A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning

Area of Science:

• Biomedical Engineering
• Ophthalmology
• Robotics

Background:

• Probe-based confocal laser endomicroscopy (pCLE) enables real-time retinal tissue characterization for diagnosis and surgical planning.
• Manual scanning with pCLE is challenging due to limited field of view and probe focus, exacerbated by physiological hand tremor.

Purpose of the Study:

• To develop and validate a novel semi-autonomous control framework for pCLE retinal scanning.
• To overcome limitations of manual scanning and improve image quality and surgical outcomes.

Main Methods:

• Integration of a Steady-Hand Eye Robot (SHER) with a pCLE system for semi-autonomous probe control.
• Implementation of a hybrid motion control strategy for autonomous focus optimization and tremor reduction.
• Validation through experimental evaluations and a user study with 9 participants.

Main Results:

• The proposed framework enables tremor-free scanning of retinal tissue.
• Autonomous control optimizes pCLE image sharpness and quality.
• Statistical analysis confirmed a significant reduction in user workload and enhanced performance.

Conclusions:

• The developed semi-autonomous framework effectively addresses challenges in pCLE retinal scanning.
• This technology has the potential to improve diagnostic accuracy and surgical predictability in ophthalmology.
• The system enhances surgeon performance and image quality during retinal procedures.