用激光瞄准光束估计玻璃体视网膜手术的放大-不变视网膜距离

IF 2.1 3区 医学 Q2 SURGERY
Arpita Routray, Chaniya Jaroenkunathum, Sungwook Yang, Robert Maclachlan, Jennifer Adeghate, Marjan Fooladi, Joseph Martel, Cameron N. Riviere
{"title":"用激光瞄准光束估计玻璃体视网膜手术的放大-不变视网膜距离","authors":"Arpita Routray,&nbsp;Chaniya Jaroenkunathum,&nbsp;Sungwook Yang,&nbsp;Robert Maclachlan,&nbsp;Jennifer Adeghate,&nbsp;Marjan Fooladi,&nbsp;Joseph Martel,&nbsp;Cameron N. Riviere","doi":"10.1002/rcs.70113","DOIUrl":null,"url":null,"abstract":"<div>\n \n \n <section>\n \n <h3> Background</h3>\n \n <p>Virtual fixtures in robot-assisted retinal surgery require knowledge of the position of the retina with respect to the surgical tool to be effective. Retinal surface estimation is a difficult problem due to the lack of features in the captured microscope imagery and a complex light path. A laser aiming beam attached to the tool can be easily detected in the microscope imagery and provide valuable information about the location of the surface.</p>\n </section>\n \n <section>\n \n <h3> Methods</h3>\n \n <p>We propose using the area of a laser aiming beam attached to the surgical tool to determine the distance of the tool from the retina. This area was modified in accordance with the tool width to ensure independence from microscope magnification. Retinal distance is predicted using a dual Kalman filter that combines distance inferred from this metric with information from an optical tracker that tracks the position of the tool in a global coordinate system. This updates both the state and parameters of the system in parallel and allows us to predict retinal distance even with errors in initial parameters.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>The laser metric's independence from microscope magnification is demonstrated by plotting the metric at 3 different magnifications for a number of angles. We also predict the distance of the tool from the retina for various random angles at each magnification with median errors of less than 100 μm. Finally, we predict distance at each magnification during freehand motion and validate our results using a force sensor placed underneath the phantom.</p>\n </section>\n \n <section>\n \n <h3> Conclusions</h3>\n \n <p>Using the area of laser aiming beam attached to the surgical tool, our method can predict the distance of the surgical tool to the retina with errors that are acceptable for implementing virtual fixtures during robot-assisted retinal surgery. The predicted distance is also independent of microscope magnification and can work when initial parameters are not precisely known. Future work will involve adapting this method to in vivo environments and further reduction in prediction errors.</p>\n </section>\n </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 5","pages":""},"PeriodicalIF":2.1000,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70113","citationCount":"0","resultStr":"{\"title\":\"Magnification-Invariant Retinal Distance Estimation for Vitreoretinal Surgery Using a Laser Aiming Beam\",\"authors\":\"Arpita Routray,&nbsp;Chaniya Jaroenkunathum,&nbsp;Sungwook Yang,&nbsp;Robert Maclachlan,&nbsp;Jennifer Adeghate,&nbsp;Marjan Fooladi,&nbsp;Joseph Martel,&nbsp;Cameron N. Riviere\",\"doi\":\"10.1002/rcs.70113\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n \\n <section>\\n \\n <h3> Background</h3>\\n \\n <p>Virtual fixtures in robot-assisted retinal surgery require knowledge of the position of the retina with respect to the surgical tool to be effective. Retinal surface estimation is a difficult problem due to the lack of features in the captured microscope imagery and a complex light path. A laser aiming beam attached to the tool can be easily detected in the microscope imagery and provide valuable information about the location of the surface.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Methods</h3>\\n \\n <p>We propose using the area of a laser aiming beam attached to the surgical tool to determine the distance of the tool from the retina. This area was modified in accordance with the tool width to ensure independence from microscope magnification. Retinal distance is predicted using a dual Kalman filter that combines distance inferred from this metric with information from an optical tracker that tracks the position of the tool in a global coordinate system. This updates both the state and parameters of the system in parallel and allows us to predict retinal distance even with errors in initial parameters.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Results</h3>\\n \\n <p>The laser metric's independence from microscope magnification is demonstrated by plotting the metric at 3 different magnifications for a number of angles. We also predict the distance of the tool from the retina for various random angles at each magnification with median errors of less than 100 μm. Finally, we predict distance at each magnification during freehand motion and validate our results using a force sensor placed underneath the phantom.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Conclusions</h3>\\n \\n <p>Using the area of laser aiming beam attached to the surgical tool, our method can predict the distance of the surgical tool to the retina with errors that are acceptable for implementing virtual fixtures during robot-assisted retinal surgery. The predicted distance is also independent of microscope magnification and can work when initial parameters are not precisely known. Future work will involve adapting this method to in vivo environments and further reduction in prediction errors.</p>\\n </section>\\n </div>\",\"PeriodicalId\":50311,\"journal\":{\"name\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"volume\":\"21 5\",\"pages\":\"\"},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2025-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70113\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"FirstCategoryId\":\"3\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70113\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"SURGERY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Medical Robotics and Computer Assisted Surgery","FirstCategoryId":"3","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70113","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"SURGERY","Score":null,"Total":0}
引用次数: 0

