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Spotlight-based 3D Instrument Guidance for Retinal Surgery.

Mingchuan Zhou^1,2, Jiahao Wu^1,3, Ali Ebrahimi¹

¹Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA.

... International Symposium on Medical Robotics. International Symposium on Medical Robotics

|October 1, 2021

Summary

This study introduces a new 3D instrument guidance method using spotlight projection for retinal surgery. The technique achieves clinically acceptable accuracy for enhanced intraocular visual guidance.

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Area of Science:

Ophthalmology
Robotics
Medical Imaging

Background:

Retinal surgery presents significant challenges for surgeons regarding safety and efficacy.
Robot-assisted surgery offers potential enhancements in surgical outcomes and overcomes human physical limitations.

Purpose of the Study:

To present a novel 3D instrument guidance method utilizing spotlight projection within single microscope images for retinal surgery.
To analyze and model the spotlight projection mechanism for application in surgical guidance.

Main Methods:

A novel method for 3D instrument guidance was developed using spotlight projection in microscope images.
The spotlight projection mechanism was modeled for plane and sphere surfaces.
A light fiber integrated into an instrument, driven by the Steady-Hand Eye Robot (SHER), was used to test the method.
The spotlight was segmented and tracked on a phantom retina using a proposed algorithm.

Main Results:

The proposed spotlight projection method was tested for feasibility.
Static calibration and dynamic tests were performed.
The method achieved a tip-to-surface distance of 0.5 mm, meeting clinically acceptable accuracy standards for intraocular guidance.

Conclusions:

The developed spotlight projection method provides accurate 3D guidance for surgical instruments in retinal surgery.
This technique demonstrates potential for improving safety and precision in robot-assisted intraocular procedures.