Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 6, Issue 4, Pages 7750-7757Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3100937
Keywords
Medical robots and systems; robot-assisted retinal surgery; autonomous surgery
Categories
Funding
- U.S. National Institutes of Health [1R01EB023943-01, 1R01 EB025883-01A1]
- Research to Prevent Blindness, New York, USA
- HK RGC [T42-409/18-R, 14202918]
- U.S. National Institutes of Health under Grant TUM-GS internationalization funding
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Retinal surgery is a complex and challenging task, but image guided robot-assisted intervention with spotlight-based automatic tracking can significantly improve accuracy and efficiency in microsurgery. The proposed method for 3D navigation of a microsurgical instrument showed promising results compared to manual or cooperative control methods, with an average tracking error of 0.013 mm.
Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities during microsurgery. In this letter, a novel method is proposed for 3D navigation of a microsurgical instrument based on the projection of a spotlight during robot-assisted retinal surgery. To test the feasibility and effectiveness of the proposed method, a vessel tracking task in a phantom with a Remote Center of Motion (RCM) constraint is performed by the Steady-Hand Eye Robot (SHER). The results are compared to manual tracking, cooperative control tracking with the SHER and spotlight-based automatic tracking with SHER. The reported results are that the spotlight-based automatic tracking with SHER can reach an average tracking error of 0.013 mm and keeping distance error of 0.1 mm from the desired range demonstrating a significant improvement compared to manual or cooperative control methods alone.
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