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走向使用RGB-D图像的自主视网膜微手术.

Ji Woong Kim1, Shuwen Wei2, Peiyao Zhang1

  • 1Mechanical Engineering Dept at the Johns Hopkins University, Baltimore, MD 21218 USA.

IEEE robotics and automation letters
|September 23, 2024
PubMed
概括
此摘要是机器生成的。

本研究介绍了一种在视网膜外科手术中用于子视网膜注射 (SI) 的自主机器人系统. 该框架使用实时OCT和显微镜成像与AI进行精确,安全的针导航,在猪眼中完成了30次成功的试验.

关键词:
计算机视觉用于医疗机器人技术医疗机器人和医疗系统基于视觉的导航

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科学领域:

  • 眼科医生 眼科 眼科
  • 机器人技术 机器人技术 机器人技术
  • 医疗成像医学成像

背景情况:

  • 视网膜手术需要极其精确的由于脆弱的组织.
  • 机器人辅助和像OCT这样的先进成像提高了外科手术的能力.
  • 下视网膜注射 (SI) 需要精确的针位置来提供药物.

研究的目的:

  • 开发一个自主框架,用于在子内注射 (SI) 期间实时针导航.
  • 将光学连贯断层扫描 (OCT) 和显微镜成像与人工智能集成,用于自动化外科指导.
  • 为了提高机器人辅助视网膜手术的安全性和性能.

主要方法:

  • 开发了一个基于外科医生定义的途径点的自主针导航系统.
  • 集成显微镜和OCT成像与卷积神经网络 (CNN) 进行细分.
  • 采用模型预测控制来生成尊重动力学约束的轨迹.

主要成果:

  • 在猪眼中成功演示了30个自主内注射 (SI) 试验.
  • 该系统实现了实时导航到目标子膜空间.
  • 初步比较显示,与人工辅助机器人控制相比,安全性和性能得到了提高.

结论:

  • 开发的框架使得用于内注射 (SI) 的自主针导航成为可能.
  • 整合OCT,CNN和模型预测控制提供了一种安全有效的方法.
  • 这项技术有可能显著改善视网膜手术的结果.