A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning

Zhaoshuo Li, Guang Zhong Yang, Russell H. Taylor, Mahya Shahbazi, Niravkumar Patel, Eimear O. Sullivan, Haojie Zhang, Khushi Vyas, Preetham Chalasani, Peter L. Gehlbach, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a novel semi-autonomous control framework is presented for enabling probe-based confocal laser endomicroscopy (pCLE) scan of the retinal tissue. With pCLE, retinal layers such as nerve fiber layer (NFL) and retinal ganglion cell (RGC) can be scanned and characterized in real-time for an improved diagnosis and surgical outcome prediction. However, the limited field of view of the pCLE system and the micron-scale optimal focus distance of the probe, which are in the order of physiological hand tremor, act as barriers to successful manual scan of retinal tissue.Therefore, a novel sensorless framework is proposed for real-time semi-autonomous endomicroscopy scanning during retinal surgery. The framework consists of the Steady-Hand Eye Robot (SHER) integrated with a pCLE system, where the motion of the probe is controlled semi-autonomously. Through a hybrid motion control strategy, the system autonomously controls the confocal probe to optimize the sharpness and quality of the pCLE images, while providing the surgeon with the ability to scan the tissue in a tremor-free manner. Effectiveness of the proposed architecture is validated through experimental evaluations as well as a user study involving 9 participants. It is shown through statistical analyses that the proposed framework can reduce the work load experienced by the users in a statistically-significant manner, while also enhancing their performance in retaining pCLE images with optimized quality.

Original languageEnglish (US)
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7083-7090
Number of pages8
ISBN (Electronic)9781728140049
DOIs
StatePublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period11/3/1911/8/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Li, Z., Yang, G. Z., Taylor, R. H., Shahbazi, M., Patel, N., Sullivan, E. O., Zhang, H., Vyas, K., Chalasani, P., Gehlbach, P. L., & Iordachita, I. (2019). A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 7083-7090). [8967751] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8967751