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5건 · 최신순-
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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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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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…