ArticleBiomedical optics express2021
Real-time tool to layer distance estimation for robotic subretinal injection using intraoperative 4D OCT.
Article in Biomedical optics express, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 25 papers, 2 of them syntheses that pooled it.
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Who cites it
25 citing papers in PubMed, 2 syntheses or guidelines pooled it, 46 citations in OpenAlex.
- Next-gen vision: a systematic review on robotics transforming ophthalmic surgery.Journal of robotic surgery · 2025Pooled it
- Sharper vision, steady hands: can robots improve subretinal drug delivery? Systematic review.Journal of robotic surgery · 2024Pooled it
- Fast robot-to-iOCT calibration using conical geometry and 2D cross-scan OCT.Journal of biomedical optics · 2026Article
- Technical advances in robotic retinal surgery: a systematic review and future research directions.Journal of robotic surgery · 2026Review
- Simultaneous OCT A-scan depth ranging and C-scan volume imaging for intraoperative robotic retinal surgery guidance.Biomedical optics express · 2025Article
- The impact of intraoperative optical coherence tomography on cognitive load in virtual reality vitreoretinal surgery training.Scientific reports · 2025Article
- SpecstatOR: speckle statistics-based iOCT segmentation network for ophthalmic surgery.Biomedical optics express · 2025Article
- Towards Motion Compensation in Autonomous Robotic Subretinal Injections.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2025Article
- Intraoperative adaptive eye model based on instrument-integrated OCT for robot-assisted vitreoretinal surgery.International journal of computer assisted radiology and surgery · 2025Article
- Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2025Article
- Stereo reconstruction from microscopic images for computer-assisted ophthalmic surgery.International journal of computer assisted radiology and surgery · 2025Article
- Head-mounted surgical robots are an enabling technology for subretinal injections.Science robotics · 2025Article
- Robotics and optical coherence tomography: current works and future perspectives [Invited].Biomedical optics express · 2025Review
- Artificial Intelligence Applications in Ophthalmology.JMA journal · 2025Review
- Autonomous Needle Navigation in Subretinal Injections via iOCT.IEEE robotics and automation letters · 2024Article
- Microsurgery Robots: Applications, Design, and Development.Sensors (Basel, Switzerland) · 2023Review
- Methods for real-time feature-guided image fusion of intrasurgical volumetric optical coherence tomography with digital microscopy.Biomedical optics express · 2023Article
- Robot-assisted subretinal injection system: development and preliminary verification.BMC ophthalmology · 2022Article
- Stacked dilated convolutions and asymmetric architecture for U-Net-based medical image segmentation.Computers in biology and medicine · 2022Article
- Intravitreal Injectable Hydrogels for Sustained Drug Delivery in Glaucoma Treatment and Therapy.Polymers · 2022Review
Corrections and comments
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Authors and funding
6 authors at 2 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
The emergence of robotics could enable ophthalmic microsurgical procedures that were previously not feasible due to the precision limits of manual delivery, for example, targeted subretinal injection. Determining the distance between the needle tip, the internal limiting membrane (ILM), and the retinal pigment epithelium (RPE) both precisely and reproducibly is required for safe and successful robotic retinal interventions. Recent advances in intraoperative optical coherence tomography (iOCT) have opened the path for 4D image-guided surgery by providing near video-rate imaging with micron-level resolution to visualize retinal structures, surgical instruments, and tool-tissue interactions. In this work, we present a novel pipeline to precisely estimate the distance between the injection needle and the surface boundaries of two retinal layers, the ILM and the RPE, from iOCT volumes. To achieve high computational efficiency, we reduce the analysis to the relevant area around the needle tip. We employ a convolutional neural network (CNN) to segment the tool surface, as well as the retinal layer boundaries from selected iOCT B-scans within this tip area. This results in the generation and processing of 3D surface point clouds for the tool, ILM and RPE from the B-scan segmentation maps, which in turn allows the estimation of the minimum distance between the resulting tool and layer point clouds. The proposed method is evaluated on iOCT volumes from ex-vivo porcine eyes and achieves an average error of 9.24
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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.