22 accepted papers
Retinal Surgery Robotics is a rapidly emerging field that offers enhanced precision by overcoming human tremors. A key trend of these robotic designs is toward more compact and lightweight structures for improved positioning accuracy and precise force delivery. However, this compactness sacrifices t…
Communication latency in long-distance telerobotic surgery poses a critical safety risk, particularly in high-precision procedures like retinal surgery where tool overshoots can cause irreversible patient injury. This paper introduces the Latency-Aware Telemonitoring for Injection in Ophthalmic Surg…
Capsulorhexis is challenging in cataract surgery, since the size, centering, and circularity of the capsule are important. Those indicators are closely related to the subsequent step of phacoemulsification and the postoperative position of the intraocular lens. It takes 3-5 years for a resident to p
In ophthalmic surgery, surgeons or robots manipulate a light probe and an instrument around two separated trocars following sclerotomy to achieve orbital control for eyeball pose adjustment and subsequent surgical tasks referring to microscope frames. However, current methods face significant challe
Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therapeutics. These surgical robots show promising capabilities; however, most of them have to limit their working volume to a
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence tomography (iOCT) enables image-guided robotic interventions, allowing autonomous performance of advanced treatments, suc
In robot-assisted retinal surgery, a Remote Center of Motion (Rcm) allows the surgical instrument to rotate around a distal fixed point without any lateral translations. The Rcm point should be perfectly aligned inside the trocar. Otherwise, unexpected tool translations at the expected remote center…
Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection. However, in order to intuitively integrate robots into the surgical workflow, it is crucial to emphasize that an accessibility analysis f…
Retinal surgery is a complex medical procedure that requires high precision dexterity to perform delicate instrument maneuvers with sub-millimeter accuracy. Minimizing the manual tremor and achieving precise and repeatable execution of surgical tasks has motivated the development of robotic platform…
Several robotic systems have emerged in the recent past to enhance the precision of micro-surgeries such as retinal procedures. Significant advancements have recently been achieved to increase the precision of such systems beyond surgeon capabilities. However, little attention has been paid to the i
Recent advancements in age-related macular degeneration treatments necessitate precision delivery into the subretinal space, emphasizing minimally invasive procedures targeting the retinal pigment epithelium (RPE)-Bruch’s membrane complex without causing trauma. Even for skilled surgeons, the inhere…
Robotic ophthalmic surgery is an emerging technology to facilitate high-precision interventions such as subretinal injection and removing swinging tissues in retinal detachment using microscopy and iOCT. However, locating the instrument tip outside iOCT's range-limited ROI is challenging, especially
Intuitive enhancement of surgical precision in robotic retinal surgery highly depends on the stable acquisition of intraocular imaging data. Such acquisition requires segmenting intraocular components, especially instrument-tip positions, to achieve state estimation and subsequent navigation and mot
In ophthalmic surgeries, the light probe is responsible for providing safe intraocular illumination and ensuring the visibility of the instrument and its shadow as the only available reference for qualitative depth estimation and landing point prediction in fundus microscopic images. To achieve sust…
In ophthalmic surgeries, such as vitreoretinal operations, surgeons rely on imaging systems, primarily microscopes, for real-time instrument monitoring and motion planning. However, novice surgeons struggle to extract 3D instrument positions from 2D microscope frames, necessitating extensive trial-a…
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated intraoperative Optical Coherent Tomography (iOCT) with high-resol…
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently under development to enable or improve the outcome of microsurgical tasks. Since the control of such robots is often designed for navigation ins…
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 paper, a novel method is proposed
Clear Corneal Incision, a challenging step in cataract surgery, and important to the overall quality of the surgery. New surgeons usually spend one full year trying to perfect their incision, but even after such rigorous training deficient incisions can still occur. This paper proposes an autonomous…
Subretinal injection is known to be a complicated task for ophthalmologists to perform, the main sources of difficulties are the fine anatomy of the retina, insufficient visual feedback, and high surgical precision. Image guided robot-assisted surgery is one of the promising solutions that bring sig…
Subretinal injection is a delicate and complex microsurgery, which requires surgeons to inject the therapeutic substance in a pre-operatively defined and intra-operatively updated subretinal target area. Due to the lack of subretinal visual feedback, it is hard to sense the insertion depth during th…
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery is a promising solution that brings significant improvements in outcomes and reduces the physical limitations of human surgeons. However, this t