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Shervin Dehghani

8 accepted papers

2025

Real-Time Deformation-Aware Control for Autonomous Robotic Subretinal Injection Under iOCT Guidance

Demir Arikan, Peiyao Zhang, Michael Sommersperger, Shervin Dehghani, Mojtaba Esfandiari, Russell H. Taylor +4
ICRA 2025

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

Cited by 10Source ↗Scholar ↗
2025

Video-Rate 4D OCT Segmentation Based on Motion-Aware Probabilistic A-Scan Sampling

Shervin Dehghani, Michael Sommersperger, Nassir Navab
IROS 2025

Recent advancements in robotic eye surgery and intraoperative 4D optical coherence tomography (iOCT) imaging could enable fully or partially autonomous robotic procedures and enhanced surgical visualization. A fundamental requirement for such applications is rapid semantic segmentation of intraopera

Cited by 0Source ↗Scholar ↗
2024

Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery

Shervin Dehghani, Michael Sommersperger, Mahdi Saleh, Alireza Alikhani, Benjamin Busam, Peter Gehlbach +3
ICRA 2024poster

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…

Cited by 2Source ↗Scholar ↗
2024

Envibroscope: Real-Time Monitoring and Prediction of Environmental Motion for Enhancing Safety in Robot-Assisted Microsurgery

Alireza Alikhani, Satoshi Inagaki, Shervin Dehghani, Mathias Maier, Nassir Navab, M. Ali Nasseri
ICRA 2024

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

Cited by 2Source ↗Scholar ↗
2024

Exploring the Needle Tip Interaction Force with Retinal Tissue Deformation in Vitreoretinal Surgery

Simon Pannek, Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Peter Gehlbach, M. Ali Nasseri +2
ICRA 2024poster

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…

Cited by 3Source ↗Scholar ↗
2024

Uncertainty-Aware Contextual Visualization for Human Supervision of OCT-Guided Autonomous Robotic Subretinal Injection

Michael Sommersperger, Shervin Dehghani, Philipp Matten, Hessam Roodaki, Nassir Navab
ICRA 2024poster

The injection of therapeutic agents into the sub-retinal space might allow improved treatment of age-related macular degeneration. Various robotic systems have been developed to achieve the required precision and, in combination with intraoperative Optical Coherence Tomography (iOCT) imaging, method…

Cited by 2Source ↗Scholar ↗
2023

Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing

Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Alejandro Martin-Gomez, Benjamin Busam, Peter Gehlbach +3
ICRA 2023poster

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…

Cited by 24Source ↗Scholar ↗
2022

ColibriDoc: an Eye-in-Hand Autonomous Trocar Docking System

Shervin Dehghani, Michael Sommersperger, Junjie Yang, Mehrdad Salehi, Benjamin Busam, Kai Huang +4
ICRA 2022poster

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…

Cited by 18Source ↗Scholar ↗