论文标题
基于聚光灯的3D视网膜手术指南
Spotlight-based 3D Instrument Guidance for Retinal Surgery
论文作者
论文摘要
视网膜手术是一项复杂的活动，对于外科医生而言，可以有效，安全地表现。图像引导的机器人辅助手术是一种有前途的解决方案之一，可在治疗结果中显着增强手术并减少人类外科医生的身体局限性。在本文中，我们演示了一种基于单个显微镜图像中聚光灯的投影的新方法来指导仪器。首先对聚光投影机制进行了分析和建模，并在平面和球体表面上都有投影。为了测试所提出方法的可行性，将光纤集成到由稳定的眼机器人（Sher）驱动的仪器中。使用所提出的算法在幻影视网膜上对光线进行分割并在幻影视网膜上进行跟踪。静态校准和动态测试结果都表明，所提出的方法可以轻松地存档0.5 mm的尖端到表面距离，这是眼内视觉指导的临床上可接受的精度。
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.
