@inproceedings{f17d3e01009444cfbf779e1b70a3c0e1,
title = "Spotlight-based 3D Instrument Guidance for Retinal Surgery",
abstract = "Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-Assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-To-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.",
author = "Mingchuan Zhou and Jiahao Wu and Ali Ebrahimi and Niravkumar Patel and Changyan He and Peter Gehlbach and Taylor, {Russell H.} and Alois Knoll and Nasseri, {M. Ali} and Iulian Iordachita",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 International Symposium on Medical Robotics, ISMR 2020 ; Conference date: 18-11-2020 Through 20-11-2020",
year = "2020",
month = nov,
day = "18",
doi = "10.1109/ISMR48331.2020.9312952",
language = "English (US)",
series = "2020 International Symposium on Medical Robotics, ISMR 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "69--75",
booktitle = "2020 International Symposium on Medical Robotics, ISMR 2020",
}