11 accepted papers
In medical robotics, biological shape deformation resulting from arbitrary tool-tissue interaction commonly occurs and motivates the need in microsurgery to predict the new geometry of tissue structures. However, handling deformation is challenging due to the lack of a general prediction model for v…
Medical robotic laser systems require precise positioning and movements to control laser beam paths associated with sensors and other optical systems in many applications (e.g., laser surgery, laser-based tissue diagnosis). While existing robotic laser beam control systems were developed for microsc…
In microsurgery, surgeons frequently encounter challenges due to the need for exceptional precision and dexterity, the lack of depth perception for micro-scale surgical maneuvers, and the inevitable effects of fatigue and hand tremor. In surgical robotics, conventional intraoperative perception syst
Optical coherence tomography (OCT) has been widely used for high-fidelity biological tissue scanning but is traditionally limited to small lateral fields of view that preclude large-area scanning. To overcome this problem, we propose an integration of an OCT sensor to a 6-DOF robot arm end-effector
The Archimedean spiral is space-filling plane curve that is found in applications ranging from coverage path planning for robot exploration to scan pattern generation for medical imaging. The constant linear velocity (CLV) parameterization of this spiral is of particular interest due to its fixed pa
Deep anterior lamellar keratoplasty (DALK) is a technique for cornea transplantation which is associated with reduced patient morbidity. DALK has been explored as a potential application of robot microsurgery because the small scales, fine control requirements, and difficulty of visualization make i
Optical coherence tomography (OCT) has revolutionized diagnostics in ophthalmology. However, it requires pa-tient cooperation to fixate on multiple targets and stabilize their head utilizing both chin and forehead rests. Patient cooperation is particularly important for image montaging, where patien…
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents a robotic suturing system that uses 3D optical coherence tom…
Optical coherence tomography (OCT) has found great success in ophthalmology where it plays a key role in screening and diagnostics. Clinical ophthalmic OCT systems are typically deployed as tabletop instruments that require chinrest stabilization and trained ophthalmic photographers to operate. Thes…
Deep anterior lamellar keratoplasty (DALK) is a promising technique for corneal transplantation that avoids the chronic immunosuppression comorbidities and graft rejection risk associated with penetrating keratoplasty (PKP), the standard procedure. In DALK, surgeons must insert a needle 90% through…
Intraoperative 3D imaging has great potential for enhancing surgical visualization. This is especially so in ophthalmic surgery where live volumetric imaging from optical coherence tomography systems recently incorporated into surgical microscopes has freed surgeons from the otherwise universal top-…