A Magnetically Steered Endolaser Probe for Automated Panretinal Photocoagulation

Samuel L. Charreyron; Edoardo Gabbi; Quentin Boehler; Matthias Becker; Bradley J. Nelson

RA-L 201920 citations

A Magnetically Steered Endolaser Probe for Automated Panretinal Photocoagulation

Samuel L. Charreyron, Edoardo Gabbi, Quentin Boehler, Matthias Becker, Bradley J. Nelson

Abstract

The advanced state of diabetic retinopathy, a leading cause of blindness, is treated by panretinal photocoagulation (PRP), a repetitive procedure performed by a surgeon using a handheld laser probe. In its place we propose a soft-robotic flexible probe precisely steered using magnetic fields generated by an external magnetic steering system. We develop a kinematic model for the PRP task and show that the process can be automated given image feedback of the retina through a fundus camera. We demonstrate the concept in an eye phantom of a human eye, achieving clinical-level accuracy and faster speeds than human surgeons.

BibTeX

@inproceedings{ral2019_amagneticallyste,
  title = {A Magnetically Steered Endolaser Probe for Automated Panretinal Photocoagulation},
  author = {Samuel L. Charreyron and Edoardo Gabbi and Quentin Boehler and Matthias Becker and Bradley J. Nelson},
  booktitle = {RA-L 2019},
  year = {2019}
}