ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation
Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed.
- Investigating the feasibility of selective anti-VEGF delivery to the retina using a microinvasive approach.Graefe's archive for clinical and experimental ophthalmology = Albrecht von Graefes Archiv fur klinische und experimentelle Ophthalmologie · 2025Article
- Magnification-Invariant Retinal Distance Estimation for Vitreoretinal Surgery Using a Laser Aiming Beam.The international journal of medical robotics + computer assisted surgery : MRCAS · 2025Article
- Development and ex-vivo validation of 36G polyimide cannulas integrating a guiding miniaturized OCT probe for robotic assisted subretinal injections.Biomedical optics express · 2022Article
- Oblique injection depth correction by a two parallel OCT sensor guided handheld SMART injector.Biomedical optics express · 2021Article
- EyeSAM: graph-based localization and mapping of retinal vasculature during intraocular microsurgery.International journal of computer assisted radiology and surgery · 2019Article
- Techniques for robot-aided intraocular surgery using monocular vision.The International journal of robotics research · 2018Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
In this paper we describe work towards retinal vessel cannulation using an actively stabilized handheld robot, guided by monocular vision. We employ a previously developed monocular camera based surface reconstruction method using automated laser beam scanning over the retina. We use the reconstructed plane to find a coordinate transform between the 2D image plane coordinate system and the global 3D frame. Within a hemispherical region around the target, we use motion scaling for higher precision. The contribution of this work is the homography matrix estimation using monocular vision and application of the previously developed laser surface reconstruction to Micron guided vein cannulation. Experiments are conducted in a wet eye phantom to show the higher accuracy of the surface reconstruction as compared to standard stereo reconstruction. Further, experiments to show the increased surgical accuracy due to motion scaling are also carried out.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.