Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery.

Marcin Balicki, Jae Ho Han, Iulian Iordachita, Peter Gehlbach, James Handa, Russell H Taylor, Jin Kang

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

We present initial prototype and preliminary experimental demonstration of a new class of microsurgical instruments that incorporate common path optical coherence tomography (CP-OCT) capabilities. These instruments may be used freehand or with robotic assistance. We describe a prototype 25 gauge microsurgical pick incorporating a single 125 microm diameter optical fiber interfaced to a Fourier Domain CP-OCT system developed in our laboratory. For initial experimentation, we have interfaced this instrument with an extremely precise, cooperatively controlled robot. We describe the tool, system design, and demonstration of three control methods on simple phantom models: 1) enforcement of safety constraints preventing unintentional collisions of the instrument with the retinal surface; 2) the ability to scan the probe across a surface while maintaining a constant distance offset; and 3) the ability to place the pick over a subsurface target identified in a scan and then penetrate the surface to hit the target.

Original languageEnglish (US)
Title of host publicationMedical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Pages108-115
Number of pages8
Volume12
EditionPt 1
StatePublished - 2009

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Optical Coherence Tomography
Optical Fibers
Robotics
Safety

ASJC Scopus subject areas

  • Medicine(all)

Cite this

Balicki, M., Han, J. H., Iordachita, I., Gehlbach, P., Handa, J., Taylor, R. H., & Kang, J. (2009). Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. In Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention (Pt 1 ed., Vol. 12, pp. 108-115)

Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. / Balicki, Marcin; Han, Jae Ho; Iordachita, Iulian; Gehlbach, Peter; Handa, James; Taylor, Russell H; Kang, Jin.

Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Vol. 12 Pt 1. ed. 2009. p. 108-115.

Research output: Chapter in Book/Report/Conference proceedingChapter

Balicki, M, Han, JH, Iordachita, I, Gehlbach, P, Handa, J, Taylor, RH & Kang, J 2009, Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. in Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 1 edn, vol. 12, pp. 108-115.
Balicki M, Han JH, Iordachita I, Gehlbach P, Handa J, Taylor RH et al. Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. In Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 1 ed. Vol. 12. 2009. p. 108-115
Balicki, Marcin ; Han, Jae Ho ; Iordachita, Iulian ; Gehlbach, Peter ; Handa, James ; Taylor, Russell H ; Kang, Jin. / Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Vol. 12 Pt 1. ed. 2009. pp. 108-115
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