ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2018
EyeSLAM: Real-time simultaneous localization and mapping of retinal vessels during intraocular microsurgery.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
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Who cites it
15 citing papers in PubMed.
- FOVEA: Preoperative and intraoperative retinal fundus images with optic disc and retinal vessel annotations.Scientific data · 2025Article
- Sensor-driven digital motion correction of robotically-aligned optical coherence tomography retinal volumes.Biomedical optics express · 2025Article
- Joint keypoint detection and description network for color fundus image registration.Quantitative imaging in medicine and surgery · 2023Article
- Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-assisted Eye Surgery.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2023Article
- Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Reliable and stable fundus image registration based on brain-inspired spatially-varying adaptive pyramid context aggregation network.Frontiers in neuroscience · 2022Article
- Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.IEEE transactions on bio-medical engineering · 2021Article
- Stochastic Force-based Insertion Depth and Tip Position Estimations of Flexible FBG-Equipped Instruments in Robotic Retinal Surgery.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2021Article
- Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2020Article
- FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2020Article
- Learned optical flow for intra-operative tracking of the retinal fundus.International journal of computer assisted radiology and surgery · 2020Article
- EyeSAM: graph-based localization and mapping of retinal vasculature during intraocular microsurgery.International journal of computer assisted radiology and surgery · 2019Article
- Toward Improving Safety in Neurosurgery with an Active Handheld Instrument.Annals of biomedical engineering · 2018Article
- Techniques for robot-aided intraocular surgery using monocular vision.The International journal of robotics research · 2018Article
- Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
backgroundFast and accurate mapping and localization of the retinal vasculature is critical to increasing the effectiveness and clinical utility of robot-assisted intraocular microsurgery such as laser photocoagulation and retinal vessel cannulation.
methodsThe proposed EyeSLAM algorithm delivers 30 Hz real-time simultaneous localization and mapping of the human retina and vasculature during intraocular surgery, combining fast vessel detection with 2D scan-matching techniques to build and localize a probabilistic map of the vasculature.
resultsIn the harsh imaging environment of retinal surgery with high magnification, quick shaky motions, textureless retina background, variable lighting and tool occlusion, EyeSLAM can map 75% of the vessels within two seconds of initialization and localize the retina in real time with a root mean squared (RMS) error of under 5.0 pixels (translation) and 1° (rotation).
conclusionsEyeSLAM robustly provides retinal maps and registration that enable intelligent surgical micromanipulators to aid surgeons in simulated retinal vessel tracing and photocoagulation tasks.
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