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Updated: Jan 18, 2026

Ultrahigh Resolution Mouse Optical Coherence Tomography to Aid Intraocular Injection in Retinal Gene Therapy Research
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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
PubMed
Summary
This summary is machine-generated.

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.

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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.