Hybrid Robot-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries.
Hybrid Robot-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries.
复制标题
视网膜手术中内显微扫描的混合机器人辅助框架。
DOI：
10.1109/tmrb.2020.2988312
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Li Z
中科院分区：
文献类型：
--
作者：
Li Z
由于眼球内的脆弱和有限的空间以及适当模式的可用性有限，在细胞水平上对视网膜进行高分辨率实时眼内成像非常具有挑战性。基于探头的共焦激光内窥镜 (pCLE) 系统可以成为改善诊断的潜在成像方式。在细胞水平上可视化视网膜的能力可以提供可以预测手术结果的信息。由于视场狭窄和聚焦范围为微米级，目前眼内 pCLE 扫描的采用受到限制。在没有运动补偿的情况下，外科医生手部的生理颤抖和患者的运动也会导致图像质量的恶化。因此，提出了一种基于图像的混合控制策略来缓解上述挑战。所提出的混合控制策略使得外科医生和机器人能够共享控制 pCLE 探头，以精确扫描视网膜，无需手部颤抖，并且具有基于图像的自动对焦算法的优势，可优化 pCLE 图像的质量。混合控制策略部署在两个框架上：协作框架和远程操作框架。更好的图像质量、更平滑的运动和减少的工作量都是通过混合控制框架以统计上显着的方式实现的。
High-resolution real-time intraocular imaging of retina at the cellular level is very challenging due to the vulnerable and confined space within the eyeball as well as the limited availability of appropriate modalities. A probe-based confocal laser endomicroscopy (pCLE) system, can be a potential imaging modality for improved diagnosis. The ability to visualize the retina at the cellular level could provide information that may predict surgical outcomes. The adoption of intraocular pCLE scanning is currently limited due to the narrow field of view and the micron-scale range of focus. In the absence of motion compensation, physiological tremors of the surgeons hand and patient movements also contribute to the deterioration of the image quality. Therefore, an image-based hybrid control strategy is proposed to mitigate the above challenges. The proposed hybrid control strategy enables a shared control of the pCLE probe between surgeons and robots to scan the retina precisely, with the absence of hand tremors and with the advantages of an image-based auto-focus algorithm that optimizes the quality of pCLE images. The hybrid control strategy is deployed on two frameworks—cooperative and teleoperated. Better image quality, smoother motion, and reduced workload are all achieved in a statistically significant manner with the hybrid control frameworks.