The Experts below are selected from a list of 13302 Experts worldwide ranked by ideXlab platform

Iulian Iordachita - One of the best experts on this subject based on the ideXlab platform.

  • Spotlight-based 3D Instrument Guidance for Retinal Surgery
    arXiv: Robotics, 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • ISMR - Spotlight-based 3D Instrument Guidance for Retinal Surgery
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • force based safe vein cannulation in robot assisted Retinal Surgery a preliminary study
    International Symposium Medical Robotics, 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • ISMR - Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery
    IEEE ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Divis, 2020
    Co-Authors: Emily Yang, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Mahya Shahbazi, Iulian Iordachita
    Abstract:

    Retinal Surgery is a bimanual operation in which surgeons operate with an instrument in their dominant hand (more capable hand) and simultaneously hold a light pipe (illuminating pipe) with their nondominant hand (less capable hand) to provide illumination inside the eye. Manually holding and adjusting the light pipe places an additional burden on the surgeon and increases the overall complexity of the procedure. To overcome these challenges, a robot-assisted automatic light pipe actuating system is proposed. A customized light pipe with force-sensing capability is mounted at the end effector of a follower robot and is actuated through a hybrid force–velocity controller to automatically illuminate the target area on the Retinal surface by pivoting about the scleral port (incision on the sclera). Static following accuracy evaluation and dynamic light tracking experiments are carried out. The results show that the proposed system can successfully illuminate the desired area with negligible offset (the average offset is 2.45 mm with standard deviation of 1.33 mm). The average scleral forces are also below a specified threshold (50 mN). The proposed system not only can allow for increased focus on dominant hand instrument control, but also could be extended to three-arm procedures (two surgical instruments held by surgeon plus a robot-holding light pipe) in Retinal Surgery, potentially improving surgical efficiency and outcome.

Niravkumar Patel - One of the best experts on this subject based on the ideXlab platform.

  • Spotlight-based 3D Instrument Guidance for Retinal Surgery
    arXiv: Robotics, 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • ISMR - Spotlight-based 3D Instrument Guidance for Retinal Surgery
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • force based safe vein cannulation in robot assisted Retinal Surgery a preliminary study
    International Symposium Medical Robotics, 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • ISMR - Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery
    IEEE ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Divis, 2020
    Co-Authors: Emily Yang, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Mahya Shahbazi, Iulian Iordachita
    Abstract:

    Retinal Surgery is a bimanual operation in which surgeons operate with an instrument in their dominant hand (more capable hand) and simultaneously hold a light pipe (illuminating pipe) with their nondominant hand (less capable hand) to provide illumination inside the eye. Manually holding and adjusting the light pipe places an additional burden on the surgeon and increases the overall complexity of the procedure. To overcome these challenges, a robot-assisted automatic light pipe actuating system is proposed. A customized light pipe with force-sensing capability is mounted at the end effector of a follower robot and is actuated through a hybrid force–velocity controller to automatically illuminate the target area on the Retinal surface by pivoting about the scleral port (incision on the sclera). Static following accuracy evaluation and dynamic light tracking experiments are carried out. The results show that the proposed system can successfully illuminate the desired area with negligible offset (the average offset is 2.45 mm with standard deviation of 1.33 mm). The average scleral forces are also below a specified threshold (50 mN). The proposed system not only can allow for increased focus on dominant hand instrument control, but also could be extended to three-arm procedures (two surgical instruments held by surgeon plus a robot-holding light pipe) in Retinal Surgery, potentially improving surgical efficiency and outcome.

Ali Ebrahimi - One of the best experts on this subject based on the ideXlab platform.

