Computer-assisted laser photocoagulation of the retina-a hybrid tracking approach

A system for robotically assisted retinal surgery has been developed to rapidly and safely place lesions on the retina for photocoagulation therapy. This system provides real-time, motion stabilized lesion placement for typical irradiation times of 100 ms. The system consists of three main subsystem...

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Bibliographic Details
Published in:Journal of Biomedical Optics 2002-04, Vol.7 (2), p.179-189
Main Authors: Naess, Espen, Molvik, Torstein, Ludwig, Dustin, Barrett, Steven, Legowski, Stanislaw, Wright, Cameron, de Graaf, Peter
Format: Article
Language:English
Subjects:
Algorithms
Biomedical Engineering
Coagulation
Computer aided analysis
confocal reflectance
Equipment Design
Humans
Irradiation
Laser applications
Laser Coagulation - instrumentation
laser photocoagulation
lesion reflectometry
Light reflection
Optics
Optics and Photonics - instrumentation
Retina - surgery
Retinal Diseases - surgery
retinal tracking
Robotics - instrumentation
Surgery, Computer-Assisted - instrumentation
User interfaces
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Summary:A system for robotically assisted retinal surgery has been developed to rapidly and safely place lesions on the retina for photocoagulation therapy. This system provides real-time, motion stabilized lesion placement for typical irradiation times of 100 ms. The system consists of three main subsystems: a digital-based global tracking subsystem; a fast, analog local tracking subsystem; and a confocal reflectance subsystem to control lesion parameters dynamically. We have reported previously on these individual subsystems. This paper concentrates on the development of a second hybrid system prototype. Considerable progress has been made toward reducing the footprint of the optical system, simplifying the user interface, fully characterizing the analog tracking system, using measurable lesion reflectance parameters to develop a noninvasive method to infer lesion depth, and integrating the subsystems into a seamless hybrid system. These system improvements and progress toward a clinically significant system are covered in detail within this paper. The tracking algorithms and concepts developed for this project have considerable potential for application in many other areas of biomedical engineering. ©
ISSN:1083-3668
1560-2281
DOI:10.1117/1.1461831