Uploaded May 2018 | Updated September 2026, 1 week ago
ICRA 2018 Spotlight Video
Interactive Session Wed PM Pod A.7
Authors: Zhou, Mingchuan; Huang, Kai; Eslami, Abouzar; Roodaki, Hessam; Zapp, Daniel; Maier, Mathias; Lohmann, Chris P.; Knoll, Alois; Nasseri, M. Ali
Title: Precision Needle Tip Localization Using Optical Coherence Tomography Images for Subretinal Injection
Abstract:
Subretinal injection is a delicate and complex surgical procedure, which requires surgeons to inject the therapeutic substance in a pre-operatively defined and intra-operatively updated subretinal target area. Due to the lack of subretinal visual feedback, it is hard to sense the depth during the procedure, thus affecting the results of surgical outcome and hindering the widespread use of this treatment. This paper presents a novel approach to estimate the 3D position of the needle under the retina using the information from microscope-integrated Intraoperative Optical Coherence Tomography (iOCT). We evaluated our approach on both phantom tissues and ex-vivo pig eyes. Evaluation results show that the average error in distance measurement is 4.7 micron (maximum of 16.5 micron). We furthermore, verified the feasibility of the proposed method to track the insertion depth of the needle in robot-assisted subretinal injection.
ICRA 2018 Spotlight Video
Interactive Session Wed PM Pod A.7
Authors: Zhou, Mingchuan; Huang, Kai; Eslami, Abouzar; Roodaki, Hessam; Zapp, Daniel; Maier, Mathias; Lohmann, Chris P.; Knoll, Alois; Nasseri, M. Ali
Title: Precision Needle Tip Localization Using Optical Coherence Tomography Images for Subretinal Injection
Abstract:
Subretinal injection is a delicate and complex surgical procedure, which requires surgeons to inject the therapeutic substance in a pre-operatively defined and intra-operatively updated subretinal target area. Due to the lack of subretinal visual feedback, it is hard to sense the depth during the procedure, thus affecting the results of surgical outcome and hindering the widespread use of this treatment. This paper presents a novel approach to estimate the 3D position of the needle under the retina using the information from microscope-integrated Intraoperative Optical Coherence Tomography (iOCT). We evaluated our approach on both phantom tissues and ex-vivo pig eyes. Evaluation results show that the average error in distance measurement is 4.7 micron (maximum of 16.5 micron). We furthermore, verified the feasibility of the proposed method to track the insertion depth of the needle in robot-assisted subretinal injection.
