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Related Experiment Video

Updated: Jul 25, 2025

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Trocar localisation for robot-assisted vitreoretinal surgery.

Jeremy Birch1, Lyndon Da Cruz2, Kawal Rhode3

  • 1School of Biomedical Engineering and Imaging Sciences, King's College London, Strand, London, WC2R 2LS, UK. jeremy.birch@kcl.ac.uk.

International Journal of Computer Assisted Radiology and Surgery
|June 24, 2023
PubMed
Summary
This summary is machine-generated.

This study introduces a camera-based method for precise trocar localisation in robot-assisted eye surgery. The system achieves accurate results within the necessary error margin, enhancing surgical safety.

Keywords:
ArUcoAuroraEye-surgeryLocalisationRoboticsTrocar

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Area of Science:

  • Ophthalmology
  • Robotics
  • Surgical Navigation

Background:

  • Robot-assisted surgery enhances precision in vitreoretinal procedures.
  • Accurate knowledge of the surgical instrument's remote centre of motion (RCM) and trocar insertion point is crucial for safety.
  • Preventing damaging lateral forces requires aligning the instrument's pivot point with the trocar.

Purpose of the Study:

  • To develop and evaluate a camera-based method for accurate trocar localisation in robot-assisted vitreoretinal surgery.
  • To enable precise alignment of surgical instruments for safe eye surgery.

Main Methods:

  • A micro-camera mounted on vitreoretinal surgical forceps tracks two ArUco markers placed on the trocar.
  • Trocar position is estimated as the midpoint between the tracked markers.
  • The method builds upon a previously developed robotic system.

Main Results:

  • Experimental evaluation demonstrated a Root Mean Square Error (RMSE) of 1.82 mm for marker localisation.
  • Trocar localisation achieved an RMSE of 1.24 mm.
  • Results fall within the critical 1.4 mm absolute error margin (trocar radius).

Conclusions:

  • The camera-based trocar localisation method offers good consistency and accuracy for robot-assisted eye surgery.
  • The system's performance is an improvement over existing methods.
  • Further refinement of marker localisation is needed for consistent accuracy within the error margin.