EyeLS: Shadow-Guided Instrument Landing System for Intraocular Target Approaching in Robotic Eye Surgery

• URL: http://arxiv.org/abs/2311.08799v1
• Date: Wed, 15 Nov 2023 09:11:37 GMT
• Title: EyeLS: Shadow-Guided Instrument Landing System for Intraocular Target Approaching in Robotic Eye Surgery
• Authors: Junjie Yang, Zhihao Zhao, Siyuan Shen, Daniel Zapp, Mathias Maier, Kai Huang, Nassir Navab and M. Ali Nasseri
• Abstract summary: Robotic ophthalmic surgery is an emerging technology to facilitate high-precision interventions such as retina penetration in subretinal injection and removal of floating tissues in retinal detachment. Current image-based methods cannot effectively estimate the needle tip's trajectory towards both retinal and floating targets. We propose to use the shadow positions of the target and the instrument tip to estimate their relative depth position. Our method succeeds target approaching on a retina model, and achieves an average depth error of 0.0127 mm and 0.3473 mm for floating and retinal targets respectively in the surgical simulator.
• Score: 51.05595735405451
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Robotic ophthalmic surgery is an emerging technology to facilitate high-precision interventions such as retina penetration in subretinal injection and removal of floating tissues in retinal detachment depending on the input imaging modalities such as microscopy and intraoperative OCT (iOCT). Although iOCT is explored to locate the needle tip within its range-limited ROI, it is still difficult to coordinate iOCT's motion with the needle, especially at the initial target-approaching stage. Meanwhile, due to 2D perspective projection and thus the loss of depth information, current image-based methods cannot effectively estimate the needle tip's trajectory towards both retinal and floating targets. To address this limitation, we propose to use the shadow positions of the target and the instrument tip to estimate their relative depth position and accordingly optimize the instrument tip's insertion trajectory until the tip approaches targets within iOCT's scanning area. Our method succeeds target approaching on a retina model, and achieves an average depth error of 0.0127 mm and 0.3473 mm for floating and retinal targets respectively in the surgical simulator without damaging the retina.

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