  • Spotlight-based 3D Instrument Guidance for Retinal Surgery
    arXiv: Robotics, 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • ISMR - Spotlight-based 3D Instrument Guidance for Retinal Surgery
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • force based safe vein cannulation in robot assisted Retinal Surgery a preliminary study
    International Symposium Medical Robotics, 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • ISMR - Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery
    IEEE ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Divis, 2020
    Co-Authors: Emily Yang, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Mahya Shahbazi, Iulian Iordachita
    Abstract:

    Retinal Surgery is a bimanual operation in which surgeons operate with an instrument in their dominant hand (more capable hand) and simultaneously hold a light pipe (illuminating pipe) with their nondominant hand (less capable hand) to provide illumination inside the eye. Manually holding and adjusting the light pipe places an additional burden on the surgeon and increases the overall complexity of the procedure. To overcome these challenges, a robot-assisted automatic light pipe actuating system is proposed. A customized light pipe with force-sensing capability is mounted at the end effector of a follower robot and is actuated through a hybrid force–velocity controller to automatically illuminate the target area on the Retinal surface by pivoting about the scleral port (incision on the sclera). Static following accuracy evaluation and dynamic light tracking experiments are carried out. The results show that the proposed system can successfully illuminate the desired area with negligible offset (the average offset is 2.45 mm with standard deviation of 1.33 mm). The average scleral forces are also below a specified threshold (50 mN). The proposed system not only can allow for increased focus on dominant hand instrument control, but also could be extended to three-arm procedures (two surgical instruments held by surgeon plus a robot-holding light pipe) in Retinal Surgery, potentially improving surgical efficiency and outcome.

Peter L Gehlbach - One of the best experts on this subject based on the ideXlab platform.

  • Spotlight-based 3D Instrument Guidance for Retinal Surgery
    arXiv: Robotics, 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • ISMR - Spotlight-based 3D Instrument Guidance for Retinal Surgery
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • force based safe vein cannulation in robot assisted Retinal Surgery a preliminary study
    International Symposium Medical Robotics, 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • ISMR - Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery
    IEEE ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Divis, 2020
    Co-Authors: Emily Yang, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Mahya Shahbazi, Iulian Iordachita
    Abstract:

    Retinal Surgery is a bimanual operation in which surgeons operate with an instrument in their dominant hand (more capable hand) and simultaneously hold a light pipe (illuminating pipe) with their nondominant hand (less capable hand) to provide illumination inside the eye. Manually holding and adjusting the light pipe places an additional burden on the surgeon and increases the overall complexity of the procedure. To overcome these challenges, a robot-assisted automatic light pipe actuating system is proposed. A customized light pipe with force-sensing capability is mounted at the end effector of a follower robot and is actuated through a hybrid force–velocity controller to automatically illuminate the target area on the Retinal surface by pivoting about the scleral port (incision on the sclera). Static following accuracy evaluation and dynamic light tracking experiments are carried out. The results show that the proposed system can successfully illuminate the desired area with negligible offset (the average offset is 2.45 mm with standard deviation of 1.33 mm). The average scleral forces are also below a specified threshold (50 mN). The proposed system not only can allow for increased focus on dominant hand instrument control, but also could be extended to three-arm procedures (two surgical instruments held by surgeon plus a robot-holding light pipe) in Retinal Surgery, potentially improving surgical efficiency and outcome.

Mingchuan Zhou - One of the best experts on this subject based on the ideXlab platform.

  • Spotlight-based 3D Instrument Guidance for Retinal Surgery
    arXiv: Robotics, 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • ISMR - Spotlight-based 3D Instrument Guidance for Retinal Surgery
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, M. Ali Nasseri, Russell H Taylor, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Alois Knoll, Iulian Iordachita
    Abstract:

    Retinal Surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted Surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.

  • force based safe vein cannulation in robot assisted Retinal Surgery a preliminary study
    International Symposium Medical Robotics, 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.

  • ISMR - Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study
    2020 International Symposium on Medical Robotics (ISMR), 2020
    Co-Authors: Mingchuan Zhou, Ali Ebrahimi, Niravkumar Patel, Peter L Gehlbach, Muller Urias, Yunhui Liu, Iulian Iordachita
    Abstract:

    Retinal vein cannulation (RVC) is a potential treatment for Retinal vein occlusion (RVO). Manual Surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted Retinal Surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a Retinal surgeon to demonstrate the advantages of our automatic compensation approach.