Toward Automated Intraocular Laser Surgery Using a Handheld Micromanipulator.
Toward Automated Intraocular Laser Surgery Using a Handheld Micromanipulator.
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DOI：
10.1109/iros.2014.6942725
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发表时间：
2014-09
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：
Yang S;MacLachlan RA;Riviere CN
本文介绍了一种技术，自动眼内激光手术使用手持式显微操作器被称为微米。新型手持式机械手能够在4 mm长、4 mm直径的圆柱体内自动扫描激光探头。对于自动化，使用立体显微镜重建视网膜表面，然后将预先计划的目标放置在表面上。激光探头通过瞄准光束的视觉伺服精确定位在目标上，同时保持在表面上方的特定距离。此外，该系统能够跟踪眼睛的表面，以补偿在手术期间引入的任何眼睛运动。我们比较了使用各种控制阈值的自动扫描的性能，以找到在准确性和速度方面最有效的阈值。给定选定的阈值，我们在固定目标表面上方进行手持操作。与无辅助试验相比，平均误差和执行时间分别减少了63.6%和28.5%。最后，自动激光光凝也在眼模中进行了演示，包括对眼球运动的补偿。
This paper presents a technique for automated intraocular laser surgery using a handheld micromanipulator known as Micron. The novel handheld manipulator enables the automated scanning of a laser probe within a cylinder of 4 mm long and 4 mm in diameter. For the automation, the surface of the retina is reconstructed using a stereomicroscope, and then preplanned targets are placed on the surface. The laser probe is precisely located on the target via visual servoing of the aiming beam, while maintaining a specific distance above the surface. In addition, the system is capable of tracking the surface of the eye in order to compensate for any eye movement introduced during the operation. We compared the performance of the automated scanning using various control thresholds, in order to find the most effective threshold in terms of accuracy and speed. Given the selected threshold, we conducted the handheld operation above a fixed target surface. The average error and execution time are reduced by 63.6% and 28.5%, respectively, compared to the unaided trials. Finally, the automated laser photocoagulation was demonstrated also in an eye phantom, including compensation for the eye movement.