Evidence map›Paper›PMID 33643680›Full record

ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2019

A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning.

Zhaoshuo Li, Mahya Shahbazi, Niravkumar Patel, Eimear O' Sullivan, Haojie Zhang, Khushi Vyas, Preetham Chalasani, Peter L Gehlbach, Iulian Iordachita, Guang-Zhong Yang and 1 more

Abstract read
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In one paragraph

Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Hybrid Robot-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries.IEEE transactions on medical robotics and bionics · 2020
    Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

11 authors.

Zhaoshuo LiLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland 21218, USA.
Mahya ShahbaziLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland 21218, USA.
Niravkumar PatelLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland 21218, USA.
Eimear O' SullivanHamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
Haojie ZhangHamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
Khushi VyasHamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
Preetham ChalasaniLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland 21218, USA.
Peter L GehlbachJohns Hopkins Wilmer Eye Institute, Johns Hopkins Hospital, 600 N. Wolfe Street, Maryland 21287, USA.
Iulian IordachitaLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland 21218, USA.
Guang-Zhong YangHamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
Russell H TaylorLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland 21218, USA.

Funding

Enabling Technology for Safe Robot-assisted Surgical MicromanipulationR01EB023943 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI GEHLBACH, PETER LOUIS, IORDACHITA, IULIAN IOAN · 2017 to 2024
$2.3M
NIBIB NIH HHS R01 EB023943
6 · The paper itself

Abstract

In this paper, a novel semi-autonomous control framework is presented for enabling probe-based confocal laser endomicroscopy (pCLE) scan of the retinal tissue. With pCLE, retinal layers such as nerve fiber layer (NFL) and retinal ganglion cell (RGC) can be scanned and characterized in real-time for an improved diagnosis and surgical outcome prediction. However, the limited field of view of the pCLE system and the micron-scale optimal focus distance of the probe, which are in the order of physiological hand tremor, act as barriers to successful manual scan of retinal tissue. Therefore, a novel sensorless framework is proposed for real-time semi-autonomous endomicroscopy scanning during retinal surgery. The framework consists of the Steady-Hand Eye Robot (SHER) integrated with a pCLE system, where the motion of the probe is controlled semi-autonomously. Through a hybrid motion control strategy, the system autonomously controls the confocal probe to optimize the sharpness and quality of the pCLE images, while providing the surgeon with the ability to scan the tissue in a tremor-free manner. Effectiveness of the proposed architecture is validated through experimental evaluations as well as a user study involving 9 participants. It is shown through statistical analyses that the proposed framework can reduce the work load experienced by the users in a statistically-significant manner, while also enhancing their performance in retaining pCLE images with optimized quality.

Identifiers

PMID33643680
PMCPMC7906249

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Registered trials

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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.