Evidence map›Paper›PMID 42877796›Full record

ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation2026

Motion Compensation and Adaptive Force Control via iOCT-FBG Sensor Fusion for Robotic Subretinal Injection.

Aoqi Long, Tianle Wu, Chongyang She, Mojtaba Esfandiari, Peter Gehlbach, Russell H Taylor, Iulian Iordachita

Abstract read
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In one paragraph

Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing 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

0 citing papers in PubMed.

No citing paper in PubMed yet.

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

7 authors.

Aoqi LongLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Tianle WuLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Chongyang SheLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Mojtaba EsfandiariLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Peter GehlbachWilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD, USA.
Russell H TaylorLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Iulian IordachitaLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 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
Enabling Dexterous Intraocular Surgery with Robotic AssistanceR01EB034397 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI IULIAN IOAN IORDACHITA · 2024 to 2026
$1.2M
NIBIB NIH HHS R01 EB023943NIBIB NIH HHS R01 EB034397
6 · The paper itself

Abstract

Subretinal injection is a highly delicate procedure that demands micron-level precision to avoid irreversible retinal damage. Current robotic systems achieve accurate positioning but remain limited by retinal motion and the lack of tip-force feedback. We present the first adaptive tip-force compensation framework for robotic subretinal injection, fusing intraoperative optical coherence tomography (iOCT) vision with fiber Bragg grating (FBG) force sensing. Our architecture integrates a finite-state machine (FSM) for surgical phase coordination, a Long Short-Term Memory (LSTM) enhanced residual Kalman filter for real-time motion prediction, and an adaptive compliance estimator for safe force regulation. Compared to previous vision-only and force-only method,

Identifiers

PMID42877796
PMCPMC13664642

What OpenQuestion holds

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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.