Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery

Mingchuan Zhou; Kai Huang; Abouzar Eslami; Hessam Roodaki; Haotian Lin; Chris P. Lohmann; Alois Knoll; M. Ali Nasseri

doi:10.1109/ROBIO.2017.8324435

Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery

Mingchuan Zhou
, Kai Huang
, Abouzar Eslami
, Hessam Roodaki
, Haotian Lin
, Chris P. Lohmann
, Alois Knoll
, M. Ali Nasseri

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

The needle position and pose is essential information in ophthalmic microsurgery. Estimation of these parameters is still an open problem, which hinders the application of various robot-Assisted surgeries, such as autonomous injection. This paper presents a method to estimate the position and pose of beveled needle using three-dimensional Optical Coherence Tomography (OCT) image cube. The incomplete 3D point cloud of beveled needle obtained from OCT image cube is used to reconstruct the needle by fitting the projection of needle points based on its geometric features. We demonstrate the applicability of our method in ophthalmic injection surgery using ex vivo pig eyes and evaluate the accuracy of position and pose information using a micromanipulator.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	308-313
Number of pages	6
ISBN (Electronic)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324435
State	Published - 2 Jul 2017
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 5 Dec 2017 → 8 Dec 2017

Publication series

Name	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/Territory	China
City	Macau
Period	5/12/17 → 8/12/17

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10.1109/ROBIO.2017.8324435

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Zhou, M., Huang, K., Eslami, A., Roodaki, H., Lin, H., Lohmann, C. P., Knoll, A., & Nasseri, M. A. (2017). Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (pp. 308-313). (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324435

Zhou, Mingchuan ; Huang, Kai ; Eslami, Abouzar et al. / Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 308-313 (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017).

@inproceedings{83024116309643c6842662414391468c,

title = "Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery",

abstract = "The needle position and pose is essential information in ophthalmic microsurgery. Estimation of these parameters is still an open problem, which hinders the application of various robot-Assisted surgeries, such as autonomous injection. This paper presents a method to estimate the position and pose of beveled needle using three-dimensional Optical Coherence Tomography (OCT) image cube. The incomplete 3D point cloud of beveled needle obtained from OCT image cube is used to reconstruct the needle by fitting the projection of needle points based on its geometric features. We demonstrate the applicability of our method in ophthalmic injection surgery using ex vivo pig eyes and evaluate the accuracy of position and pose information using a micromanipulator.",

author = "Mingchuan Zhou and Kai Huang and Abouzar Eslami and Hessam Roodaki and Haotian Lin and Lohmann, \{Chris P.\} and Alois Knoll and Nasseri, \{M. Ali\}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 ; Conference date: 05-12-2017 Through 08-12-2017",

year = "2017",

month = jul,

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doi = "10.1109/ROBIO.2017.8324435",

language = "English",

series = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "308--313",

booktitle = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

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Zhou, M, Huang, K, Eslami, A, Roodaki, H, Lin, H, Lohmann, CP , Knoll, A & Nasseri, MA 2017, Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 308-313, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 5/12/17. https://doi.org/10.1109/ROBIO.2017.8324435

Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery. / Zhou, Mingchuan; Huang, Kai; Eslami, Abouzar et al.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 308-313 (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery

AU - Zhou, Mingchuan

AU - Huang, Kai

AU - Eslami, Abouzar

AU - Roodaki, Hessam

AU - Lin, Haotian

AU - Lohmann, Chris P.

AU - Knoll, Alois

AU - Nasseri, M. Ali

PY - 2017/7/2

Y1 - 2017/7/2

N2 - The needle position and pose is essential information in ophthalmic microsurgery. Estimation of these parameters is still an open problem, which hinders the application of various robot-Assisted surgeries, such as autonomous injection. This paper presents a method to estimate the position and pose of beveled needle using three-dimensional Optical Coherence Tomography (OCT) image cube. The incomplete 3D point cloud of beveled needle obtained from OCT image cube is used to reconstruct the needle by fitting the projection of needle points based on its geometric features. We demonstrate the applicability of our method in ophthalmic injection surgery using ex vivo pig eyes and evaluate the accuracy of position and pose information using a micromanipulator.

AB - The needle position and pose is essential information in ophthalmic microsurgery. Estimation of these parameters is still an open problem, which hinders the application of various robot-Assisted surgeries, such as autonomous injection. This paper presents a method to estimate the position and pose of beveled needle using three-dimensional Optical Coherence Tomography (OCT) image cube. The incomplete 3D point cloud of beveled needle obtained from OCT image cube is used to reconstruct the needle by fitting the projection of needle points based on its geometric features. We demonstrate the applicability of our method in ophthalmic injection surgery using ex vivo pig eyes and evaluate the accuracy of position and pose information using a micromanipulator.

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M3 - Conference contribution

AN - SCOPUS:85049876136

T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

SP - 308

EP - 313

BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

Y2 - 5 December 2017 through 8 December 2017

ER -

Zhou M, Huang K, Eslami A, Roodaki H, Lin H, Lohmann CP et al. Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 308-313. (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017). doi: 10.1109/ROBIO.2017.8324435

Beveled needle position and pose estimation based on optical coherence tomography in ophthalmic microsurgery

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