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Hybrid Robot-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries.

Zhaoshuo Li¹, Mahya Shahbazi¹, Niravkumar Patel¹

¹Authors with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland 21218, USA.

IEEE Transactions on Medical Robotics and Bionics

|July 24, 2020

Summary

A novel hybrid control strategy enhances intraocular probe-based confocal laser endomicroscopy (pCLE) for cellular-level retinal imaging. This system improves image quality and surgical precision by combining surgeon control with robotic assistance.

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Multimodal Volumetric Retinal Imaging by Oblique Scanning Laser Ophthalmoscopy oSLO and Optical Coherence Tomography OCT

Multimodal Volumetric Retinal Imaging by Oblique Scanning Laser Ophthalmoscopy oSLO and Optical Coherence Tomography OCT

Published on: August 4, 2018

Area of Science:

Ophthalmology
Medical Imaging
Robotics

Background:

High-resolution intraocular retinal imaging at the cellular level is challenging due to anatomical constraints and limited modalities.
Probe-based confocal laser endomicroscopy (pCLE) offers potential for improved diagnosis and surgical outcome prediction.
Current intraocular pCLE is hindered by narrow field of view, limited focus range, and motion artifacts.

Purpose of the Study:

To develop and evaluate an image-based hybrid control strategy for intraocular pCLE.
To mitigate challenges including limited field of view, focus range, and motion artifacts.
To enhance precision and image quality for cellular-level retinal visualization.

Main Methods:

An image-based hybrid control strategy was proposed, enabling shared control between surgeons and robots.
The system incorporated an image-based auto-focus algorithm for optimizing image quality.
The strategy was implemented and tested within cooperative and teleoperated frameworks.

Main Results:

The hybrid control strategy significantly improved image quality.
Smoother probe motion and reduced surgeon workload were observed.
Precise retinal scanning capabilities were demonstrated, overcoming limitations of conventional pCLE.

Conclusions:

The proposed hybrid control strategy effectively addresses limitations in intraocular pCLE.
This approach enhances cellular-level retinal imaging, offering potential for improved diagnostic accuracy and surgical planning.
Shared control between surgeons and robots represents a promising advancement in ophthalmic imaging technology.