Spotlight-based 3D Instrument Guidance for Retinal Surgery
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.
- Publication:
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arXiv e-prints
- Pub Date:
- December 2020
- DOI:
- 10.48550/arXiv.2012.06292
- arXiv:
- arXiv:2012.06292
- Bibcode:
- 2020arXiv201206292Z
- Keywords:
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- Computer Science - Robotics