North Carolina, United States
| | - Michael I Seider
- Department of Ophthalmology, Duke University Medical Center, Durham, North Carolina, United States
| | - Joseph A Izatt
- Department of Biomedical Engineering, Duke University, Durham, North Carolina, United States 2Department of Ophthalmology, Duke University Medical Center, Durham, North Carolina, United States
| | - Cynthia A Toth
- Department of Biomedical Engineering, Duke University, Durham, North Carolina, United States 2Department of Ophthalmology, Duke University Medical Center, Durham, North Carolina, United States
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Wesierski D, Wojdyga G, Jezierska A. Instrument Tracking with Rigid Part Mixtures Model. COMPUTER-ASSISTED AND ROBOTIC ENDOSCOPY 2016. [DOI: 10.1007/978-3-319-29965-5_3] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/28/2023]
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Accelerated Dynamic MRI Reconstruction with Total Variation and Nuclear Norm Regularization. LECTURE NOTES IN COMPUTER SCIENCE 2015. [DOI: 10.1007/978-3-319-24571-3_76] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/09/2023]
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Surgical Tool Tracking and Pose Estimation in Retinal Microsurgery. LECTURE NOTES IN COMPUTER SCIENCE 2015. [DOI: 10.1007/978-3-319-24553-9_33] [Citation(s) in RCA: 19] [Impact Index Per Article: 2.1] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/24/2022]
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