TY - GEN
T1 - Intraoperative Trocar-Based Eyeball Rotation Estimation Using only 2D Microscope Images
AU - Yang, Junjie
AU - Inagaki, Satoshi
AU - Zhao, Zhihao
AU - Zapp, Daniel
AU - Maier, Mathias
AU - Issa, Peter C.
AU - Huang, Kai
AU - Navab, Nassir
AU - Nasseri, M. Ali
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - In ophthalmic surgery, surgeons or robots manipulate a light probe and an instrument around two separated trocars following sclerotomy to achieve orbital control for eyeball pose adjustment and subsequent surgical tasks referring to microscope frames. However, current methods face significant challenges in directly extracting the eyeball pose from real-time microscope frames due to the limited microscope perspective and the darkened operating room (OR). This paper decomposes eyeball rotations only along the x and y axes. Then, a method of calculating eyeball poses using eyeball geometry and microscopic trocar positions is presented. This method is tested by simulation and a phantom system with current [2.0, 2.8] degree error, providing assistant intraoperative eyeball status in the dark OR with extended method discussions.
AB - In ophthalmic surgery, surgeons or robots manipulate a light probe and an instrument around two separated trocars following sclerotomy to achieve orbital control for eyeball pose adjustment and subsequent surgical tasks referring to microscope frames. However, current methods face significant challenges in directly extracting the eyeball pose from real-time microscope frames due to the limited microscope perspective and the darkened operating room (OR). This paper decomposes eyeball rotations only along the x and y axes. Then, a method of calculating eyeball poses using eyeball geometry and microscopic trocar positions is presented. This method is tested by simulation and a phantom system with current [2.0, 2.8] degree error, providing assistant intraoperative eyeball status in the dark OR with extended method discussions.
UR - https://www.scopus.com/pages/publications/105016674731
U2 - 10.1109/ICRA55743.2025.11127673
DO - 10.1109/ICRA55743.2025.11127673
M3 - Conference contribution
AN - SCOPUS:105016674731
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4063
EP - 4069
BT - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
A2 - Ott, Christian
A2 - Admoni, Henny
A2 - Behnke, Sven
A2 - Bogdan, Stjepan
A2 - Bolopion, Aude
A2 - Choi, Youngjin
A2 - Ficuciello, Fanny
A2 - Gans, Nicholas
A2 - Gosselin, Clement
A2 - Harada, Kensuke
A2 - Kayacan, Erdal
A2 - Kim, H. Jin
A2 - Leutenegger, Stefan
A2 - Liu, Zhe
A2 - Maiolino, Perla
A2 - Marques, Lino
A2 - Matsubara, Takamitsu
A2 - Mavromatti, Anastasia
A2 - Minor, Mark
A2 - O'Kane, Jason
A2 - Park, Hae Won
A2 - Park, Hae-Won
A2 - Rekleitis, Ioannis
A2 - Renda, Federico
A2 - Ricci, Elisa
A2 - Riek, Laurel D.
A2 - Sabattini, Lorenzo
A2 - Shen, Shaojie
A2 - Sun, Yu
A2 - Wieber, Pierre-Brice
A2 - Yamane, Katsu
A2 - Yu, Jingjin
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Y2 - 19 May 2025 through 23 May 2025
ER -