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Marius Briel

5 accepted papers

2026

A Shared Control Architecture for Vitreoretinal Surgery With Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
RA-L 2026

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a

Cited by 0Source ↗Scholar ↗
2026

A Shared Control Architecture for Vitreoretinal Surgery with Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
ICRA 2026poster

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a …

Cited by 0Source ↗Scholar ↗
2026

Automated Retinal Photocoagulation Using Instrument-Integrated OCT and Laser Pattern Mapping

Marius Briel, Ludwig Haide, Dongyue Wu, Justus Hornstein, Philipp Matten, Nicola Piccinelli +3
ICRA 2026poster

Retinal endolaser photocoagulation (REPC) is a repetitive intraocular surgical procedure that could greatly benefit from automation and distance-based control, improving both efficiency and safety. This work presents a robotic system designed for automated REPC, utilizing instrument-integrated optic…

Cited by 0Scholar ↗
2026

Distance-Based Shared Control for Vitreoretinal Surgery

Marius Briel, Dongyue Wu, Maximilian Hess, Ludwig Haide, Nicola Piccinelli, Gernot Kronreif +3
RA-L 2026

The fragility of ocular tissues combined with the limited surgical workspace demands precise instrument control and focus, making sensor-integrated robotic systems a promising solution. In this paper, we introduce a surgical system for telemanipulated endolaser photocoagulation that leverages instru

Cited by 0Source ↗Scholar ↗
2026

Distance-Based Shared Control for Vitreoretinal Surgery

Marius Briel, Dongyue Wu, Maximilian Hess, Ludwig Haide, Nicola Piccinelli, Gernot Kronreif +3
ICRA 2026poster

The fragility of ocular tissues combined with the limited surgical workspace demands precise instrument control and focus, making sensor-integrated robotic systems a promising solution. In this paper, we introduce a surgical system for telemanipulated endolaser photocoagulation that leverages instru…

Cited by 0Source ↗Scholar ↗