Evidence map›Paper›PMID 38550718›Full record

ArticleIEEE robotics and automation letters2024

Autonomous Needle Navigation in Subretinal Injections via iOCT.

Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

Open access · greenAbstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in IEEE robotics and automation letters, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.

0numbers the graph read from it
0cells of the map it votes in
9citing papers in PubMed
7.7field-weighted citation impact, top 2% of its field
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

9 citing papers in PubMed, 19 citations in OpenAlex.

  1. Article
  2. Review
  3. Article
  4. Surgical Approaches to Retinal Gene Therapy: 2025 Update.Bioengineering (Basel, Switzerland) · 2025
    Review
  5. A Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2025
    Article
  6. Deep Learning-Enhanced Robotic Subretinal Injection with Real-Time Retinal Motion Compensation.IEEE International Conference on Automation Science and Engineering (CASE) : [proceedings]. IEEE Conference on Automation Science and Engineering · 2025
    Article
  7. 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 · 2025
    Article
  8. Article
  9. Review
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

5 authors at 1 institution in 1 country.

Peiyao ZhangDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD 21211, USA.
Ji Woong KimDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD 21211, USA.
Peter GehlbachPeter Gehlbach is with the Wilmer Eye Institute, Johns Hopkins University, Baltimore, MD 21211, USA.
Iulian IordachitaDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD 21211, USA.
Marin KobilarovDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD 21211, USA.
Johns Hopkins University · US

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
Enabling technology for image-guided robot-assisted sub-retinal injectionsR01EB025883 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI IORDACHITA, IULIAN IOAN · 2019 to 2021
$1.5M
NIBIB NIH HHS R01 EB023943NIBIB NIH HHS R01 EB025883
6 · The paper itself

Abstract

Subretinal injection is an effective method for direct delivery of therapeutic agents to treat prevalent subretinal diseases. Among the challenges for surgeons are physiological hand tremor, difficulty resolving single-micron scale depth perception, and lack of tactile feedback. The recent introduction of intraoperative Optical Coherence Tomography (iOCT) enables precise depth information during subretinal surgery. However, even when relying on iOCT, achieving the required micron-scale precision remains a significant surgical challenge. This work presents a robot-assisted workflow for high-precision autonomous needle navigation for subretinal injection. The workflow includes online registration between robot and iOCT coordinates; tool-tip localization in iOCT coordinates using a Convolutional Neural Network (CNN); and tool-tip planning and tracking system using real-time Model Predictive Control (MPC). The proposed workflow is validated using a silicone eye phantom and

Indexed as

Computer Vision for Medical RoboticsMedical Robots and SystemsSurgical Robotics: Planning

Identifiers

PMID38550718
PMCPMC10972538
OpenAlexW4392667213

What OpenQuestion holds

Textmetadata
LicenceTDM
Read underepoch 390

Registered trials

None linked

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.