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Techniques for robot-aided intraocular surgery using monocular vision.

Sungwook Yang1, Joseph N Martel2, Louis A Lobes2

  • 1Center for BioMicrosystems, Korea Institute of Science and Technology, Korea.

The International Journal of Robotics Research
|February 12, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces robot-assisted intraocular surgery using monocular vision and a novel retinal surface estimation method. This approach enables automated laser surgery, overcoming challenges with stereo reconstruction in intact eyes.

Keywords:
Medical roboticsreconstruction algorithmssurgeryvisual servoing

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Area of Science:

  • Ophthalmology
  • Robotics
  • Computer Vision

Background:

  • Intraocular surgery faces challenges with stereo reconstruction accuracy in intact eyes.
  • Existing robotic systems may struggle with precise navigation and surface mapping within the eye.

Purpose of the Study:

  • To develop and validate robot-aided techniques for intraocular surgery using monocular vision.
  • To overcome limitations of stereo reconstruction in intact eyes through a novel retinal surface estimation method.

Main Methods:

  • A structured-light approach using a handheld robot (Micron) for laser probe scanning and retinal surface pattern projection.
  • Geometric analysis of projected patterns for planar retinal surface reconstruction.
  • Monocular hybrid visual servoing integrating surface reconstruction and partitioned visual servoing for automated surgery.

Main Results:

  • The proposed retinal surface estimation method demonstrates robustness in both dry and wet conditions.
  • Automated laser photocoagulation was successfully validated in vitro using a realistic eye phantom.
  • The first demonstration of automated intraocular laser surgery in ex vivo porcine eyes was achieved.

Conclusions:

  • The developed monocular vision techniques provide a viable solution for robot-aided intraocular surgery.
  • The structured-light approach and hybrid visual servoing enable precise and automated surgical procedures.
  • This work paves the way for enhanced precision and automation in ophthalmic surgery.