Vision-based assistance for ophthalmic micro-surgery

Maneesh Dewan, Panadda Marayong, Allison M. Okamura, Gregory Hager

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

Abstract

This paper details the development and preliminary testing of a system for 6-DOF human-machine cooperative motion using vision-based virtual fixtures for applications in retinal micro-surgery. The system makes use of a calibrated stereo imaging system to track surfaces in the environment, and simultaneously tracks a tool held by the JHU Steady-Hand Robot. As the robot is guided using force inputs from the user, a relative error between the estimated surface and the tool position is established. This error is used to generate an anisotropic stiffness matrix that in turn guides the user along the surface in both position and orientation. Preliminary results show the effectiveness of the system in guiding a user along the surface and performing different sub-tasks such as tool alignment and targeting within the resolution of the visual system.The accuracy of surface reconstruction and tool tracking obtained from stereo imaging was validated through comparison with measurements made by an infrared optical position tracking system.

Original languageEnglish (US)
Title of host publicationLecture Notes in Computer Science
EditorsC. Barillot, D.R. Haynor, P. Hellier
Pages49-57
Number of pages9
Volume3217
Edition1 PART 2
StatePublished - 2004
EventMedical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings - Saint-Malo, France
Duration: Sep 26 2004Sep 29 2004

Other

OtherMedical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings
CountryFrance
CitySaint-Malo
Period9/26/049/29/04

Fingerprint

Surgery
Robot
Robots
Surface Reconstruction
Visual System
Surface reconstruction
Stiffness matrix
Tracking System
End effectors
Stiffness Matrix
Relative Error
Imaging System
Imaging systems
Alignment
Infrared
Imaging
Infrared radiation
Imaging techniques
Testing
Motion

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Dewan, M., Marayong, P., Okamura, A. M., & Hager, G. (2004). Vision-based assistance for ophthalmic micro-surgery. In C. Barillot, D. R. Haynor, & P. Hellier (Eds.), Lecture Notes in Computer Science (1 PART 2 ed., Vol. 3217, pp. 49-57)

Vision-based assistance for ophthalmic micro-surgery. / Dewan, Maneesh; Marayong, Panadda; Okamura, Allison M.; Hager, Gregory.

Lecture Notes in Computer Science. ed. / C. Barillot; D.R. Haynor; P. Hellier. Vol. 3217 1 PART 2. ed. 2004. p. 49-57.

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

Dewan, M, Marayong, P, Okamura, AM & Hager, G 2004, Vision-based assistance for ophthalmic micro-surgery. in C Barillot, DR Haynor & P Hellier (eds), Lecture Notes in Computer Science. 1 PART 2 edn, vol. 3217, pp. 49-57, Medical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings, Saint-Malo, France, 9/26/04.
Dewan M, Marayong P, Okamura AM, Hager G. Vision-based assistance for ophthalmic micro-surgery. In Barillot C, Haynor DR, Hellier P, editors, Lecture Notes in Computer Science. 1 PART 2 ed. Vol. 3217. 2004. p. 49-57
Dewan, Maneesh ; Marayong, Panadda ; Okamura, Allison M. ; Hager, Gregory. / Vision-based assistance for ophthalmic micro-surgery. Lecture Notes in Computer Science. editor / C. Barillot ; D.R. Haynor ; P. Hellier. Vol. 3217 1 PART 2. ed. 2004. pp. 49-57
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