Towards Autonomous Retinal Microsurgery Using RGB-D Images.

ABSTRACT: Retinal surgery is a challenging procedure requiring precise manipulation of the fragile retinal tissue, often at the scale of tens-of-micrometers. Its difficulty has motivated the development of robotic assistance platforms to enable precise motion, and more recently, novel sensors such as microscope integrated optical coherence tomography (OCT) for RGB-D view of the surgical workspace. The combination of these devices opens new possibilities for robotic automation of tasks such as subretinal injection (SI), a procedure that involves precise needle insertion into the retina for targeted drug delivery. Motivated by this opportunity, we develop a framework for autonomous needle navigation during SI. We develop a system which enables the surgeon to specify waypoint goals in the microscope an

SUBMITTER: Kim JW 

PROVIDER: S-EPMC11415253 | biostudies-literature | 2024 Apr

REPOSITORIES: biostudies-literature