Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot.
Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot.
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DOI：
10.1109/icra.2017.7989341
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发表时间：
2017-05
期刊：
影响因子：
--
通讯作者：
Riviere CN
中科院分区：
文献类型：
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作者：
Mukherjee S;Yang S;MacLachlan RA;Lobes LA Jr;Martel JN;Riviere CN
在本文中，我们描述了工作对视网膜血管插管使用主动稳定的手持机器人，单目视觉指导。我们采用了以前开发的单目摄像头为基础的表面重建方法，使用自动激光束扫描视网膜。我们使用重建的平面来找到2D图像平面坐标系和全局3D帧之间的坐标变换。在目标周围的半球形区域内，我们使用运动缩放以获得更高的精度。这项工作的贡献是单应性矩阵估计使用单目视觉和应用先前开发的激光表面重建微米引导静脉插管。在湿眼模型中进行实验，以显示与标准立体重建相比，表面重建的更高精度。此外，还进行了实验，以显示由于运动缩放而增加的手术精度。
In this paper we describe work towards retinal vessel cannulation using an actively stabilized handheld robot, guided by monocular vision. We employ a previously developed monocular camera based surface reconstruction method using automated laser beam scanning over the retina. We use the reconstructed plane to find a coordinate transform between the 2D image plane coordinate system and the global 3D frame. Within a hemispherical region around the target, we use motion scaling for higher precision. The contribution of this work is the homography matrix estimation using monocular vision and application of the previously developed laser surface reconstruction to Micron guided vein cannulation. Experiments are conducted in a wet eye phantom to show the higher accuracy of the surface reconstruction as compared to standard stereo reconstruction. Further, experiments to show the increased surgical accuracy due to motion scaling are also carried out.