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5건 · 최신순-
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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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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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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Real Time Prediction of Sclera Force with LSTM Neural Networks in Robot-Assisted Retinal Surgery.
Retinal microsurgery is one of the most technically demanding surgeries, during which the surgical tool needs to be inserted into the eyeball and is constantly constrained by the sclerotomy port. During the surgery, any unexpected manipulat…
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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…