摘要

机器人辅助视网膜手术中的虚拟装置需要了解视网膜相对于手术工具的位置才能有效。由于捕获的显微镜图像缺乏特征和复杂的光路,视网膜表面估计是一个难题。附着在工具上的激光瞄准光束可以很容易地在显微镜图像中检测到,并提供有关表面位置的有价值的信息。方法我们建议使用附着在手术工具上的激光瞄准光束的面积来确定工具与视网膜的距离。根据刀具宽度对该区域进行修改,以确保不受显微镜放大的影响。使用双卡尔曼滤波器预测视网膜距离,该滤波器结合了从该度量推断的距离和来自光学跟踪器的信息,该跟踪器跟踪工具在全局坐标系中的位置。这同时更新了系统的状态和参数,使我们能够预测视网膜距离,即使初始参数有误差。结果通过绘制3种不同倍率下多个角度的激光度量值,证明了激光度量值与显微镜倍率的独立性。我们还预测了在每个放大倍数下工具与视网膜的距离,中值误差小于100 μm。最后,我们在徒手运动中预测每次放大的距离,并使用放置在幻影下面的力传感器验证我们的结果。结论利用附着在手术工具上的激光瞄准光束的面积,我们的方法可以预测手术工具到视网膜的距离,误差在机器人辅助视网膜手术中实施虚拟夹具时是可以接受的。预测距离也与显微镜的放大倍率无关,在初始参数不精确的情况下也可以工作。未来的工作将包括使这种方法适应体内环境,并进一步减少预测误差。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Magnification-Invariant Retinal Distance Estimation for Vitreoretinal Surgery Using a Laser Aiming Beam

Magnification-Invariant Retinal Distance Estimation for Vitreoretinal Surgery Using a Laser Aiming Beam

Background

Virtual fixtures in robot-assisted retinal surgery require knowledge of the position of the retina with respect to the surgical tool to be effective. Retinal surface estimation is a difficult problem due to the lack of features in the captured microscope imagery and a complex light path. A laser aiming beam attached to the tool can be easily detected in the microscope imagery and provide valuable information about the location of the surface.

Methods

We propose using the area of a laser aiming beam attached to the surgical tool to determine the distance of the tool from the retina. This area was modified in accordance with the tool width to ensure independence from microscope magnification. Retinal distance is predicted using a dual Kalman filter that combines distance inferred from this metric with information from an optical tracker that tracks the position of the tool in a global coordinate system. This updates both the state and parameters of the system in parallel and allows us to predict retinal distance even with errors in initial parameters.

Results

The laser metric's independence from microscope magnification is demonstrated by plotting the metric at 3 different magnifications for a number of angles. We also predict the distance of the tool from the retina for various random angles at each magnification with median errors of less than 100 μm. Finally, we predict distance at each magnification during freehand motion and validate our results using a force sensor placed underneath the phantom.

Conclusions

Using the area of laser aiming beam attached to the surgical tool, our method can predict the distance of the surgical tool to the retina with errors that are acceptable for implementing virtual fixtures during robot-assisted retinal surgery. The predicted distance is also independent of microscope magnification and can work when initial parameters are not precisely known. Future work will involve adapting this method to in vivo environments and further reduction in prediction errors.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
4.50
自引率
12.00%
发文量
131
审稿时长
6-12 weeks
期刊介绍: The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信