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12건 · 최신순-
An Extended Generalized Prandtl-Ishlinskii Hysteresis Model for IRIS Robot.
Retinal surgery requires extreme precision due to constrained anatomical spaces in the human retina. To assist surgeons achieve this level of accuracy, the Improved Integrated Robotic Intraocular Snake (IRIS) with dexterous capability has b…
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Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance.
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence tomography (iOCT) enables image-guided robotic interventions,…
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Deep Learning-Enhanced Robotic Subretinal Injection with Real-Time Retinal Motion Compensation.
Subretinal injection is a critical procedure for delivering therapeutic agents to treat retinal diseases such as inherited retinal diseases (IRD) and age-related macular degeneration (AMD). However, retinal motion caused by physiological fa…
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Bimanual Manipulation of Steady-Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies.
Performing retinal vein cannulation (RVC) as a potential treatment for retinal vein occlusion (RVO) without the assistance of a surgical robotic system is very challenging to do safely. The main limitation is the physiological hand tremor o…
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Towards Autonomous Retinal Microsurgery Using RGB-D Images.
Retinal surgery is a challenging procedure requiring precise manipulation of the fragile retinal tissue, often at the scale of tens-of-micrometers. Its difficulty has motivated the development of robotic assistance platforms to enable preci…
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A Data-Driven Model with Hysteresis Compensation for IRIS Robot.
Retinal microsurgery is a high-precision surgery performed on a delicate tissue requiring the skill of highly trained surgeons. Given the restricted range of instrument motion in the confined intraocular space, snake-like robots may prove t…
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Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in Porcine Eyes.
Important challenges in retinal microsurgery include prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surgery. The introduction of robot-assisted technology could poten…
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Force-based Control for Safe Robot-assisted Retinal Interventions: Evaluation in Animal Studies.
In recent years, robotic assistance in vitreoretinal surgery has moved from a benchtop environment to the operating rooms. Emerging robotic systems improve tool manoeuvrability and provide precise tool motions in a constrained intraocular e…
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Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control.
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and …
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Spotlight-based 3D Instrument Guidance for Autonomous Task in Robot-assisted Retinal Surgery.
Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities du…
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Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.
The integration of robotics into retinal microsurgery leads to a reduction in surgeon perception of tool-to-tissue interaction forces. This blunting of human tactile sensory input, which is due to the inflexible mass and large inertia of th…
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Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework.
[OBJECTIVE] Robotics-assisted retinal microsurgery provides several benefits including improvement of manipulation precision. The assistance provided to the surgeons by current robotic frameworks is, however, a "passive" support, e.g., by d…