TY - GEN
T1 - Precision Needle Tip Localization Using Optical Coherence Tomography Images for Subretinal Injection
AU - Zhou, Mingchuan
AU - Huang, Kai
AU - Eslami, Abouzar
AU - Roodaki, Hessam
AU - Zapp, Daniel
AU - Maier, Mathias
AU - Lohmann, Chris P.
AU - Knoll, Alois
AU - Nasseri, M. Ali
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - Subretinal injection is a delicate and complex microsurgery, which requires surgeons to inject the therapeutic substance in a pre-operatively defined and intra-operatively updated subretinal target area. Due to the lack of subretinal visual feedback, it is hard to sense the insertion depth during the procedure, thus affecting the results of surgical outcome and hindering the widespread use of this treatment. This paper presents a novel approach to estimate the 3D position of the needle under the retina using the information from microscope-integrated Intraoperative Optical Coherence Tomography (iOCT). We evaluated our approach on both tissue phantom and ex-vivo porcine eyes. Evaluation results show that the average error in distance measurement is 4.7 \mu \text{m} (maximum of 16.5 \mu \text{m}). We furthermore, verified the feasibility of the proposed method to track the insertion depth of needle in robot-assisted subretinal injection.
AB - Subretinal injection is a delicate and complex microsurgery, which requires surgeons to inject the therapeutic substance in a pre-operatively defined and intra-operatively updated subretinal target area. Due to the lack of subretinal visual feedback, it is hard to sense the insertion depth during the procedure, thus affecting the results of surgical outcome and hindering the widespread use of this treatment. This paper presents a novel approach to estimate the 3D position of the needle under the retina using the information from microscope-integrated Intraoperative Optical Coherence Tomography (iOCT). We evaluated our approach on both tissue phantom and ex-vivo porcine eyes. Evaluation results show that the average error in distance measurement is 4.7 \mu \text{m} (maximum of 16.5 \mu \text{m}). We furthermore, verified the feasibility of the proposed method to track the insertion depth of needle in robot-assisted subretinal injection.
UR - http://www.scopus.com/inward/record.url?scp=85063147062&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460745
DO - 10.1109/ICRA.2018.8460745
M3 - Conference contribution
AN - SCOPUS:85063147062
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4033
EP - 4040
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -