GEYEDANCE: An OCT-Enhanced Multi-Modal Feedback Platform for Robot-Assisted Ophthalmic Surgery

IF 3.8 Q2 ENGINEERING, BIOMEDICAL

IEEE transactions on medical robotics and bionics Pub Date : 2025-06-25 DOI:10.1109/TMRB.2025.3583133

Nicola Piccinelli;Ludwig Haide;Marius Briel;Alain Jungo;Eleonora Tagliabue;Tommaso Da Col;Moritz Schmid;Raphael Sznitman;Marco Pellegrini;Angeli Christy Yu;Massimo Busin;Marco Mura;Riccardo Muradore;Gernot Kronreif

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引用次数: 0

Abstract

Vitreoretinal surgery includes a group of highly complex microsurgical procedures that demand precision. Robotic systems can enhance surgical performance, particularly for novice surgeons, while ensuring patient safety through advanced sensing capabilities. Optical Coherence Tomography (OCT), commonly used for eye anatomy imaging, is typically implemented via microscopes or diagnostic devices. This paper introduces the GEYEDANCE system, a bilateral teleoperated microsurgery platform integrating OCT directly at the end-effector of its remote manipulator, offering multi-modal feedback. The system enables intraoperative global eye modelling and surface reconstruction by exploiting a neural network-based tool-to-tissue distance estimation module. Its performance was validated in the operating room using ex vivo eyes, effectively simulating the surgical steps of various vitreoretinal procedures.

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GEYEDANCE：用于机器人辅助眼科手术的oct增强多模态反馈平台

玻璃体视网膜手术包括一组高度复杂的显微外科手术，要求精确。机器人系统可以提高手术性能，特别是对于新手外科医生，同时通过先进的传感能力确保患者安全。光学相干断层扫描（OCT）通常用于眼解剖成像，通常通过显微镜或诊断设备实现。本文介绍了GEYEDANCE系统，这是一个双边远程操作显微手术平台，将OCT直接集成在其远程机械手的末端执行器上，提供多模态反馈。该系统通过利用基于神经网络的工具到组织距离估计模块，实现术中全局眼睛建模和表面重建。在手术室用离体眼对其性能进行了验证，有效地模拟了各种玻璃体视网膜手术步骤。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE transactions on medical robotics and bionics

CiteScore

6.80

自引率

0.00%

发文量