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Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance
Demir Arikan1,2, Peiyao Zhang2, Michael Sommersperger1
1Department of Computer Science, Technische Universitat München, Munich 85748 Germany.
IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation
|September 12, 2025
Summary
This study introduces a new method for robotic subretinal injections using intraoperative optical coherence tomography (iOCT). The technique improves needle accuracy by accounting for tissue deformation, achieving a 90% success rate in generating subretinal blebs.
Area of Science:
- Ophthalmology
- Robotics
- Medical Imaging
Background:
- Robotic platforms enhance precision in retinal microsurgery.
- Intraoperative optical coherence tomography (iOCT) enables image-guided robotic interventions for autonomous treatments like subretinal injections.
- Tissue deformation during tool-tissue interaction poses a challenge for autonomous iOCT-guided robotic subretinal injections, affecting needle positioning and outcomes.
Purpose of the Study:
- To present a novel method for autonomous subretinal injection under iOCT guidance that addresses tissue deformations.
- To improve the accuracy and reliability of robotic subretinal injections.
Main Methods:
- Real-time segmentation and 3D reconstruction of the surgical scene from densely sampled iOCT B-scans (B⁵-scans).
- Monitoring instrument position relative to a virtual target layer (between the Inner Limiting Membrane and Retinal Pigment Epithelium).
- Dynamic adjustment of needle insertion depth based on real-time data.
Main Results:
- The novel method demonstrated dynamic adjustment of insertion depth.
- Significantly improved accuracy in needle positioning compared to previous autonomous approaches.
- Reliably created subretinal blebs in 90% of experiments, a substantial increase from the 35% success rate of prior methods.
Conclusions:
- The proposed technique effectively manages tissue deformations during autonomous iOCT-guided robotic subretinal injections.
- This method offers a more accurate and reliable approach for subretinal injection procedures.
- The study provides publicly available source code and data for further research and development.
